CN212980466U - Posture adjusting platform for two-degree-of-freedom camera and sonar - Google Patents
Posture adjusting platform for two-degree-of-freedom camera and sonar Download PDFInfo
- Publication number
- CN212980466U CN212980466U CN202020875944.4U CN202020875944U CN212980466U CN 212980466 U CN212980466 U CN 212980466U CN 202020875944 U CN202020875944 U CN 202020875944U CN 212980466 U CN212980466 U CN 212980466U
- Authority
- CN
- China
- Prior art keywords
- push rod
- platform
- sonar
- unmanned ship
- slider
- 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
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model provides an unmanned on-board two degree of freedom cameras and for sonar attitude adjustment platform, including platform main part (11), horizontal pole (12), back push rod (13), back push rod (14), preceding push rod (15), preceding push rod (16), inertial sensor (U4) and crank double slider mechanism, a serial communication port, unmanned ship bow open and have the trap that link up from top to bottom, the trap upper end opening is opened, the sonar kuppe is sealed for the lower extreme opening, platform main part (11) be long tubular structure and vertically be located the trap among, platform main part (11) install through the bearing horizontal pole (12) on, horizontal pole (12) pass the center of mass of platform main part (11), platform main part (11) are opened the guide slot that has vertical direction from top to bottom. The utility model discloses an attitude adjustment platform simple structure, reaction rate are fast, can be connected the platform main part of unmanned ship camera, underwater detection sonar and the motion state of the remote arm of steering wheel, make attitude stabilization platform carry out the rapid compensation to the roll of steering bringing.
Description
Technical Field
The utility model belongs to the technical field of electronic equipment gesture is stable, concretely relates to unmanned on-board two degree of freedom cameras and for sonar gesture adjustment platform.
Background
As a common water surface navigation carrier, unmanned ships are being widely applied to the fields of water environment monitoring, underwater topography and landform exploration and the like. In order to ensure the smooth proceeding of monitoring and exploration tasks, the unmanned ship needs to carry a camera, an underwater detection sonar and other devices, and in order to enable the unmanned ship to still maintain a good working state under the interference of wave flow, an attitude stabilizing platform provided with the camera, the underwater detection sonar and other devices is required.
In the attitude stabilization platform in the prior art, a gyroscope and an acceleration sensor are generally adopted to acquire the attitude of the platform, and then mechanical compensation is carried out to realize stabilization. However, unmanned ships equipped with cameras, underwater sonar detectors and other devices are affected by waves and instability of the unmanned ships when sailing on the water surface of rivers, lakes and oceans, and the common civil attitude stabilization technology is difficult to be applied to severe working conditions of unmanned ship sailing. The unmanned ship is generally small in tonnage, and relatively large in swing angle and relative heave distance caused by rolling or steering relative to the water surface wave condition. In the prior art, a camera stabilizing platform applied to a ship is also provided, but the camera stabilizing platform is not suitable for a small unmanned ship or a large ship; or adopts a multi-degree-of-freedom tripod head with complex structure technology, and has high cost and low reaction speed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a two degree of freedom cameras and for sonar attitude adjustment platform, simple structure, reaction rate are fast, can be applied to the attitude stabilization platform of devices such as unmanned ship camera, underwater detection sonar, are connected the motion state of the distant arm of platform main part and steering wheel, make attitude stabilization platform carry out the rapid compensation to the roll of steering bringing. Meanwhile, the lifting device is arranged to compensate the heave of the unmanned ship, so that accurate work of the ship-mounted image head and the underwater detection sonar is guaranteed.
The specific technical proposal of the utility model is a posture adjusting platform for unmanned shipborne two-degree-of-freedom camera and sonar, which comprises a platform main body, a cross bar, a rear upper push rod, a rear lower push rod, a front upper push rod and a crank double-slider mechanism, and is characterized in that,
the stem of the unmanned ship is provided with a trap which is communicated up and down, the upper end opening of the trap is open, the lower end opening is sealed by a sonar air guide sleeve,
the cylinder body bottom end covers of the rear upper push rod, the rear lower push rod, the front lower push rod and the front upper push rod are fixedly arranged on the hull of the unmanned ship, the front lower push rod and the front upper push rod are vertically symmetrical and are positioned at the front end of the trap pointing to the bow, the rear upper push rod and the rear lower push rod are vertically symmetrical and are positioned at the rear end of the trap pointing to the stern, the front lower push rod and the front upper push rod are symmetrical with the rear lower push rod and the rear upper push rod in the transverse section of the unmanned ship, the piston center lines of the front lower push rod and the front upper push rod are collinear and are positioned in the longitudinal section of the unmanned ship, the piston center lines of the rear lower push rod and the rear upper push rod are collinear and are positioned in the longitudinal section of the unmanned,
one end of the cross bar is fixedly installed with the free ends of the pistons of the front lower push rod and the front upper push rod, the other end of the cross bar is fixedly installed with the free ends of the pistons of the rear lower push rod and the rear upper push rod, the center line of the cross bar is positioned on the intersection line of the longitudinal section and the horizontal section in the unmanned ship,
the platform main body is a long cylindrical structure and is vertically positioned in the enclosure well, the platform main body is arranged on the cross rod through a bearing, the cross rod passes through the mass center of the platform main body, the platform main body is provided with guide grooves in the vertical direction,
the double-slider crank mechanism comprises a first slider, a rocker and a second slider, wherein the first slider is positioned in a guide groove of the platform main body, the second slider is connected with a rocker of an operation rudder of the unmanned ship, the second slider is driven by the rocker to do linear reciprocating motion, and the rockers are respectively hinged on the first slider and the second slider.
Furthermore, the underwater sonar detection device further comprises a camera and an underwater sonar, wherein the camera is installed at the upper end of the platform body and is exposed out of the purse seine, and the underwater sonar is installed at the lower end of the platform body and is positioned on the sonar air guide sleeve.
The beneficial effects of the utility model are that 1) the posture adjusting platform of the utility model has the advantages that the platform main body is connected with the motion state of the rocker arm of the steering engine, so that the posture stabilizing platform can quickly compensate the rolling caused by steering, and the mechanical compensation mode avoids the problem of algorithm non-convergence caused by the fact that the rolling angle is too large and exceeds the measurement threshold value of the inertial sensor; 2) the electric push rod in the vertical direction is arranged, so that the sinking and floating of the unmanned ship can be compensated; 3) the compensation mechanism for the unmanned ship pitching in the multi-degree-of-freedom platform in the prior art is omitted, the unmanned ship pitching angle is relatively small, the swinging period is long, and the camera, underwater detection sonar and other equipment carried by the unmanned ship also have self-stabilizing devices, so that the compensation significance for the unmanned ship pitching is not great, and the attitude adjustment platform and the mounting structure are complex and high in cost.
Drawings
Fig. 1 is a schematic view of an unmanned ship on which the attitude adjustment platform for a two-degree-of-freedom camera and sonar of the present invention is installed;
fig. 2 is a three-dimensional schematic view of the posture adjustment platform for the two-degree-of-freedom camera and the sonar of the present invention;
fig. 3 is a schematic working diagram of the posture adjustment platform for the two-degree-of-freedom camera and the sonar according to the present invention;
fig. 4 is a schematic diagram of a module structure of the posture adjustment platform for the two-degree-of-freedom camera and the sonar according to the present invention;
in the figure, a posture adjusting platform 1, a platform body 11, a cross bar 12, a rear upper push rod 13, a rear lower push rod 14, a front lower push rod 15, a front upper push rod 16, a camera 17, an underwater sonar 18,
the unmanned ship comprises a ship body 2, a control rudder 3 and a propeller 4.
Detailed Description
The following structural description and the accompanying drawings further describe the specific technical scheme of the invention.
As shown in the attached drawing 1, carry on the unmanned ship who carries the posture adjustment platform for two degree of freedom cameras and sonar of the utility model, unmanned ship bow open and to have the trap that link up from top to bottom, the trap upper end opening is opened, the lower extreme opening is sealed with the sonar kuppe. The rudder 3 and the propeller 4 are manipulated to achieve motion control of the unmanned ship.
As shown in the attached drawing 2, the posture adjusting platform for the two-degree-of-freedom camera and the sonar of the utility model comprises a platform main body 11, a cross rod 12, a rear upper push rod 13, a rear lower push rod 14, a front lower push rod 15, a front upper push rod 16, a crank double-slider mechanism, a camera 17 and an underwater sonar 18. The rear upper push rod 13, the rear lower push rod 14, the front lower push rod 15 and the front upper push rod 16 are electric push rods. The camera 17 and the underwater sonar 18 are respectively installed on the upper and lower ends of the body platform main body 11. The crossbar 12 passes through the geometric center of the platform body 11 and is rotatably coupled to the platform body 11 through a bearing. The crank double-slider mechanism comprises a first slider, a rocker and a second slider, wherein the first slider is positioned in a guide groove of the platform main body 11, the second slider is connected with a rocker of the control rudder 3 of the unmanned ship, the second slider is driven by the rocker to do linear reciprocating motion, and the rockers are respectively hinged on the first slider and the second slider. By controlling the steering engine U3, the platform main body 11 can be controlled to rotate around the axis of the cross rod 12. Four electric push rods are arranged at two ends of the cross rod 12, namely a rear upper push rod 13, a rear lower push rod 14, a front lower push rod 15 and a front upper push rod 16, the rear upper push rod 13 and the front upper push rod 16 keep synchronous motion, and the extension displacement of the rear upper push rod 13 and the front upper push rod 16 is equal to the retraction displacement of the rear lower push rod 14 and the front lower push rod 15. The crossbar 12 can be moved up and down in the vertical direction by manipulating 4 electric pushrods. And cylinder body mounting bases of the rear upper push rod 13, the rear lower push rod 14, the front lower push rod 15 and the front upper push rod 16 are fixedly mounted in the unmanned ship body 2 and provide support for the cross rod 12.
As shown in fig. 3, since the posture of the cross bar 12 is fixed by the electric push rod rear lower push rod 14, the rear upper push rod 13, the front upper push rod 16 and the front lower push rod 15, when the steering engine U3 controls the rocker arm thereof to rotate, a rotation angle (denoted as α) is generated between the platform body 11 and the vertical axis Y of the axis X of the cross bar 12. Therefore, by adjusting alpha, the Y-axis angular offset generated by the rolling of the unmanned ship can be corrected. For example, the control surface of the control rudder 3 of the unmanned ship turns to the starboard, the bow of the unmanned ship deflects to the starboard, and the hull 2 of the unmanned ship rolls to the starboard due to the action of centrifugal force. At this time, the platform main body 11 is driven by the crank double-slider mechanism through the action of the rocker arm of the control rudder 3, so that the rolling towards the starboard caused by the rightward steering of the unmanned ship is counteracted. When the unmanned ship sinks and floats under the action of sea waves, the inertial sensor U4 detects the upper displacement b and the lower displacement b of the platform main body 11, compensation quantity can be calculated through the existing algorithm, the rear lower push rod 14, the rear upper push rod 13, the front upper push rod 16 and the front lower push rod 15 of the electric push rod are controlled, the displacement of the cross rod 12 on the Y axis is adjusted, and the Y axis displacement generated by the unmanned ship during the rising and the sinking can be corrected.
As shown in fig. 4, the steering engine controller U2 is used to control the steering engine U3 and also drive the platform main body 11 to rotate relative to the cross bar 12. The push rod controller U5 is used for completing the synchronous control of the electric push rod rear lower push rod 14, rear upper push rod 13, front upper push rod 16 and front lower push rod 15. The inertial sensor U4 may be installed in the platform body 11 or in the unmanned ship hull 2, or may directly call the data of the unmanned ship motion sensor to reflect the attitude of the platform body 11 in real time. The unmanned ship MCU 1 resolves the heave state of the platform main body 11 by analyzing the attitude information returned by the inertial sensor U4, and issues an operation command to the push rod controller U5 so as to realize the control of the longitudinal position distance of the platform main body 11. Motion compensation using inertial sensors is a well-known prior art.
Although the present invention has been described in connection with the preferred embodiments, the embodiments are not intended to limit the present invention. Any equivalent changes or modifications made without departing from the spirit and scope of the present invention also belong to the protection scope of the present invention. The scope of protection of the invention should therefore be determined with reference to the claims that follow.
Claims (2)
1. An unmanned ship-borne two-degree-of-freedom camera and sonar attitude adjustment platform comprises a platform main body (11), a cross rod (12), a rear upper push rod (13), a rear lower push rod (14), a front lower push rod (15), a front upper push rod (16) and a crank double-slider mechanism, and is characterized in that,
the bow of the unmanned ship is provided with a trap which is communicated up and down, the upper end opening of the trap is open, the lower end opening is sealed by a sonar air guide sleeve,
the cylinder body bottom end covers of the rear upper push rod (13), the rear lower push rod (14), the front lower push rod (15) and the front upper push rod (16) are fixedly installed on the hull (2) of the unmanned ship, the front lower push rod (15) and the front upper push rod (16) are vertically symmetrical and are positioned at the front end of the fore-bow pointing direction of the well, the rear upper push rod (13) and the rear lower push rod (14) are vertically symmetrical and are positioned at the rear end of the stern pointing direction of the well, the front lower push rod (15) and the front upper push rod (16) are symmetrical with the rear lower push rod (14) and the rear upper push rod (13) in the cross section of the unmanned ship, the piston center lines of the front lower push rod (15) and the front upper push rod (16) are collinear and positioned in the longitudinal section of the unmanned ship, the piston center lines of the rear lower push rod (14) and the rear upper push rod (13) are collinear and positioned in the longitudinal section of,
one end of the cross bar (12) is fixedly installed with the free ends of the pistons of the front lower push rod (15) and the front upper push rod (16), the other end of the cross bar (12) is fixedly installed with the free ends of the pistons of the rear lower push rod (14) and the rear upper push rod (13), the center line of the cross bar (12) is positioned on the intersection line of the longitudinal section and the horizontal section in the unmanned ship,
the platform main body (11) is of a long cylindrical structure and is vertically positioned in the trap, the platform main body (11) is arranged on the cross rod (12) through a bearing, the cross rod (12) penetrates through the mass center of the platform main body (11), the platform main body (11) is provided with a guide groove in the vertical direction,
the crank double-slider mechanism comprises a first slider, a rocker and a second slider, the first slider is located in a guide groove of the platform main body (11), the second slider is connected with a rocker of an operation rudder (3) of the unmanned ship, the second slider is driven by the rocker to do linear reciprocating motion, and the rockers are respectively hinged to the first slider and the second slider.
2. The unmanned ship-borne two-degree-of-freedom camera and sonar attitude adjustment platform according to claim 1, further comprising a camera (17) and an underwater sonar (18), wherein the camera (17) is mounted at an upper end of the platform body (11) and exposed outside the enclosure, and the underwater sonar (18) is mounted at a lower end of the platform body (11) and located above a sonar dome.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020875944.4U CN212980466U (en) | 2020-05-22 | 2020-05-22 | Posture adjusting platform for two-degree-of-freedom camera and sonar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020875944.4U CN212980466U (en) | 2020-05-22 | 2020-05-22 | Posture adjusting platform for two-degree-of-freedom camera and sonar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212980466U true CN212980466U (en) | 2021-04-16 |
Family
ID=75421001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020875944.4U Active CN212980466U (en) | 2020-05-22 | 2020-05-22 | Posture adjusting platform for two-degree-of-freedom camera and sonar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212980466U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516809A (en) * | 2020-05-22 | 2020-08-11 | 中国船舶重工集团公司第七0四研究所 | Posture adjusting platform for two-degree-of-freedom camera and sonar |
-
2020
- 2020-05-22 CN CN202020875944.4U patent/CN212980466U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516809A (en) * | 2020-05-22 | 2020-08-11 | 中国船舶重工集团公司第七0四研究所 | Posture adjusting platform for two-degree-of-freedom camera and sonar |
| CN111516809B (en) * | 2020-05-22 | 2022-07-22 | 中国船舶重工集团公司第七0四研究所 | Posture adjusting platform for two-degree-of-freedom camera and sonar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109367729B (en) | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface | |
| CN106240774A (en) | A kind of unmanned boat and system | |
| CN109131801A (en) | The voluntary recall device and control method of the complete deep unmanned submersible in sea | |
| CN210235286U (en) | Rudderless underwater unmanned underwater vehicle with propeller structure | |
| CN110386238A (en) | A kind of complete extra large depth ARV underwater robot structure | |
| CN113104153B (en) | Marine transfer trestle wave compensation control system and working method thereof | |
| CN103612728A (en) | Underwater three-dimensional detection gliding robot | |
| CN1640765A (en) | Semi-independent submersible device | |
| CN106628076A (en) | Revolving-ring underwater glider | |
| CN108375625B (en) | Jacket corrosion detection equipment without magnetic field interference and corrosion detection method | |
| CN111268071A (en) | Split towing cable type water surface-underwater unmanned aircraft | |
| CN212980466U (en) | Posture adjusting platform for two-degree-of-freedom camera and sonar | |
| CN109895041A (en) | A kind of boat-carrying serial-parallel mirror stabilized platform | |
| CN115535148A (en) | Marine robot with hydrofoil regulation and energy supply functions and working method thereof | |
| CN109956020A (en) | Agricultural unmanned aerodynamic ship and air navigation aid with laser assisted navigation system | |
| CN108058797A (en) | A kind of more body cruise systems of the miniature formula that snorkels towards the underwater topography measurement of islands and reefs | |
| CN110683025A (en) | Ocean current driven anchor mooring type long-endurance glider | |
| CN114771772A (en) | Underwater fishing device integrating vision and force sense mechanical arm | |
| CN113335480A (en) | Intelligent underwater robot with umbilical cable based on Beidou positioning | |
| CN111516809B (en) | Posture adjusting platform for two-degree-of-freedom camera and sonar | |
| CN117022578A (en) | Self-adaptive control method and realization device for wave-resistant stability-increasing hydrodynamic force of high-speed ship | |
| CN208993903U (en) | The voluntary recall device of Quan Haishen unmanned submersible | |
| CN213354801U (en) | Three-revolving-body combined autonomous underwater vehicle | |
| CN210307677U (en) | Shipborne serial-parallel series-parallel stable platform | |
| CN111846133A (en) | Two-stage stability-increasing unmanned water platform and using method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |