CN107878702B - A kind of active wave compensating device and method applied to sounding instrument - Google Patents
A kind of active wave compensating device and method applied to sounding instrument Download PDFInfo
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- CN107878702B CN107878702B CN201711103089.4A CN201711103089A CN107878702B CN 107878702 B CN107878702 B CN 107878702B CN 201711103089 A CN201711103089 A CN 201711103089A CN 107878702 B CN107878702 B CN 107878702B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
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Abstract
The invention discloses a kind of active wave compensating devices and method applied to sounding instrument, including the first compensating unit, have support component, transmission parts and power part；Second compensating unit is sequentially connected with first compensating unit, including platform assembly, compensation component, support member and connector；And detection unit, it is connected with the support component.The present invention passes through the kinematic parameter for waving and heaving of micro- inertial navigation sensor measurement hull and is converted into digital signal, control system is transferred to be handled and calculate the compensation rate waved and heaved, by treated, signal drives servo motor and servo electric jar movement, realizes the compensation for waving and heaving direction of compensating platform.The present invention can be compensated accurately and rapidly is allowed sounding instrument that can safely and efficiently execute Detection task under complicated sea situation by the sounding instrument influenced with heave movement is waved.The present apparatus has the characteristics that compensation range wide, high reliablity, accurate quick, simple and light.
Description
Technical field
It is especially a kind of applied to the active wave compensating device of sounding instrument and side the present invention relates to Active Compensation field
Method.
Background technique
The regions such as China East China Sea, the Yangtze river basin and river entrance water turbidity, sight are poor, in general navigator
In the case where device cisco unity malfunction, it can use sounding instrument to realize positioning and navigation, especially enter shallow water boat in ship
When road, other navigation equipments be it is irreplaceable, certain water depth ratio situations it is special or have certain rule sea area application survey
Deep instrument distinguishes that position is more reliable.Modernizing multi-functional marine depth sounder can also be achieved the functions such as underwater exploration, locating fish tracking, because
This sounding instrument be widely used in hydrographic survey, hydroelectric power plant, reservoir area, shallow sea, lake, river exploration, environment water area monitoring reason
Think bathymetric surveying instrument.
Need to guarantee vertical vertical when working using sounding instrument, and hull caused by stormy waves shakes so that nothing under natural situation
Method works normally, it is therefore desirable to which a kind of supplementary instrument compensates external world's shake, to guarantee the position and direction of sounding instrument
It is relatively stable.Wave compensating device is generally divided into active and passive type, and latter techniques' relative maturity has reality both at home and abroad at present
Border application.And the flexibility of active heave compensation device is good, but its technical difficulty is big, the country there is no mature application.It is active
When wave compensation system works, the Relative motion of ship signal that controller is monitored according to inductor generates a size therewith
Identical, contrary active force driving signal, control actuator realize compensation of undulation.Generally using integrated structure design
Strapdown type stable platform, the athletic posture of carrier are final to realize in conjunction with Servocontrol device by inertance element real-time detection
The function of stablizing and track is realized in the movement that carrier is isolated.The mechanical structure of stabilized platform usually has two kinds of shapes of serial or parallel connection type
Formula, tandem type stabilized platform are usually to use ring stand formula axis serial mechanism, there is the forms such as two axis, three axis, four axis；Parallel institution is
Upper lower platform is connected with two or more branches, and mechanism has two or more freedom degrees, and is driven with parallel way
Mechanism be known as parallel institution.It is preferable using the compensation integration effect of stabilized platform in parallel in the equipment of Active Compensation, still
Generally all it is applied on large-scale ship, and the hydraulic cylinder for needing to grow very much, the stabilization for undoubtedly increasing cost, reducing system
Property.
Although aforementioned stable platform can solve solves the problems, such as Active Compensation, but structure uses a large amount of servo-electric
Cylinder leads to complex redundancy, and at high cost and stability is poor.The characteristics of for sounding instrument and working condition need a kind of new compensation
While device compensates task to the rolling of ship, pitching and heave respectively, it can guarantee that stability is good, structure is simple.
Summary of the invention
The purpose of this section is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferable implementations
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
The problem of in view of above-mentioned and/or existing wave compensating device, propose the present invention.
Therefore, the one of purpose of the present invention is to provide a kind of active wave compensating device applied to sounding instrument,
It can be realized the rolling to sounding instrument, pitching and heave and carry out real-time compensation, sounding instrument is allowed more steadily safely to work and tie
Structure is simple, stability is good.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of active wave applied to sounding instrument
Compensation device comprising the first compensating unit, first compensating unit have support component, transmission parts and power part,
The power part is set to the top of the support component, and the both ends of the transmission parts are connected with the support component
It connects；Second compensating unit is sequentially connected with first compensating unit, including platform assembly, compensation component, support member and company
The both ends of fitting, the compensation component are connected by the connector with the platform assembly, the both ends of the support member
It is connected respectively with the platform assembly.It further include detection unit, the detection unit is connected with the support component.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the branch
Support component includes platform support and guide rod, and the platform support is groove type structure, including upper face, lower face and lateral plates.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: described to lead
Bar has two, and is vertically fixed in the platform support, and both ends are connect with the upper face and the lower face respectively.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: described dynamic
Power component uses servo motor, and is set to the upper end of the upper face.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the biography
Dynamic component uses lead screw, and outer surface has screw thread, and respectively with the upper face and lower face is vertical connect, the upper end
It connect, is driven by it with the servo motor across the upper face.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: described flat
Platform component includes upper mounting plate and lower platform.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: under described
Platform processes three holes, is connected respectively with the guide rod and the lead screw；The connection of the lower platform and the guide rod is not
Fixed, the hole inner wall connecting with the lead screw is threaded, screw thread and the lead screw matches mutually.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the benefit
Component is repaid using servo electric jar, and there are two, both ends pass through the connector and the upper mounting plate and described lower put down
Platform vertically connects.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the branch
Support part part uses support post, and lower end is vertically fixed on the lower platform, and upper end passes through the connector and the upper mounting plate
It is connected.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the company
Fitting uses Hooke's hinge.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the branch
It is on certain circumference that support column and the servo electric jar, which are distributed in diameter on the platform assembly surface,.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: on described
Aperture is distinguished in the center of platform and the lower platform, and lower opening is greater than upper hole, and the center of circle corresponds to vertically, and sounding instrument passes through installation
Bar is mounted in hole.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the survey
Deep instrument includes GPS antenna and energy converter, and the GPS antenna is mounted on the top of the upper mounting plate；The energy converter is mounted on institute
State the lower section of lower platform.
A kind of preferred embodiment as the invention active wave compensating device applied to sounding instrument, in which: the inspection
It surveys unit and uses micro- inertial navigation sensor, and be mounted on the upper surface of the lower face.
Wherein another purpose is to provide a kind of active compensation of undulation method applied to sounding instrument to the present invention, can be real
Now by the movement of driving servo motor and servo electric jar, the compensation for waving and heaving direction of compensating platform is completed.
In order to solve the above technical problems, the present invention provides the following technical scheme that a kind of active wave applied to sounding instrument
Unrestrained compensation method comprising following steps:
Step 1: micro- inertial navigation sensor measurement ship rolling as caused by stormy waves, pitching and heave attitude data.
Step 2: the attitude data measured is by communication real-time Transmission to motion controller.
Step 3: motion controller calculated according to anti-resolving Algorithm rolling, pitching and the heave of ship offset and
By the variation of data on these data couplings heave direction.
Step 4: calculated data are converted into signal instruction and real-time Transmission is to the servo motor and servo electricity
Dynamic cylinder.
Step 5: the servo electric jar compensates rolling, pitching, and the servo motor drives the lead screw to liter
It is heavy to compensate.
Beneficial effects of the present invention: the kinematic parameter for waving and heaving that the present invention passes through micro- inertial navigation sensor measurement hull
And it is converted into digital signal, and it being transferred to control system and is handled, control system calculates the compensation rate waved and heaved,
By treated, signal drives servo motor and servo electric jar movement, realizes the benefit for waving and heaving direction of compensating platform
It repays.Two compensating units carry out power transmission in a manner of being driven, and can accurately and rapidly compensate and be waved and heave movement
The sounding instrument of influence allows sounding instrument that can safely and efficiently execute Detection task under complicated sea situation.The present apparatus has compensation
Range is wide, high reliablity, it is accurate quick, simple and light the features such as.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is that the present invention is applied to described in first and second embodiment of active wave compensating device and method of sounding instrument
Overall structure main view.
Fig. 2 is that the present invention is applied to described in first, second and third embodiment of active wave compensating device and method of sounding instrument
Overall structure side view.
Fig. 3 is platform branch described in active wave compensating device and method first embodiment of the present invention applied to sounding instrument
Frame is intended to.
Fig. 4 is compensation described in active wave compensating device and method one embodiment of the present invention applied to sounding instrument
Platform figure.
Fig. 5 is that the present invention is applied to described in first and second embodiment of active wave compensating device and method of sounding instrument
Compensating platform top view.
Fig. 6 is electronic described in the 4th embodiment of active wave compensating device and method of the present invention applied to sounding instrument
Systematic schematic diagram.
Fig. 7 is that the present invention is applied to control described in the 4th embodiment of active wave compensating device and method of sounding instrument
Schematic diagram.
Fig. 8 is that the present invention is applied to overhead described in the 5th embodiment of active wave compensating device and method of sounding instrument
Component mounting position schematic diagram.
Fig. 9 is that the present invention is applied to overhead described in the 5th embodiment of active wave compensating device and method of sounding instrument
Component external structural schematic diagram.
Figure 10 is that the present invention is applied to top described in the 5th embodiment of active wave compensating device and method of sounding instrument
Set component entirety sectional view.
Figure 11 is that the present invention is applied to consolidate described in the 5th embodiment of active wave compensating device and method of sounding instrument
Fixed pole structural schematic diagram.
Figure 12 is that the present invention is applied to rotation described in the 5th embodiment of active wave compensating device and method of sounding instrument
Turn part structural schematic diagram.
Figure 13 is that the present invention is applied to stretch described in the 5th embodiment of active wave compensating device and method of sounding instrument
Contracting part structural schematic diagram.
Figure 14 is that the present invention is applied to top described in the 5th embodiment of active wave compensating device and method of sounding instrument
Layering structure schematic diagram.
Figure 15 is that the present invention is applied to biography described in the 5th embodiment of active wave compensating device and method of sounding instrument
Laminate structures schematic diagram.
Figure 16 is that the present invention is applied to support described in the 5th embodiment of active wave compensating device and method of sounding instrument
Laminate structures schematic diagram.
Figure 17 is that the present invention is applied to top described in the 5th embodiment of active wave compensating device and method of sounding instrument
Set component internal organigram.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
A specific embodiment of the invention is described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
Secondly, " one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization side of the invention
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
Referring to Fig.1~5, it is first embodiment of the invention, provides a kind of active compensation of undulation applied to sounding instrument
Device.Such as Fig. 1, main body includes the first compensating unit 100, and the first compensating unit 100 includes support component 101, transmission parts
102 and power part 103, power part 103 is set to the top of support component 101, the both ends of transmission parts 102 with support
Component 101 is connected.Second compensating unit 200 is sequentially connected with the first compensating unit 100, including platform assembly 201, compensation
The both ends of component 202, support member 203 and connector 204, compensation component 202 pass through connector 204 and 201 phase of platform assembly
Connection, the both ends of support member 203 are connected with platform assembly 201 respectively.It further include detection unit 300, detection unit 300
It is connected with support component 101.
Specifically, main structure of the present invention mainly includes three parts, the compensation of respectively the first compensating unit 100, second
Unit 200 and detection unit 300.Wherein, the first compensating unit 100 mainly includes three component parts: support component 101 passes
Dynamic component 102 and power part 103.Support component 101 includes platform support 101a and guide rod 101b, and platform support 101a is
Groove type structure, including upper face 101a-1, lower face 101a-2 and lateral plates 101a-3, upper face 101a-1 and lower face
101a-2 is horizontally disposed, and lateral plates 101a-3 is vertically arranged.Guide rod 101b is vertically fixed in platform support 101a, both ends difference
It is connect with upper face 101a-1 and lower face 101a-2, guide rod 101b is two total.
Power part 103 uses servo motor 103a, and is fixedly installed on the upper end of upper face 101a-1.Transmission parts
102 use lead screw 102a, and outer surface has screw thread, and respectively with upper face 101a-1 and lower face 101a-2 is vertical connect,
The upper end passes through upper face 101a-1 and connect with servo motor 103a, is driven by it control.Two in first compensating unit 100
Guide rod 101b and a lead screw 102a are with upper face 101a-1 and lower face 101a-2 is vertical connect, and spacing is equal.Guide rod
The connection of 101b is that fixation is non-rotatable, and the connection of lead screw 102a is thrust bearing formula, can with servo motor 103a around
Axle center is rotated.
Second compensating unit 200 includes platform assembly 201, compensation component 202, support member 203 and connector 204.It is flat
Platform component 201 includes upper mounting plate 201a and lower platform 201b, and lower platform 201b is greater than upper mounting plate 201a, and is set to lower section.Even
Fitting 204 uses Hooke's hinge 204a, and is fixed on the inside of platform assembly 201.Support member 203 uses support post 203a,
Its lower end is vertically fixed on above lower platform 201b, and upper end is connected by Hooke's hinge 204a with upper mounting plate 201a.Compensation component
202 use servo electric jar 202a, and altogether there are two, both ends pass through Hooke's hinge 204a and upper mounting plate 201a and lower platform
201b is respectively perpendicular connection.The node connecting with Hooke's hinge 204a can carry out a degree of rotation.201 inside of platform assembly
Distributing position on upper mounting plate 201a and lower platform 201b of two servo electric jar 202a and a support post 203a
Establish on the certain circumference of diameter.Detection unit 300 is mounted on lower face using micro- inertial navigation sensor 301
The upper surface of 101a-2, is independently arranged.
In the present embodiment, the first compensating unit 100 and the second compensating unit 200 pass through under the second compensating unit 200
Platform 201b is attached.Specifically, lower platform 201b an edge process three holes, respectively with guide rod 101b and lead screw
102a is connected.Lower platform 201b and the connection of two guide rod 101b are not fixed, and lower platform 201b can be on guide rod 101b track
It is free to slide, and the hole inner wall that lower platform 201b is connect with lead screw 102a has screw thread, screw thread specification and the surface lead screw 102a
Screw thread matches mutually, and mutual cuttage forms transmission group, when servo motor 103a is rotated with lead screw 102a, silk
Rotation also can be passed to lower platform 201b and entire second compensating unit 200 by screw thread by thick stick 102a, and forms of motion is by revolving
It walks around and turns to linear motion.
Referring to Fig.1,2 and 5, it is second embodiment of the invention, which is different from one embodiment: surveying
Deep instrument 400 is installed on the second compensating unit 200.Main structure of the present invention includes the first compensating unit 100, and the first compensation is single
Member 100 includes support component 101, transmission parts 102 and power part 103, and power part 103 is set to support component 101
Top, the both ends of transmission parts 102 are connected with support component 101.Second compensating unit 200, with the first compensating unit 100
Transmission connection, including platform assembly 201, compensation component 202, support member 203 and connector 204, the both ends of compensation component 202
It is connected by connector 204 with platform assembly 201, the both ends of support member 203 are connected with platform assembly 201 respectively.Also
Including detection unit 300, detection unit 300 is connected with support component 101.
In the present embodiment, related second compensating unit 200 of entire first compensating unit 100 is mounted on hull, with flat
The lower face 101a-2 of platform bracket 101a is as the contact surface connecting with hull.Sounding instrument 400 is mounted on the second compensating unit 200
It above, mainly include GPS antenna 402 and energy converter 403.Specifically, the upper mounting plate 201a of the second compensating unit 200 and lower flat
Platform 201b has processed a circular hole, and the diameter of lower circular hole is greater than upper circular hole, and the center location of two circular holes is mutually opposite
It answers, line is just vertical direction, and mounting rod 401 can be inserted vertically into two circular holes, meanwhile, sounding instrument 400 passes through mounting rod
401 are mounted in hole.GPS antenna 402 is mounted on the top of upper mounting plate 201a by mounting rod 401, and energy converter 403 passes through peace
Dress bar 401 is mounted on the lower section of lower platform 201b.When carrying out operation, energy converter 403 centainly needs to be placed in water, guarantees transducing
The drinking water depth of device 403 is suitable, meanwhile, the mounting rod 401 that energy converter 403 connects needs to guarantee perpendicular to horizontal plane, this is just needed
Want the adjusting of active wave compensating device.
Referring to Fig. 2, the overall structure side view of the active compensation device of sounding instrument is applied to for third embodiment of the invention
Figure, the embodiment are different from second embodiment: this embodiment mainly solves the first compensating unit 100 and second
The connection and transmission problem of compensating unit 200, specifically, the present invention is driven by servo motor 103a and servo electric jar 202a
Mode carry out power transmission.Main structure of the invention includes the first compensating unit 100, and the first compensating unit 100 includes branch
Support component 101, transmission parts 102 and power part 103, power part 103 are set to the top of support component 101, driving section
The both ends of part 102 are connected with support component 101.Second compensating unit 200 is sequentially connected with the first compensating unit 100, packet
Platform assembly 201 is included, compensation component 202, support member 203 and connector 204, the both ends of compensation component 202 pass through connector
204 are connected with platform assembly 201, and the both ends of support member 203 are connected with platform assembly 201 respectively.It further include that detection is single
Member 300, detection unit 300 is connected with support component 101.
In the present embodiment, the first compensating unit 100 and the second compensating unit 200 pass through under the second compensating unit 200
Platform 201b is attached.Specifically, lower platform 201b an edge process three holes, respectively with guide rod 101b and lead screw
102a is connected.Lower platform 201b and the connection of two guide rod 101b are not fixed, natural and without under other restrained conditions, lower platform
201b can be free to slide on guide rod 101b track, and the connection of lower platform 201b and lead screw 102a is driven type, connection
Hole inner wall have screw thread, the screw thread matches mutually of screw thread specification and the surface lead screw 102a, and mutual cuttage is formed and is driven
Group.It, can be with servo since the connection of guide rod 101b is that fixation is non-rotatable, and the connection of lead screw 102a is thrust bearing formula
Motor 103a is rotated around axle center.When servo motor 103a is rotated with lead screw 102a, lead screw 102a can will also turn
Dynamic to pass to lower platform 201b and entire second compensating unit 200 by screw thread, forms of motion is straight line fortune by translating rotation
It is dynamic, to control the adjustment up and down of entire second compensating unit 200.
The invention further relates to a kind of methods of active compensation of undulation applied to sounding instrument, are as shown in Figure 6,7 the present invention
The 4th embodiment comprising following steps:
Step 1: micro- inertial navigation sensor 301 measures the ship rolling as caused by stormy waves, pitching and heave attitude data.
Step 2: the attitude data measured is by communication real-time Transmission to motion controller.
Step 3: motion controller calculated according to anti-resolving Algorithm rolling, pitching and the heave of ship offset and
By the variation of data on these data couplings heave direction.
Step 4: calculated data are converted into signal instruction and real-time Transmission to servo motor 103a and servo electric jar
202a。
Step 5: servo electric jar 202a compensates rolling, pitching, and servo motor 103a drives lead screw 102a to liter
It is heavy to compensate.
The second compensating unit 200 is only used for the rolling of compensation hull, pitching in the present invention, therefore only needs very little
Servo electric jar 202a stroke can realize the compensation to hull rolling, pitching, and the size of such compensation device is smaller, be convenient for
It carries and installs, and is highly reliable；And heave direction and servo motor 103a and the combination of lead screw 102a is then used to compensate, this
The miniaturization of compensation device may be implemented in the structure of sample and compensation control, while improving reliability；Pass through servo electric jar 202a
With the collective effect of servo motor 103a and lead screw 102a, the sounding instrument 400 being mounted on platform vertical-horizontal always can be allowed
Position, to achieve the purpose that reduce, cost, to improve system stability, dependable with function wide.
The present invention carries out power transmission by way of servo motor 103a and servo electric jar 202a transmission, and system needs
The AC power source of 380V provides power, and power driven system schematic diagram is as shown in fig. 6, two electric cylinder servo motors 14 control two respectively
A servo electric jar 202a, servo motor 103a control lead screw 102a；By upper mounting plate 201a wave realization to hull rolling,
The compensation that direction is heaved to hull is realized in the compensation of pitching by the movement of lead screw 102a.
As shown in fig. 7, measuring the athletic posture data of ship waved, the appearance that will be measured using micro- inertial navigation sensor 301
State data are by communication real-time Transmission to controller；Controller finds out ship rolling, pitching and the benefit of heave according to anti-resolving Algorithm
Value is repaid, the signal of offset is carried out D/A switch and is transferred to servo-driver by servo amplifier by control system, by servo
The corresponding two servo electric jar 202a's of driver control moves to compensate rolling, the pitching of ship；By servo-drive
Device controls the movement of corresponding servo motor 103a driving lead screw 102a to compensate the heave movement of ship.
The common motion state of hull is roughly divided into following several: it waves, heave, waving and above compound motion,
Just the present invention explains to the compensation principle of common three kinds of motion states of hull below:
When hull is by rolling or pitching, micro- inertial navigation sensor 301 detects the motion state of hull, leads to
The anti-solution operation for crossing control system, the digital signal after processing realize the control to servo electric jar 202a by driver
System, be mainly shown as servo electric jar 202a rock and the variation of lead screw 102a length, pass through the swing of upper mounting plate 201a
Realize the compensation waved to hull.
When hull is by heave movement, micro- inertial navigation sensor 301 detects the motion state of hull, passes through control and is
The anti-solution operation of system, the digital signal after processing realize the control to servo motor 103a, main table by driver
The movement of existing lead screw 102a realizes the compensation heaved to hull by the up and down motion of lower platform 201b.
When the coupled motions that hull is moved by roll and pitch, micro- inertial navigation sensor 301 detects the movement of hull
State, by the anti-solution operation of control system, the digital signal after processing is realized by driver to servo electric jar
The control of 202a, be mainly shown as servo electric jar 202a rock and the variation of lead screw 102a length, pass through upper mounting plate
The compensation waved to hull is realized in the swing of 201a.Simultaneously because coupled motions will generate the variation in heave direction, by processing
Digital signal later realizes that the control to servo motor 103a, the main movement for showing lead screw 102a pass through by driver
The compensation heaved to hull is realized in the up and down motion of lower platform 201b.
When coupled motions of the hull by rolling, pitching and heave movement, micro- inertial navigation sensor 301 detects hull
Motion state, by the anti-solution operation of control system, the digital signal after processing is realized by driver to servo electricity
The control of dynamic cylinder 202a and servo motor 103a, be mainly shown as servo electric jar 202a rock and lead screw 102a length
Variation and the movement of lead screw 102a realize the compensation waved to hull by the swing of upper mounting plate 201a, pass through lower platform
The compensation heaved to hull is realized in the up and down motion of 201b, to realize the compensation to sounding instrument by wave effect, Neng Goushi
Now steady safe and efficient work.
The common motion state of hull is roughly divided into following several: it waves, heave, waving and above compound motion,
Just the present invention explains to the compensation principle of common three kinds of motion states of hull below:
When hull is by rolling or pitching, micro- inertial navigation sensor 301 detects the motion state of hull, main
If the angle change of rolling or pitching in micro- inertial navigation sensor, passes through the data of the real-time acquisition angles of control system and lead to
Operation is crossed, digital signal of these data after processing is realized into the control to servo electric jar 202a by driver,
It is mainly shown as the elongation and shortening of servo electric jar 202a, the benefit waved to hull is realized by the swing of upper mounting plate 201a
It repays.
When hull is by heave movement, micro- inertial navigation sensor 301 detects the motion state of hull, mainly micro- used
The variation of vertical displacement in derivative sensor, by the data of the real-time acquisition displacement of control system and by operation, by these
Digital signal of the data after processing realizes the control to servo motor 103a by driver, main to show lead screw 102a
Movement, the up and down motion for passing through lower platform 201b realizes the compensation that heaves to hull.
When the coupled motions that hull is moved by roll and pitch, micro- inertial navigation sensor 301 detects the movement of hull
State, the angle comprehensive change of roll and pitch in mainly micro- inertial navigation sensor, the real-time acquisition for passing through control system are horizontal
It shakes with the data of pitch angular and by operation, digital signal of these data after processing is passed through into driver realization pair
The control of servo electric jar 202a is mainly shown as the elongation and shortening of servo electric jar 202a, passes through the pendulum of upper mounting plate 201a
It is dynamic to realize the compensation waved to hull.Simultaneously because coupled motions will generate the variation in heave direction, by the number after processing
Word signal realizes that the control to servo motor 103a, the main movement for showing lead screw 102a pass through lower platform by driver
The compensation heaved to hull is realized in the up and down motion of 201b.
When coupled motions of the hull by rolling, pitching and heave movement, micro- inertial navigation sensor 301 detects hull
Motion state, the angle comprehensive change of roll and pitch in mainly micro- inertial navigation sensor pass through adopting in real time for control system
Collect the data of roll and pitch angle and heave displacement and pass through operation, by digital signal of these data after processing
The control to servo electric jar 202a and servo motor 103a is realized by driver, is mainly shown as servo electric jar 202a's
Elongation and shortening and the variation of lead screw 102a length and the movement of lead screw 102a, pass through the swing realization pair of upper mounting plate 201a
The compensation that hull waves realizes the compensation heaved to hull by the up and down motion of lower platform 201b, to realize to sounding instrument
By the compensation of wave effect, steady safe and efficient work can be realized.
It is the 5th embodiment of the invention referring to Fig. 8~17, which is different from above-described embodiment: described the
The intermediate position of two compensating units 200 is provided with overhead component 500, and 500 middle of overhead component, which is run through, vertical channel T.
In the present invention, overhead component 500 is primarily served the upper mounting plate 201a and lower platform of the second compensating unit 200
The effect that 201b is shored, to the disassembly of the second compensating unit 200, maintenance and Hooke's hinge 204a or servo electric jar
The replacement of 202a.Referring to Fig. 8 it is found that overhead component 500 is arranged between upper mounting plate 201a and lower platform 201b, further,
Overhead component 500 is fixedly mounted on the upper surface of lower platform 201b, and is located at the center of lower platform 201b, faces flat
The hole of platform 201a and the center lower platform 201b.Meanwhile overhead component 500 is in contact with the lower surface of upper mounting plate 201a, but simultaneously
Unlocked connection, only contacts.
The whole external structure profile of overhead component 500 is generally cylindrical.It is logical with vertical inside in longitudinal direction
Road T.The inner diameter size of channel T is identical as the hole size of upper mounting plate 201a and the center lower platform 201b, and face normal thereto,
Connection is formed, to install and place mounting rod 401.500 main structure of overhead component includes outer body shell 501, power transmission component
502, pressure transmission part 503 and press part 504.Pressure transmission part 503 and press part 504 are set to the inside of outer body shell 501, power transmission component
502 main part is set to the outside of outer body shell 501.
Specifically, as illustrated in fig. 9 or 10, power transmission component 502 has manufacture pressure in the present invention, internal pressure transmission is pushed
Part 503 generates the effect of displacement upwards.Power transmission component 502 includes fixed link 502a, revolving part 502b, extensible member 502c and press
502d.Fixed link 502a is generally cylindric, and one end is vertically fixed on lower platform 201b, and the side of the other end is set for one week
It is equipped with the screw thread of a segment length, such as Figure 11.The external overall profile of revolving part 502b is also cylindric, but internal with connection
Construction, be the intermediate connecting part for being connected and fixed bar 502a and extensible member 502c.Such as Figure 12, the lower end of revolving part 502b towards
Sunken inside has the cylindrical grooves of certain depth, is the first groove 502b-1, and inner wall has screw thread, this is threadedly engaged in above-mentioned
The screw thread of the upper end fixed link 502a, and the upper end of the first groove 502b-1 and fixed link 502a of revolving part 502b by each other it
Between screw thread be attached.The upper end of revolving part 502b also has groove simultaneously, is the second groove 502b-2 but port thereon
Width is less than lower port.Such as Figure 13, one end of extensible member 502c, which has, to be matched in the upper second groove 502b-2 of revolving part 502b
The profile of portion's structure is first end 502c-1, and the structure of first end 502c-1 and the internal structure of the second groove 502b-2 are mutual
Corresponding cooperation, and extensible member 502c is attached by first end 502c-1 and revolving part 502b.Meanwhile extensible member 502c
The other end is second end 502c-2, and second end 502c-2 offers the gap F of one fixed width and length, gap F in lateral direction penetrating
Two halves are divided by second end 502c-2 to two buses by certain diameter institute in cylindrical cross-section.And in second end 502c-2
In range and perpendicular to through-hole K is offered in the transverse direction of gap F, through-hole K is circle, since gap F is to second end 502c-2's
Segmentation, there are two through-hole K tools.Such as Figure 14, the global shape of tip layering 502d is the strip of arc, has certain thickness, and
Thickness is slightly less than the width of gap F, with guarantee tip layering 502d can intercalation in the F of gap.One end of tip layering 502d has
The hole of strip carries out hinged with the through-hole K of the upper end extensible member 502c.The other end of tip layering 502d passes through outer body shell 501
On communication port L protrude into inside outer body shell 501, contacted with the bottom of pressure transmission part 503.Communication port L is long round shape, perpendicular to
Lower platform 201b setting.Further, tip layering 502d partially intermediate position is additionally provided with a circular hole, to outer body shell
The side wall of communication port L carries out hinged on 501.
In the present embodiment, overhead component 500 includes pressure transmission part 503, as the intermediate body portions of Figure 15, pressure transmission part 503 are divided into
Hollow cylinder, boring part are a part of above-mentioned channel T.Two ends of pressure transmission part 503 are bigger convex of outer diameter
Discoid out, equally there is also hollow channel T.Further, the lower surface of 503 lower end of pressure transmission part, which is provided with, corresponds to press
The width of the sliding slot H of 502d, sliding slot H are slightly larger than the thickness of tip layering 502d, and the tip layering of outer body shell 501 is protruded into one end
The end of 502d is against sliding slot H, with guarantee tip layering 502d end can in sliding slot H it is free to slide.
It is noted herein that the tip layering 502d in each power transmission component 502 corresponds to a sliding slot H in the present invention,
Therefore the quantity of power transmission component 502 is identical as the quantity of sliding slot H.Meanwhile in practical applications, power transmission component 502 and sliding slot H
Quantity it is unrestricted, can rationally be changed according to actual needs.Therefore, power transmission group shown in the present embodiment respective figure
Part 502 and sliding slot H only for convenience of this example demonstrates that and show, but can not limit the scope of the invention, in reality
During production is used, multiple power transmission components 502 and sliding slot H with the use of also within the scope of the present invention.
Overhead component 500 further includes press part 504, and such as Figure 16, the intermediate body portion of press part 504 is also hollow cylinder
Shape, inside are similarly a part of channel T.The upper end size phase of the size of 504 intermediate body portion of press part and pressure transmission part 503
Together, and the lower end of press part 504 is connected with pressure transmission part 503, and upper end has the bigger protrusion of outer diameter discoid, and size is greater than outer
The sectional dimension of body shell 501, and it is erected at the upper end of outer body shell 501.It the upper surface of press part 504 can directly and upper mounting plate
The lower surface of 201a is contacted, but is not fixed connection.It is noted herein that: when the servo electricity of the second compensating unit 200
When dynamic cylinder 202a is set as initial shortest length, overhead component 500 is just simultaneously and positioned at upper mounting plate 201a and lower platform
201b contact.Since the lower end of overhead component 500 is fixed on lower platform 201b, press part 504 is just touched at this time
The lower surface of upper mounting plate 201a can so guarantee that overhead component 500 will not influence servo-electric when idle
Cylinder 202a's is normal flexible.Further, the screw thread in the fixed link 502a and lower end revolving part 502b the first groove 502b-1
Segment length is equal, and is all larger than servo electric jar 202a and reaches longest entire length, can guarantee that overhead component 500 has in this way
There is bigger use scope.
In the present embodiment, pressure transmission part 503 and press part 504 are vertically being connected to each other, and central passage T corresponds to each other.Pressure transmission
The outside of part 503 and press part 504 is coated with outer body shell 501.The generally hollow cylindrical of outer body shell 501, lower end is fixed
In the upper surface of lower platform 201b.Upper end frame is equipped with press part 504.The position of the centre portion of outer 501 inside of body shell has outer
Convex W is matched with the Outside Dimensions of the intermediate body portion of pressure transmission part 503.Since 503 both ends outer diameter of pressure transmission part is larger,
The evagination W thickness of outer 501 inner sidewall of body shell is bigger than the wall thickness of outer 501 main body of body shell.By Figure 10 or 17 it is found that pressure transmission part 503 exists
In the case where not working normally, the upper end is erected at the upper end evagination W, and the length of evagination W is less than the intermediate host of pressure transmission part 503
Partial length can so guarantee that pressure transmission part 503 has certain displacement space along the vertical direction of evagination W.
In the present invention, revolving part 502b is rotated, due to the effect of screw thread, extensible member 502c is moved down, and also drives top
The outer end of press strip 502d moves down.Since the centre of tip layering 502d and the side of communication port L in outer body shell 501 are cut with scissors
It connects, therefore, the one end of tip layering 502d inside outer body shell 501 is upwarped.And the inner end tip layering 502d is against pressure transmission part 503
Sliding slot H in, the end tip layering 502d upwarped in sliding slot H have outward generate displacement trend, and push pressure transmission part 503
Entirety moves up.In the present invention, the upper end of pressure transmission part 503 is arranged in press part 504, and therefore, mobile pressure transmission part 503 pushes away
Dynamic press part 504 realizes the effect shored so that press part 504 directly generates squeezing action to upper mounting plate 201a.
It should be understood that this application is not limited to details or method illustrating in the following description or illustrating in figure.
It will also be appreciated that wording used by herein and term are only for the purpose of description and are not considered as limitation.
It is important that, it should be noted that the construction and arrangement of the application shown in multiple and different exemplary implementation schemes is only
It is illustrative.Although several embodiments are only described in detail in this disclosure, refering to the personnel of the displosure content
It should be easily understood that many changes under the premise of substantially without departing from the novel teachings and advantage of theme described in this application
Type is possible (for example, the size of various elements, scale, structure, shape and ratio and parameter value are (for example, temperature, pressure
Deng), mounting arrangements, the use of material, color, the variation of orientation etc.).It can be by more for example, being shown as integrally formed element
A part or element are constituted, and the position of element can be squeezed or change in other ways, and the property or number of discrete component
Or position can be altered or changed.Therefore, all such remodeling are intended to be comprised in the scope of the present invention.It can be according to replacing
The embodiment in generation changes or the order or sequence of resequence any process or method and step.In the claims, any " dress
Set plus function " clause be intended to and be covered on the structure described herein for executing the function, and it is equivalent to be not only structure
It but also is equivalent structure.Without departing from the scope of the invention, can exemplary implementation scheme design, operation
Other replacements are made in situation and arrangement, remodeling, are changed and are omitted.Therefore, the present invention is not limited to specific embodiments, and
It is to extend to a variety of remodeling still fallen within the scope of the appended claims.
In addition, all spies of actual implementation scheme can not be described in order to provide the terse description of exemplary implementation scheme
Sign is (that is, with execution those incoherent features of optimal mode of the invention for currently considering, or in realizing that the present invention is incoherent
Those features).
It should be understood that in the development process of any actual implementation mode, it, can such as in any engineering or design object
A large amount of specific embodiment is made to determine.Such development effort may be complicated and time-consuming, but for those benefits
For the those of ordinary skill of the displosure content, do not need excessively to test, the development effort will be one design, manufacture and
The routine work of production.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferable
Embodiment describes the invention in detail, those skilled in the art should understand that, it can be to technology of the invention
Scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in this hair
In bright scope of the claims.
Claims (8)
1. a kind of active wave compensating device applied to sounding instrument, it is characterised in that: including,
First compensating unit (100), including support component (101), transmission parts (102) and power part (103), the power
Component (103) is set to the top of the support component (101), the both ends of the transmission parts (102) with the support group
Part (101) is connected；The support component (101) includes platform support (101a) and guide rod (101b), the platform support
(101a) includes upper face (101a-1), lower face (101a-2) and lateral plates (101a-3), the both ends of the guide rod (101b)
It is connected respectively with the upper face (101a-1) and the lower face (101a-2)；
Second compensating unit (200), including platform assembly (201), compensation component (202) and support member (203), the compensation
The both ends of component (202) and the support member (203) are connected with the platform assembly (201) respectively, the platform assembly
(201) it is connected by the support component (101) and transmission parts (102) with first compensating unit (100)；It is described
Platform assembly (201) includes upper mounting plate (201a) and lower platform (201b), and three holes are arranged in the lower platform (201b), respectively
It is sheathed on the guide rod (101b) and the transmission parts (102)；
Detection unit (300) is set to the inside of first compensating unit (100)；And
Overhead component (500) has vertical inner passage (T) in longitudinal direction, and the overhead component (500) is fixedly mounted
In the upper surface of lower platform (201b), and it is located at the center of lower platform (201b), faces upper mounting plate (201a) He Xiaping
The hole at the center platform (201b), the overhead component (500) are in contact with the lower surface of upper mounting plate (201a)；
The overhead component (500) includes outer body shell (501), power transmission component (502), pressure transmission part (503) and press part (504),
The pressure transmission part (503) and press part (504) are set to the inside of the outer body shell (501), and the power transmission component (502) includes
Fixed link (502a), revolving part (502b), extensible member (502c) and tip layering (502d), one end tool of the tip layering (502d)
There is the hole of strip, carried out hingedly with the through-hole (K) of the upper end extensible member (502c), the other end of the tip layering (502d) is logical
It is internal that the communication port (L) crossed on outer body shell (501) protrudes into the outer body shell (501), and with the bottom of the pressure transmission part (503) into
Row contact.
2. being applied to the active wave compensating device of sounding instrument as described in claim 1, it is characterised in that: the transmission parts
(102) use lead screw (102a), and respectively with the upper face (101a-1) and the lower face (101a-2) is vertical connect,
Upper end passes through the upper face (101a-1) and connect with the power part (103), is driven by it control.
3. being applied to the active wave compensating device of sounding instrument as claimed in claim 2, it is characterised in that: the compensation component
(202) there are two, both ends pass through connector (204) and the upper mounting plate (201a) and lower platform (201b) is vertical connects
It connects.
4. being applied to the active wave compensating device of sounding instrument as claimed in claim 3, it is characterised in that: the support member
(203) lower end is vertically fixed on the lower platform (201b), and upper end passes through the connector (204) and the upper mounting plate
(201a) is connected.
5. being applied to the active wave compensating device of sounding instrument as claimed in claim 4, it is characterised in that: the support member
(203) being distributed in diameter on the platform assembly (201) surface with the compensation component (202) is on certain circumference.
6. being applied to the active wave compensating device of sounding instrument as claimed in claim 5, it is characterised in that: the upper mounting plate
Aperture is distinguished in the center of (201a) and the lower platform (201b), and the center of circle corresponds to vertically, and sounding instrument (400) passes through mounting rod
(401) it is mounted in hole.
7. being applied to the active wave compensating device of sounding instrument as claimed in claim 6, it is characterised in that: the detection unit
(300) micro- inertial navigation sensor (301) is used, and is mounted on the upper surface of the lower face (101a-2).
8. it is a kind of the use as claimed in claim 7 in the active compensation of undulation method of the active wave compensating device of sounding instrument,
It is characterized by comprising the following steps:
Step 1: micro- inertial navigation sensor (301) measurement ship rolling as caused by stormy waves, pitching and heave attitude data；
Step 2: the attitude data measured is by communication real-time Transmission to motion controller；
Step 3: motion controller calculates the offset of rolling, pitching and the heave of ship according to anti-resolving Algorithm and by this
The variation of data on a little data coupling heaves direction；
Step 4: calculated data are converted into signal instruction and real-time Transmission is to the power part (103) and the compensation
Component (202)；
Step 5: the compensation component (202) compensates rolling, pitching, and the power part (103) drives the lead screw
(102a) compensates heave.
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| CN201711103089.4A CN107878702B (en) | 2017-11-10 | 2017-11-10 | A kind of active wave compensating device and method applied to sounding instrument |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263825A (en) * | 2018-08-06 | 2019-01-25 | 江苏科技大学 | A kind of active heave compensation device and method applied to cruiseway measurement |
| CN108820131B (en) * | 2018-08-27 | 2023-12-08 | 中交海洋建设开发有限公司 | Marine wave active compensation device for underwater measurement |
| CN109664280A (en) * | 2018-12-27 | 2019-04-23 | 贵州大学 | A kind of control device and method of Rosa roxburghii Tratt detection system |
| CN110260110B (en) * | 2019-06-27 | 2021-11-05 | 上海海事大学 | Six-degree-of-freedom series-parallel platform for wave compensation |
| CN110834698A (en) * | 2019-09-27 | 2020-02-25 | 北京航天控制仪器研究所 | Unmanned water surface measuring system with load measuring stable platform |
| DE102020109341B3 (en) * | 2020-04-03 | 2021-07-01 | FoMa Systems GmbH | Stabilization device and method for stabilizing a fastening component |
| CN111605674A (en) * | 2020-05-22 | 2020-09-01 | 中国船舶重工集团公司第七0四研究所 | Three-degree-of-freedom swing compensation device applied to inland waterway measurement system |
| CN115806025B (en) * | 2023-02-03 | 2023-05-16 | 淄博市水利勘测设计院有限公司 | Unmanned ship for water power mapping and application method thereof |
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