Laser range finder stabilized platform used for vessel with single degree of freedom and its control method

Abstract

The invention provides a laser range finder stabilized platform used for a vessel with single degree of freedom and its control method. The laser range finder stabilized platform comprises a machinery support, a navigation attitude sensor, a servo driven controller, a servo motor, a photoelectric encoder and a laser range finder; the machinery support comprises an external support and an internal support, the external support and the internal support are rotationally connected by a transmission shaft; the external support is arranged on the vessel, the navigation attitude sensor is fixed on the external support, the servo motor is arranged on the external support and connected with the internal support through the transmission shaft, the laser range finder is arranged on the internal support, the photoelectric encoder enables coaxial arrangement with the servo motor; the attitude signals from the vessels enable real time acquisition by the navigation attitude sensor and then are input in the servo driven controller, the photoelectric encoder enables real time monitoring of the servo motor rotation angle information and makes a feedback to the servo control driver; a PID regulator is provided in the servo driven controller, the received the signal by the navigation attitude sensor and the feedback signal of the photoelectric encoder can control the rotation of the driving motor through the output signal treated by the PID regulator.

Description

technical field [0001] The invention relates to a stable platform, more specifically to a stable platform for a single-degree-of-freedom marine laser range finder. Background technique [0002] Salvage at sea is a by-product of the maritime industry and other maritime activities. Shipping is a high-risk industry. Where there is shipping, there is a shipwreck, and when there is a shipwreck, there is a demand for rescue at sea. Due to the complex and harsh sea environment, ship accidents occur frequently, so salvage at sea has become particularly important. [0003] The most important thing in sea rescue is the rescue of wrecked ships. Due to the influence of factors such as wind, waves, and currents, it is difficult for the lifeboat to maintain accurate positioning with the wrecked ship in the water, and it can only be positioned by relative dynamic positioning. The relative dynamic positioning technology enables the dynamic positioning ship to follow the ship in distress ...

AI Technical Summary

Problems solved by technology

[0004] Real-time detection of the azimuth and distance of a shipwrecked ship at sea by using a laser range finder is one of the important means to effectively implement maritime rescue operations, but the large-angle tilting motion of the rescue ship caused by harsh sea conditions makes it difficult for the ranging sensor to effectively capture the target, and The loss of the target for a long time will inevitably lead to the failure of the rescue ship to track the lost target or maintain relative positioning with the target

[0005] Vehicle-mounted camera stabilization platform (CN101872198A), aerial photography stabilization platform (CN101619971A), radar antenna stabilization platform (CN2204069Y) and other patent documents are mostly vehicle-mounted and airborne stabilization platforms, most of which use high-precision gyroscopes, potentiometers, etc. as measuring components , the price is expensive; the load carried is larger than that of the laser rangefinder, and the influence of multiple degrees of freedom must be considered at the same time, and the design structure is complex

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