Auxiliary stabilizing device for measuring equipment of small-sized surveying and mapping unmanned boat and auxiliary stabilizing method

A technology of measuring equipment and unmanned boats, which is applied in the direction of measuring devices, surveying and navigation, ships, etc., can solve problems such as measurement errors and affect measurement accuracy, and achieve the effects of avoiding delay errors, improving measurement accuracy, and improving relative stability

Active Publication Date: 2019-05-28
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the small size and light weight of the unmanned boat, it is easy to cause the hull to shake when it is disturbed by wind and waves. There will be a certain angle between the result and the actual situation, which will cause measurement errors and affect the measurement accuracy. Therefore, how to improve the measurement accuracy of the ship-borne measurement equipment is one of the challenges faced in marine surveying and mapping when the shaking of the hull of the unmanned boat cannot be avoided. important question

Method used

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  • Auxiliary stabilizing device for measuring equipment of small-sized surveying and mapping unmanned boat and auxiliary stabilizing method
  • Auxiliary stabilizing device for measuring equipment of small-sized surveying and mapping unmanned boat and auxiliary stabilizing method
  • Auxiliary stabilizing device for measuring equipment of small-sized surveying and mapping unmanned boat and auxiliary stabilizing method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as Figure 1-3 The shown auxiliary stabilizing device for a small-scale surveying and mapping unmanned boat measuring equipment includes an electric push rod 2 connected in rotation with the unmanned boat, and the bottom end of the electric push rod 2 is fixedly connected with the measuring equipment; When the attitude of the body changes, by applying reverse attitude adjustment to the electric push rod 2, the adjustment of the swing amplitude of the measuring equipment fixedly connected with the electric push rod 2 is realized, and the influence of the measuring equipment by the swing of the hull is reduced, so that the measuring equipment Always point vertically to the bottom of the sea, improving the relative stability of the measuring equipment, thereby improving the measurement accuracy of the measuring equipment.

[0031] The electric push rod 2 is provided with a first L-shaped push rod 3 consistent with the hull direction and a second L-shaped push rod 4 pe...

Embodiment 2

[0042] Such as Figure 4-6 As shown, when the crank rocker mechanism controls the first L-shaped push rod 3 to produce a linear motion along the linear linear bearing 8, the electric push rod 2 generates clockwise around the y-axis under the action of the first L-shaped push rod 3 direction, at this time, the stepper motor 16 controlling the second L-shaped push rod 4 is not started, the second L-shaped push rod 4 does not move, and is in a relatively static state. When rotating in the clockwise direction, the second Π-shaped stopper 6 fixed on the electric push rod 2 and the electric push rod 2 produce the same movement, because the second L-shaped push rod 4 and the second Π-shaped stopper 6 The sliding fit between them makes the second Π-shaped stopper 6 relatively slide relative to the stationary second L-shaped push rod 4, and in this process, the movement of the second L-shaped push rod 4 is not caused, that is, Realize the linear movement of the first L-shaped push rod...

Embodiment 3

[0045] Such as Figure 7 and Figure 8 As shown, the method for assisting stabilization by utilizing the auxiliary stabilization device of the above-mentioned small surveying and mapping unmanned ship surveying equipment includes the following steps:

[0046] S01: Making of the mapping table: in the static state of the hull, start the stepper motor 16 that controls the movement of the first L-shaped push rod 3, and use the first L-shaped push rod 3 to compare the front and rear of the electric push rod 2 relative to the hull The active force in the direction realizes the front and rear deflection of the electric push rod 2 relative to the hull, and records the rotation angle of the stepper motor 16 when the electric push rod 2 is deflected relative to the front and rear deflection angle of the boat body; the second L-shaped push rod 4 is started to control the movement The stepper motor 16 uses the force of the second L-shaped push rod 4 on the left and right direction of the...

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Abstract

The invention belongs to the technical field of unmanned boat surveying and mapping application, and particularly relates to an auxiliary stabilizing device for measuring equipment of a small-sized surveying and mapping unmanned boat and an auxiliary stabilizing method. The device comprises an electric push rod rotatably connected with the unmanned boat; the electric push rod is provided with a first L-shaped push rod body and a second L-shaped push rod body which are perpendicular to each other; crank rocker mechanisms are connected to the tail ends of the first L-shaped push rod body and thesecond L-shaped push rod body, and each crank rocker mechanism comprises a connecting rod and a rocker; a planetary gear set is connected to the bottom of each connecting rod; a hull is provided witha stepping motor connected with the planetary gear sets; each planetary gear set is provided with an angle sensor connected with the corresponding stepping motor; the hull is internally provided withan industrial personal computer connected with the angle sensors and the stepping motors, and the industrial personal computer is connected with an inertial navigation part in the hull. According tothe auxiliary stabilizing device, the rotation angles of the stepping motors are controlled by the industrial personal computer, the synchronous deviation of the measuring equipment due to the posturechange of the hull is eliminated, so that the measuring equipment always perpendicularly points to the sea bottom, and the relative stability of the measuring equipment is improved.

Description

technical field [0001] The invention belongs to the technical field of surveying and mapping applications of unmanned boats, and in particular relates to an auxiliary stabilization device and an auxiliary stabilization method for a small-scale surveying and mapping unmanned boat measurement equipment. Background technique [0002] Marine surveying and mapping is an important task for developing the marine industry and ensuring maritime navigation, and its results are widely used in various aspects of national defense construction, national economic construction and scientific research. In the field of marine surveying and mapping, traditional marine surveying and mapping mostly uses large manned surveying and mapping ships as carriers. In recent years, with the rapid development of unmanned boats, unmanned surveying and mapping boats have a tendency to continuously replace manned surveying and mapping boats for surveying and mapping in dangerous sea areas. Due to the fast a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C13/00B63B17/00G05D3/12
Inventor 谢少荣任杰烽彭艳蒲华燕柯俊李小毛罗均
Owner SHANGHAI UNIV
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