CN108820131B - Marine wave active compensation device for underwater measurement - Google Patents
Marine wave active compensation device for underwater measurement Download PDFInfo
- Publication number
- CN108820131B CN108820131B CN201810978999.5A CN201810978999A CN108820131B CN 108820131 B CN108820131 B CN 108820131B CN 201810978999 A CN201810978999 A CN 201810978999A CN 108820131 B CN108820131 B CN 108820131B
- Authority
- CN
- China
- Prior art keywords
- motor
- support
- control device
- instrument
- instrument cabin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000001133 acceleration Effects 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 101100491335 Caenorhabditis elegans mat-2 gene Proteins 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The utility model belongs to the technical field of underwater measurement of ships, and particularly provides an active compensation device for underwater measurement waves for ships, which comprises an upper fixing support, a lower fixing support, an instrument cabin support, lifting mechanisms, a traversing mechanism, a first motor, a second motor and a control device, wherein the instrument cabin support is hinged with the lifting mechanisms, the number of the lifting mechanisms is four, all the lifting mechanisms are uniformly distributed along the circumferential direction of the instrument cabin support, instrument cabins are arranged on the instrument cabin support, an acceleration sensor and a gyroscope sensor are arranged in the instrument cabins, and the first motor, the second motor, the acceleration sensor and the gyroscope sensor are electrically connected with the control device; the control device of the marine underwater wave measuring active compensation device receives the detection signal of the acceleration sensor to control the first motor to work and stop, and receives the detection signal of the gyroscope sensor to control the second motor to work and stop, so that the detection instrument in the instrument cabin is small in interference and accurate in measurement during work.
Description
Technical Field
The utility model belongs to the technical field of underwater measurement of ships, and particularly relates to an active compensation device for underwater measurement waves for ships.
Background
When the ship performs measurement operation on the sea, the ship is influenced by various marine environmental factors besides the propulsion motion generated by the propeller of the ship, including the combined action of wind, waves and currents, so that motions harmful to the stability of the ship, including motions of rolling, pitching, swaying, heave and the like, are generated.
Because the ship floats on the sea surface and is subjected to the combined action of wind, wave and current, the measurement activity on the ship is necessarily interfered to a certain extent. The underwater sonar, multi-beam and other devices fixed on the ship bottom plate are required to emit signals in a certain direction and angle at a certain depth, so that the devices are necessarily influenced by the motion of the ship, and if the motion is too large, the signal deviation is possibly too large, so that the measurement result has larger deviation. The existing measuring device is arranged on a ship bottom plate, and when the ship generates larger roll, pitch, sway or heave, the measuring device can necessarily move along with the ship body, and high-precision measurement is difficult to realize. Therefore, the device is designed to ensure that the position and the angle of the underwater measuring device are not changed along with the movement of the ship, thereby realizing the accurate measurement of the shipborne underwater measuring device fixed on the ship.
Disclosure of Invention
In order to solve the problems in the prior art, the utility model provides the active compensation device for the underwater measurement wave for the ship, which is developed aiming at the situation that the measurement is inaccurate due to the interference of wind, waves, currents and the like when the ship floats on the sea surface for measurement activities, has a simple and reasonable structure, and ensures that the measuring instrument is slightly interfered by the movement of the ship and is accurate in measurement.
The utility model is realized by the following technical scheme:
the utility model relates to a marine underwater wave measurement active compensation device which comprises an upper fixing support, a lower fixing support, instrument cabin supports, lifting mechanisms and transverse moving mechanisms, wherein two ends of each lifting mechanism are respectively connected with the upper fixing support and the lower fixing support, the instrument cabin supports are hinged with the lifting mechanisms, the number of the lifting mechanisms is four, and all the lifting mechanisms are uniformly distributed along the circumferential direction of the instrument cabin supports.
The device also comprises a first motor and a second motor, wherein the first motor drives the upper fixing support to transversely move through the transverse moving mechanism, and the second motor drives the instrument cabin support to lift through the lifting mechanism.
The intelligent instrument cabin is characterized by further comprising a control device, an instrument cabin is arranged on the instrument cabin support, an acceleration sensor and a gyroscope sensor are arranged in the instrument cabin, and the first motor, the second motor, the acceleration sensor and the gyroscope sensor are all electrically connected with the control device.
The acceleration sensor is used for detecting an acceleration signal of the ship and sending the acceleration signal to the control device, and the control device controls the first motor to work and stop by receiving the acceleration signal; the gyroscope sensor is used for detecting an inclination angle signal of the ship and sending the inclination angle signal to the control device, and the control device controls the second motor to work and stop by receiving the inclination angle signal.
The device comprises a control device, a lifting mechanism, a first encoder, a second encoder, a control device and a control device, wherein the control device is used for controlling the lifting mechanism to move in the vertical direction, the control device is used for controlling the lifting mechanism to move in the horizontal direction, the control device is used for controlling the lifting mechanism to move in the vertical direction, and the control device is used for controlling the lifting mechanism to move in the horizontal direction.
The lifting mechanism comprises a screw rod and a ball nut in transmission fit with the screw rod, the upper end of the screw rod is in running fit with the upper fixing support, the lower end of the screw rod is in running fit with the lower fixing support, and the instrument capsule support is hinged with the ball nut.
The instrument cabin support is annular, four telescopic rods are arranged on the peripheral wall of the instrument cabin support, the telescopic rods are hinged with the ball nuts, and the telescopic direction of each telescopic rod is consistent with the radial direction of the joint of the telescopic rod and the instrument cabin support.
The transverse moving mechanism comprises a transverse moving track, a gear and a rack, wherein the gear is arranged on an output shaft of the first motor, the rack is arranged on the transverse moving track, and the gear is in transmission fit with the rack.
Further, the upper fixing support is of a rectangular frame structure, the four sides of the upper fixing support are respectively provided with a first lug plate, the first lug plates are provided with first bearings, and the upper ends of the screws are in running fit with the first bearings.
Further, the number of the transverse moving tracks is two, the two transverse moving tracks are arranged in parallel, at least two traveling wheel sets are further arranged on two opposite sides of the upper fixing support, each traveling wheel set comprises two traveling wheels which coaxially rotate, and the two traveling wheels of each traveling wheel set are in rolling fit with the two transverse moving tracks respectively.
Further, the number of the walking wheel sets is two, the two walking wheel sets are respectively arranged at two ends of the walking direction of the upper fixing support, a limiting wheel set is further arranged between the two walking wheel sets, the limiting wheel set comprises two coaxially rotating limiting wheels, the two limiting wheels are respectively arranged at the outer sides of the two transverse moving tracks, and the lower ends of the limiting wheels are lower than the transverse moving tracks.
Further, the lower fixed support is circular, four second otic placodes are arranged on the peripheral wall of the lower fixed support, the four second otic placodes are evenly distributed along the circumference of the lower fixed support, second bearings are arranged on the second otic placodes, and the lower ends of the screw rods are in rotary fit with the second bearings.
Further, the first motor and the second motor are both stepper motors.
Further, a connection lug plate and a junction box are arranged on the instrument cabin.
Based on the technical scheme, the utility model has the technical effects that:
the marine underwater wave measuring active compensation device is simple and reasonable in structure, the control device receives detection signals of the acceleration sensor and the gyroscope sensor to control the first motor and the second motor to work and stop, the transverse moving mechanism drives the upper fixing support to transversely move so as to enable the instrument cabin support to transversely move for correction, four lifting mechanisms are used for respectively lifting or descending the front, rear, left and right directions of the instrument cabin support, and the four lifting mechanisms are used for simultaneously integrally lifting or descending the instrument cabin support for correction, so that the instrument cabin is adjusted to enable the instrument cabin to maintain a relatively stable state during measurement, and measurement accuracy is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of an active compensation device for marine underwater survey waves according to an embodiment of the present utility model;
FIG. 2 is an enlarged schematic view of an active compensation device for marine underwater survey waves according to an embodiment of the present utility model;
FIG. 3 is a front cross-sectional view of an upper stationary bracket of a marine underwater survey wave active compensation apparatus according to an embodiment of the present utility model;
FIG. 4 is a top view of the upper stationary bracket of the marine underwater survey wave active compensation apparatus of the present utility model;
FIG. 5 is a schematic view of the structure of the lower fixing bracket of the marine underwater wave active compensation device of the present utility model;
FIG. 6 is a schematic structural view of an instrument pod bracket of the marine underwater wave active compensation device of the present utility model;
fig. 7 is a schematic structural view of an instrument pod of the active compensation device for underwater wave measurement for a ship according to the present utility model.
In the figure:
1-an upper fixing bracket, 1 a-a first lug plate and 1 b-a first bearing; 2-a lower fixing bracket, 2 a-a second ear plate, 2 b-a second bearing; 3-instrument pod support, 3 a-telescopic rod, 3 b-ball nut; 4-a screw; 5-a first motor; 6-traversing the track; 7-gear; 8-racks; 9-a second motor; 10-a gear box; 11-instrument pod, 11 a-connection ear plate; 12-an acceleration sensor; 13-a gyroscopic sensor; 14-travelling wheels; 15-limiting wheels; 17-a first encoder; 18-a second encoder; 19-junction box; 20-hull moon pool.
Detailed Description
In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, based on the examples herein, which are within the scope of the utility model as defined by the claims, will be within the scope of the utility model as defined by the claims.
The front, rear, left, right, upper and lower azimuth concepts presented in the present utility model are based on the corresponding front, rear, left, right, upper and lower azimuth concepts of the marine underwater wave measuring active compensation device shown in fig. 1. Specifically, the left side and the right side of the marine underwater wave measuring active compensation device shown in fig. 1 are taken as the left side and the right side, one end of the marine underwater wave measuring active compensation device which is shown to be deep into the paper surface is taken as the front, and one end of the marine underwater wave measuring active compensation device which is shown to be far away from the paper surface is taken as the rear; the upper part of the displayed marine underwater measuring wave active compensation device is taken as the upper part, and the lower part of the displayed marine underwater measuring wave active compensation device is taken as the lower part.
Examples:
as shown in fig. 1 to 7, this embodiment provides a marine wave active compensation device for underwater measurement, which comprises an upper fixing support 1, a lower fixing support 2, an instrument cabin support 3, a lifting mechanism and a traversing mechanism, wherein two ends of the lifting mechanism are respectively connected with the upper fixing support 1 and the lower fixing support 2, the instrument cabin support 3 is hinged with the lifting mechanism, the number of the lifting mechanisms is four, and the four lifting mechanisms are uniformly distributed along the front, rear, left and right directions of the instrument cabin support 3.
The marine underwater wave measurement active compensation device of the embodiment further comprises a first motor 5 and a second motor 9, wherein the first motor 5 drives the upper fixed support 1 to transversely move through the transverse moving mechanism, and the second motor 9 drives the instrument cabin support 3 to lift through the lifting mechanism.
The marine underwater wave measurement active compensation device of the embodiment further comprises a control device, an instrument cabin 11 is arranged on the instrument cabin support 3, an acceleration sensor 12 and a gyroscope sensor 13 are arranged in the instrument cabin 11, and the first motor 5, the second motor 9, the acceleration sensor 12 and the gyroscope sensor 13 are electrically connected with the control device.
The acceleration sensor 12 is configured to detect an acceleration signal of a ship and send the acceleration signal to the control device, and the control device controls the operation and stop of the first motor 5 by receiving the acceleration signal; the gyro sensor 13 is used for detecting an inclination angle signal of the ship and transmitting the inclination angle signal to the control device, and the control device controls the operation and stop of the second motor 9 by receiving the inclination angle signal.
The marine underwater wave measuring active compensation device of the embodiment further comprises a first encoder 17 for monitoring the transverse movement amount and a second encoder 18 for monitoring the lifting amount, the number of the second encoders 18 is four, each lifting mechanism corresponds to one second encoder 18, and the first encoder 17 and the second encoder 18 are electrically connected with the control device.
The marine underwater wave measuring active compensation device of the embodiment has a simple and reasonable structure, the control device receives detection signals of the acceleration sensor 12 and the gyroscope sensor 13 to control the first motor 5 and the second motor 9 to work and stop, the first motor 5 drives the upper fixing support 1 to transversely move through the transverse moving mechanism so as to enable the instrument cabin support to transversely move for correction, the second motor 9 drives the four lifting mechanisms to respectively lift or descend the front, back, left and right directions of the instrument cabin support 3, the second motor 9 can also drive the four lifting mechanisms to simultaneously integrally lift or descend the instrument cabin support 3 for correction, the transverse moving correction is monitored through the first encoder 17, the vertical correction is monitored through the second encoder 18, so that the instrument cabin 11 can keep a relatively stable state during measurement, and the measurement accuracy is ensured.
Specifically, in this embodiment, the lifting mechanism includes a screw 4 and a ball nut 3b in driving fit with the screw 4, the upper end of the screw 4 is in running fit with the upper fixing support 1, the lower end of the screw 4 is in running fit with the lower fixing support 2, the cabin support 3 is hinged with the ball nut 3b, and when four lifting mechanisms lift or lower the front, rear, left and right directions of the cabin support 3 respectively, the cabin support 3 can be hinged with the ball nut 3b to perform angle compensation, so that the cabin support 3 can be inclined.
Specifically, in this embodiment, the sideslip mechanism includes sideslip track 6, gear 7 and rack 8, sideslip track 6 is fixed on the bulkhead of hull moon pool 20, sideslip track 6 is arranged along the width direction of boats and ships, gear 7 sets up on the output shaft of first motor 5, rack 8 sets up on sideslip track 6, gear 7 with rack 8 transmission cooperation, sideslip mechanism adopts rack and pinion drive mechanism transmission to stabilize.
When the marine underwater wave measuring active compensation device of the embodiment is specifically used, the four second motors 9 are controlled to rotate so that the instrument compartment support 3 moves to the lower limit, the travel distance between the upper limit and the lower limit of the instrument compartment support 3 is collected by the second encoder 18, the upper limit of the instrument compartment support 3 is lower than the upper end of the threaded section of the screw 4, the lower limit of the instrument compartment support 3 is higher than the lower end of the threaded section of the screw 4, and the instrument compartment support 3 can be still subjected to inclination adjustment during the upper limit or the lower limit. When the ship is rolling or pitching, the gyroscope sensor transmits the detected inclination angle signal of the ship to the control device, and the control device controls the second motor 9 to work, specifically:
when the ship tilts left, the control device controls the left second motor 9 to work, the left screw 4 rotates to drive the left side of the instrument cabin bracket 3 to move upwards, the control device controls the right second motor 9 to work, the right screw 4 rotates to drive the right side of the instrument cabin bracket 3 to move downwards, the tilting direction of the instrument cabin bracket 3 is opposite to the tilting direction of the ship, and when the instrument cabin bracket 3 is horizontal, the control device controls the two second motors 9 at the left side and the right side to stop working;
when the ship leans right, the control device controls the second motor 9 on the right side to work, the screw 4 on the right side rotates to drive the right side of the instrument cabin bracket 3 to move upwards, the control device controls the second motor 9 on the left side to work, the screw 4 on the left side rotates to drive the left side of the instrument cabin bracket 3 to move downwards, and when the instrument cabin bracket 3 is in a horizontal state, the control device controls the left and right second motors 9 to stop working;
when the ship leans forward, the control motor controls the front end and the rear end to work, the screw 4 at the front end rotates to drive the front end of the instrument cabin bracket 3 to move upwards, the screw 4 at the rear end rotates to drive the rear end of the instrument cabin bracket 3 to move downwards, and when the instrument cabin bracket 3 is horizontal, the front and rear two second motors 9 stop working;
when the ship leans backward, the control device controls the two second motors at the front end and the rear end to work, the screw 4 at the rear end rotates to drive the rear end of the instrument cabin support 3 to move upwards, the screw 4 at the front end rotates to drive the front end of the instrument cabin support 3 to move downwards, and when the instrument cabin support 3 is horizontal, the two second motors 9 at the front and the rear end stop working.
When the marine underwater wave measuring active compensation device is specifically used, when a ship is transversely swayed, the acceleration sensor transmits detected acceleration signals to the control device, the control device determines transverse displacement through the received acceleration signals, the control device controls the first motor 5 to work, the upper fixed support 1 moves and corrects along the transverse moving track 6, the moving direction of the upper fixed support 1 is opposite to the transverse swaying direction of the ship, the transverse moving correction detected by the first encoder 17 is compared with the transverse moving displacement determined by the control device, and when the transverse moving correction detected by the first encoder 17 is matched with the transverse moving displacement determined by the control device, the control device controls the first motor 5 to stop working;
when the ship generates heave, the acceleration sensor transmits the detected acceleration signal to the control device, the control device determines the lifting displacement or the descending displacement through the received acceleration signal, the heave of the ship is reversely compensated, the control device receives the acceleration signal and controls the four second motors 9 to work, the lifting instrument cabin support 3 is corrected at the same time or the descending instrument cabin support 3 is corrected at the same time, and when the second encoder 18 monitors that the vertical correction amount of the instrument cabin support 3 is matched with the lifting displacement or the descending displacement determined by the control device, the control device controls the second motors 9 to stop working, so that the influence of the heave of the ship on the measuring instrument is actively compensated.
The marine underwater wave measuring active compensation device of the embodiment is simple and reasonable in structure, the control device receives detection signals of the acceleration sensor 12 and the gyroscope sensor 13 to control the first motor 5 and the second motor 9 to work and stop, the instrument cabin support 3 can move and transversely move along the transverse moving track 6 through the upper fixing support 1, four screws 4 can rotate to lift or descend in four directions of the instrument cabin support 3, namely front, back, left and right directions, respectively, and the instrument cabin support 3 can be integrally lifted through the four screws 4, so that the instrument cabin 11 can be adjusted to keep horizontal during measurement and relatively stable during transverse or heave during measurement, and measurement accuracy is guaranteed.
In this embodiment, the lifting mechanism is a screw drive mechanism, and the traversing mechanism in this embodiment is a rack and pinion drive mechanism. It should be noted that, the lifting mechanism of the marine underwater wave measuring active compensation device in this embodiment may also adopt a rack and pinion transmission mechanism, and the traversing mechanism may also adopt a screw transmission mechanism, so long as the accurate and controllable traversing correction amount and vertical correction amount of the instrument cabin bracket 3 can be realized.
As a further improvement of this embodiment, as shown in fig. 6, the cabin support 3 is in a ring shape, four telescopic rods 3a are provided on the peripheral wall of the cabin support 3, the telescopic rods 3a are hinged with the ball nuts 3b, the telescopic direction of each telescopic rod 3a is consistent with the radial direction of the joint of the telescopic rod 3a and the cabin support 3, specifically, the telescopic rods 3a are arranged on the peripheral wall of the cabin support 3 in a penetrating manner and are in running fit with the peripheral wall of the cabin support 3, and the cabin support 3 is hinged with the ball nuts 3b by adopting the telescopic rods 3 a.
Based on the above structure, the marine underwater wave measuring active compensation device of the embodiment can independently control the forward and reverse rotation of a single screw 4 or a plurality of screws at the same time, so that the tilting direction of the instrument cabin bracket 3 is opposite to the tilting direction of the ship during rolling or pitching, and the displacement compensation and the angle compensation can be realized by adopting the telescopic rod 3a and the ball nut 3b for hinging when the instrument cabin bracket 3 is tilted.
As a further improvement of the present embodiment, as shown in fig. 3 and fig. 4, the upper fixing support 1 is of a rectangular frame structure, four sides of the upper fixing support 1 are respectively provided with a first ear plate 1a, the first ear plates 1a are provided with first bearings 1b, and the upper ends of the four screw rods 4 are respectively in running fit with the first bearings 1b on the four first ear plates 1 a.
As a further improvement of this embodiment, the number of the transverse moving tracks 6 is two, and two transverse moving tracks 6 are arranged in parallel, as shown in fig. 3 and fig. 4, at least two traveling wheel sets are further disposed on two opposite sides of the upper fixing support 1, each traveling wheel set includes two traveling wheels 14 that coaxially rotate, and the two traveling wheels 14 of each traveling wheel set are respectively in rolling fit with the two transverse moving tracks 6. In this embodiment, the cross section of the traversing rail 6 is a rectangular frame structure, the travelling wheel 14 is in rolling fit with the upper side wall of the traversing rail 6, and the rack 8 is disposed on the front side wall of the traversing rail 6.
As a further improvement of this embodiment, the number of the walking wheel sets is two, two the walking wheel sets are respectively provided at two ends of the walking direction of the upper fixing support 1, two the spacing wheel sets are further provided between the walking wheel sets, the spacing wheel sets include two coaxially rotating spacing wheels 15, two the spacing wheels 15 are respectively located at the outer sides of two traversing rails 6, the lower end of the spacing wheels 15 is lower than the traversing rails 6, and in the traversing process of the upper fixing support 1, the two spacing wheels 15 can prevent the upper fixing support 1 from separating from the traversing rails 6.
As a further improvement of this embodiment, as shown in fig. 5, the lower fixing support 2 is in a ring shape, four second lugs 2a are disposed on a peripheral wall of the lower fixing support 2, the four second lugs 2a are uniformly distributed along a circumferential direction of the lower fixing support 2, a second bearing 2b is disposed on the second lugs 2a, and a lower end of the screw 4 is in running fit with the second bearing 2 b.
As a further improvement of the present embodiment, the first motor 5 and the second motor 9 are both stepper motors, and the stepper motors have the advantages of instantaneous starting and quick stopping, and can accurately adjust the lateral movement correction amount and the vertical correction amount in real time.
As a further improvement of the present embodiment, as shown in fig. 7, the instrument pod 11 is provided with a connection lug plate 11a for connecting with the instrument pod holder 3 and a junction box 19, and the junction box 19 is a waterproof junction box.
As a further improvement of the present embodiment, the control device may be adaptively selected in an existing electrical controller, as long as it can precisely control the operation and stop of the first motor 5 and the second motor 9, and as a conventional option, the control device is a PLC controller.
In summary, the marine underwater wave active compensation device of the present embodiment performs real-time signal acquisition through the acceleration sensor 12 and the gyroscope sensor 13 and transmits the detected acceleration signal and the detected inclination angle signal to the control device, and the control device controls the operation and stop of the first motor 5 and the second motor 9 in real time according to the received acceleration signal and the received inclination angle signal, so that the instrument pod 11 performs lateral movement, overall vertical movement or forward, backward, leftward and rightward certain azimuth deflection, thereby performing reverse compensation on roll, pitch, roll and heave generated by the ship, the lateral movement correction is monitored through the first encoder 17, and the vertical correction is monitored through the second encoder 18, so that the instrument pod 11 can maintain a horizontal and relatively stable state, and the measurement accuracy of the measuring instrument in the instrument pod 3 is ensured.
The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model.
Claims (4)
1. An active compensation device for marine underwater wave measurement is characterized in that: the device comprises an upper fixing support (1), a lower fixing support (2), instrument cabin supports (3), lifting mechanisms and transverse moving mechanisms, wherein two ends of each lifting mechanism are respectively connected with the upper fixing support (1) and the lower fixing support (2), the instrument cabin supports (3) are hinged with the lifting mechanisms, the number of the lifting mechanisms is four, and all the lifting mechanisms are uniformly distributed along the circumferential direction of the instrument cabin supports (3);
the device also comprises a first motor (5) and a second motor (9), wherein the first motor (5) drives the upper fixed bracket (1) to transversely move through the transverse moving mechanism, and the second motor (9) drives the instrument cabin bracket (3) to lift through the lifting mechanism;
the device comprises a control device, wherein an instrument cabin (11) is arranged on an instrument cabin bracket (3), an acceleration sensor (12) and a gyroscope sensor (13) are arranged in the instrument cabin (11), and the first motor (5), the second motor (9), the acceleration sensor (12) and the gyroscope sensor (13) are electrically connected with the control device;
the acceleration sensor (12) is used for detecting an acceleration signal of the ship and sending the acceleration signal to the control device, and the control device controls the operation and the stop of the first motor (5) by receiving the acceleration signal;
the gyroscope sensor (13) is used for detecting an inclination angle signal of the ship and sending the inclination angle signal to the control device, and the control device controls the second motor (9) to work and stop by receiving the inclination angle signal;
the device further comprises a first encoder (17) for monitoring the transverse movement correction amount and a second encoder (18) for monitoring the vertical correction amount, wherein the number of the second encoders (18) is four, each lifting mechanism corresponds to one second encoder (18), and the first encoder (17) and the second encoder (18) are electrically connected with the control device;
the method is characterized in that: the lifting mechanism comprises a screw (4) and a ball nut (3 b) in transmission fit with the screw (4), the upper end of the screw (4) is in running fit with the upper fixed support (1), the lower end of the screw (4) is in running fit with the lower fixed support (2), and the instrument compartment support (3) is hinged with the ball nut (3 b);
the instrument cabin support (3) is in a circular shape, four telescopic rods (3 a) are arranged on the peripheral wall of the instrument cabin support (3), the telescopic rods (3 a) are hinged with the ball nuts (3 b), and the telescopic direction of each telescopic rod (3 a) is consistent with the radial direction of the joint of the telescopic rod and the instrument cabin support (3);
the transverse moving mechanism comprises a transverse moving track (6), a gear (7) and a rack (8), wherein the gear (7) is arranged on an output shaft of the first motor (5), the rack (8) is arranged on the transverse moving track (6), and the gear (7) is in transmission fit with the rack (8);
the upper fixing support (1) is of a rectangular frame structure, first lug plates (1 a) are respectively arranged on four sides of the upper fixing support (1), first bearings (1 b) are arranged on the first lug plates (1 a), and the upper ends of the screw rods (4) are in running fit with the first bearings (1 b);
the number of the transverse moving tracks (6) is two, the two transverse moving tracks (6) are arranged in parallel, at least two traveling wheel sets are further arranged on two opposite sides of the upper fixed support (1), each traveling wheel set comprises two traveling wheels (14) which coaxially rotate, and the two traveling wheels (14) of each traveling wheel set are respectively in rolling fit with the two transverse moving tracks (6);
the instrument cabin (11) is provided with a connecting lug plate (11 a) and a junction box (19).
2. The marine underwater survey wave active compensation apparatus of claim 1 wherein: the number of the walking wheel sets is two, the two walking wheel sets are respectively arranged at two ends of the walking direction of the upper fixing support (1), a limiting wheel set is further arranged between the two walking wheel sets, each limiting wheel set comprises two coaxially rotating limiting wheels (15), the two limiting wheels (15) are respectively arranged at the outer sides of the two transverse moving tracks (6), and the lower ends of the limiting wheels (15) are lower than the transverse moving tracks (6).
3. The marine underwater survey wave active compensation apparatus of claim 1 wherein: the lower fixing support (2) is circular, four second lug plates (2 a) are arranged on the peripheral wall of the lower fixing support (2), the four second lug plates (2 a) are uniformly distributed along the circumferential direction of the lower fixing support (2), second bearings (2 b) are arranged on the second lug plates (2 a), and the lower ends of the screw rods (4) are in running fit with the second bearings (2 b).
4. The marine underwater survey wave active compensation apparatus of claim 1 wherein: the first motor (5) and the second motor (9) are stepping motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978999.5A CN108820131B (en) | 2018-08-27 | 2018-08-27 | Marine wave active compensation device for underwater measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978999.5A CN108820131B (en) | 2018-08-27 | 2018-08-27 | Marine wave active compensation device for underwater measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108820131A CN108820131A (en) | 2018-11-16 |
| CN108820131B true CN108820131B (en) | 2023-12-08 |
Family
ID=64150769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810978999.5A Active CN108820131B (en) | 2018-08-27 | 2018-08-27 | Marine wave active compensation device for underwater measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108820131B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110032202A (en) * | 2019-04-19 | 2019-07-19 | 江苏科技大学 | A kind of dedicated monocycle controller of wave compensating device based on optical fiber inertial navigation |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB689682A (en) * | 1948-11-02 | 1953-04-01 | Louis Eugene Widolt Montrose O | Stabilising or anti-rolling equipment, particularly for ships |
| BE884373A (en) * | 1979-07-20 | 1981-01-19 | Roon Johannes Van | INRICHTING VAN EEN STUURHUIS |
| DE3309737A1 (en) * | 1983-03-18 | 1984-09-20 | Erno Raumfahrttechnik Gmbh, 2800 Bremen | DEVICE FOR EXACTLY POSITIONING AN OBJECT IN SPACE |
| JPH10119885A (en) * | 1996-10-15 | 1998-05-12 | Ishikawajima Harima Heavy Ind Co Ltd | Preventing device for hull |
| WO1999037533A1 (en) * | 1998-01-22 | 1999-07-29 | Siemens Aktiengesellschaft | Stabilising device for the movements of a ship |
| JP2004332890A (en) * | 2003-05-12 | 2004-11-25 | Mitsui Eng & Shipbuild Co Ltd | Hoisting device with vertical movement compensation function |
| CN201914437U (en) * | 2010-11-12 | 2011-08-03 | 武汉理工大学 | Underwater load balancing-locking device for fin-plate instrument cabin |
| ITVI20100093A1 (en) * | 2010-04-02 | 2011-10-03 | B Financial Srl | ACTIVE PLATFORM FOR LANDING A VEHICLE ON AN ACCESS INFRASTRUCTURE |
| CN102700680A (en) * | 2012-06-08 | 2012-10-03 | 中国神华能源股份有限公司 | Displacement pilot boat |
| CN103342312A (en) * | 2013-06-07 | 2013-10-09 | 武汉船用机械有限责任公司 | Horizontal control method and system of winch lifting platform |
| CN103954313A (en) * | 2014-04-09 | 2014-07-30 | 中国海洋大学 | Three-dimensional coordinate frame for wind-wave flume |
| CN105564610A (en) * | 2015-12-30 | 2016-05-11 | 浙江海洋学院 | Ship controller |
| KR200481512Y1 (en) * | 2016-02-29 | 2016-10-11 | 한국해양과학기술원 | Underwater camera cradle device for observation of the ice-hull interaction |
| CN106426027A (en) * | 2016-07-26 | 2017-02-22 | 五邑大学 | Multi-motor intelligent lifting worktable control system and method |
| CN107651108A (en) * | 2017-09-19 | 2018-02-02 | 河南工业大学 | A kind of Doppler's flow velocity section plotter draw off gear |
| CN107878702A (en) * | 2017-11-10 | 2018-04-06 | 江苏科技大学 | A kind of active wave compensating device and method applied to sounding instrument |
| CN108045499A (en) * | 2017-05-10 | 2018-05-18 | 哈尔滨工程大学 | A kind of wave Active Compensation system of hybrid mechanism |
| CN108177733A (en) * | 2017-12-22 | 2018-06-19 | 国家***第海洋研究所 | A kind of scientific surveying ship dedicated liftable fin system |
| EP3351973A1 (en) * | 2017-01-18 | 2018-07-25 | Qingdao Institute Of Marine Geology | Long-term seabed-based multi-point in-situ observation system |
| CN208897266U (en) * | 2018-08-27 | 2019-05-24 | 中交海洋建设开发有限公司 | Underwater measurement of ship wave active compensation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005301B (en) * | 2016-07-06 | 2017-09-15 | 河海大学 | A kind of ship draft detection apparatus and detection method |
-
2018
- 2018-08-27 CN CN201810978999.5A patent/CN108820131B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB689682A (en) * | 1948-11-02 | 1953-04-01 | Louis Eugene Widolt Montrose O | Stabilising or anti-rolling equipment, particularly for ships |
| BE884373A (en) * | 1979-07-20 | 1981-01-19 | Roon Johannes Van | INRICHTING VAN EEN STUURHUIS |
| DE3309737A1 (en) * | 1983-03-18 | 1984-09-20 | Erno Raumfahrttechnik Gmbh, 2800 Bremen | DEVICE FOR EXACTLY POSITIONING AN OBJECT IN SPACE |
| JPH10119885A (en) * | 1996-10-15 | 1998-05-12 | Ishikawajima Harima Heavy Ind Co Ltd | Preventing device for hull |
| WO1999037533A1 (en) * | 1998-01-22 | 1999-07-29 | Siemens Aktiengesellschaft | Stabilising device for the movements of a ship |
| JP2004332890A (en) * | 2003-05-12 | 2004-11-25 | Mitsui Eng & Shipbuild Co Ltd | Hoisting device with vertical movement compensation function |
| ITVI20100093A1 (en) * | 2010-04-02 | 2011-10-03 | B Financial Srl | ACTIVE PLATFORM FOR LANDING A VEHICLE ON AN ACCESS INFRASTRUCTURE |
| CN201914437U (en) * | 2010-11-12 | 2011-08-03 | 武汉理工大学 | Underwater load balancing-locking device for fin-plate instrument cabin |
| CN102700680A (en) * | 2012-06-08 | 2012-10-03 | 中国神华能源股份有限公司 | Displacement pilot boat |
| CN103342312A (en) * | 2013-06-07 | 2013-10-09 | 武汉船用机械有限责任公司 | Horizontal control method and system of winch lifting platform |
| CN103954313A (en) * | 2014-04-09 | 2014-07-30 | 中国海洋大学 | Three-dimensional coordinate frame for wind-wave flume |
| CN105564610A (en) * | 2015-12-30 | 2016-05-11 | 浙江海洋学院 | Ship controller |
| KR200481512Y1 (en) * | 2016-02-29 | 2016-10-11 | 한국해양과학기술원 | Underwater camera cradle device for observation of the ice-hull interaction |
| CN106426027A (en) * | 2016-07-26 | 2017-02-22 | 五邑大学 | Multi-motor intelligent lifting worktable control system and method |
| EP3351973A1 (en) * | 2017-01-18 | 2018-07-25 | Qingdao Institute Of Marine Geology | Long-term seabed-based multi-point in-situ observation system |
| CN108045499A (en) * | 2017-05-10 | 2018-05-18 | 哈尔滨工程大学 | A kind of wave Active Compensation system of hybrid mechanism |
| CN107651108A (en) * | 2017-09-19 | 2018-02-02 | 河南工业大学 | A kind of Doppler's flow velocity section plotter draw off gear |
| CN107878702A (en) * | 2017-11-10 | 2018-04-06 | 江苏科技大学 | A kind of active wave compensating device and method applied to sounding instrument |
| CN108177733A (en) * | 2017-12-22 | 2018-06-19 | 国家***第海洋研究所 | A kind of scientific surveying ship dedicated liftable fin system |
| CN208897266U (en) * | 2018-08-27 | 2019-05-24 | 中交海洋建设开发有限公司 | Underwater measurement of ship wave active compensation device |
Non-Patent Citations (1)
| Title |
|---|
| 液氧箱后底静应力测量***设计与应用;刘秀芳;自动化仪表;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108820131A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5072566B2 (en) | Tsunami and wave observation buoy | |
| KR101307454B1 (en) | Location tracking system and method for pan-tilt controlled underwater vehicle with ultrasonic transceiver | |
| US10011337B2 (en) | Water drone | |
| CN106240764A (en) | Compensation of undulation special purpose robot and compensation of undulation method | |
| CN113147291B (en) | Amphibious cross-medium unmanned vehicle | |
| CN106864708A (en) | Underwater operation robot and its control method that a kind of bionical knife edge leg of migration mixing is combined with omni-directional wheel | |
| CN215323203U (en) | Unmanned ship balance and remote visual monitoring device | |
| CN108820131B (en) | Marine wave active compensation device for underwater measurement | |
| JP2013141916A (en) | Underwater navigating body | |
| CN205203302U (en) | Three degree of freedom hydraulic drive heavy load stabilized platform | |
| JP2020536781A (en) | Azimuth thrusters, ships, floating platforms, submarines and submarines | |
| CN103144752A (en) | Underwater towed body with multiple degrees of manipulation freedom | |
| CN105173024A (en) | Three-freedom-degree hydraulic drive heavy load stabilizing platform | |
| CN214846387U (en) | Inspection robot capable of walking on pipeline center | |
| CN111284666A (en) | Submersible | |
| CN208897266U (en) | Underwater measurement of ship wave active compensation device | |
| CN215641838U (en) | Self-adjusting laser radar detector for ship berthing auxiliary system | |
| CN216660254U (en) | Automatic adjusting device for ship propeller thruster | |
| CN105775050A (en) | Automatic adjustment bed for ship | |
| CN114408143A (en) | Automatic adjusting device for ship propeller thruster and using method | |
| CN111791992A (en) | Integrated surveying and mapping ship based on Internet of things and system thereof | |
| CN221111840U (en) | Omnidirectional automatic inspection robot | |
| CN114111778B (en) | Stable platform of photoelectric detection device | |
| CN117246451B (en) | Anchor monitoring device for auxiliary monitoring and electronic anchor positioning method | |
| CN217022850U (en) | Underwater robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |