A three-degree-of-freedom tandem marine binocular wave measurement device

Abstract

This invention discloses a three-degree-of-freedom tandem binocular wave measurement device for marine applications, addressing the limitations of existing equipment for acquiring marine wave data, including constraints in communication and power supply, difficulties in deployment, maintenance, and retrieval, and limited wave data acquisition. The invention comprises a yaw joint module, a roll joint module, a pitch joint module, a camera module, and a base plate. The yaw joint module is mounted on the base plate, the roll joint module is mounted on the yaw joint module, the pitch joint module is mounted on the roll joint module, and the camera module is mounted at the end of the roll joint module platform. The yaw joint module compensates for the heading angle, the roll joint module compensates for the roll angle, and the pitch joint module compensates for the pitch angle. These three components are connected in series, providing a stable platform for the binocular wave measurement camera. This invention enables real-time and efficient acquisition of large amounts of wave data, providing crucial support for normal maritime operations.

Description

Technical Field

[0001] The invention relates to a wave measuring device, in particular to a three-degree-of-freedom serial-type marine binocular wave measuring device. Background Art

[0002] The marine hydrological and meteorological environment is complex and changeable. Real-time grasp of marine hydrological and meteorological data, especially wave data, is of great significance to the safe and smooth development of marine resource surveys and development, as well as marine navigation and patrol activities. At present, my country's observation of marine waves is mostly based on traditional buoys. Due to the limitations of communication and power supply, the deployment, maintenance and recovery of related equipment are difficult, and the wave data obtained is limited. Using offshore drilling platforms or ships as carriers to set up wave measuring devices for real-time marine wave observation will effectively solve the problems of existing wave measurement methods in communication and power supply. At the same time, the installation and subsequent operation and maintenance of the device are convenient, and a large amount of wave data can be obtained in real time and efficiently, providing important guarantees for the development of normal marine operations.

[0003] The purpose of the present invention is to develop a marine binocular wave measurement device for installation on a ship or an offshore platform, using a binocular vision camera to obtain wave data in real time. The binocular vision camera is installed at the end of a three-degree-of-freedom heavy-duty motion compensation platform to compensate for the angular displacement of the ship or offshore platform in the three directions of pitch, roll, and yaw, and provide a stable carrier for the binocular wave measurement vision camera. The three-direction rotation load is high, the speed is fast, the angle is large, and the structure is required to be compact. Commonly used schemes include series configuration and parallel configuration. The parallel configuration scheme has the advantages of large load capacity and high movement speed, but the movement range is small and the number of drives required is large. For high load requirements, the structure is complex and the outer envelope size is large. The series configuration scheme is easy to achieve compact structural design because there is no translation requirement, while meeting the requirements of large load, high speed, and high precision. Summary of the invention

[0004] The present invention provides a three-degree-of-freedom serial marine binocular wave measuring device to solve the problems that when obtaining marine wave data at sea, the communication and power supply of related equipment are limited, the deployment, maintenance and recovery are difficult, and the obtained wave data are limited.

[0005] A three-degree-of-freedom serial marine binocular wave measurement device comprises a yaw joint module, a roll joint module, a pitch joint module, a camera module and a base plate; the yaw joint module is mounted on the base plate, the roll joint module is arranged on the yaw joint module, the pitch joint module is arranged on the roll joint module, and the camera module is mounted on the end of the pitch joint module.

[0006] Furthermore, the yaw joint module includes a first stepper motor, a first reducer, a base, a first limit switch, a first bearing, a tray cover, a first rib support, a contact rod, a first sleeve flange and a right-angle bracket; the motor shaft of the first stepper motor is fixedly connected to the input shaft of the first reducer, the output shaft of the first reducer is key-connected to the first sleeve flange, and the first sleeve flange is fixedly installed on the first rib support; in addition, the first bearing is a slewing bearing, the first bearing sleeve is outside the first sleeve flange and is arranged between the tray cover and the first sleeve flange, the inner ring of the first bearing is fixedly connected to the first sleeve flange, the outer ring of the first bearing is fixedly connected to the tray cover, the first stepper motor is installed on the first reducer, the first reducer is installed on the tray cover, the tray cover is fixedly mounted on the upper end of the base, and the base is fixedly mounted on the bottom plate; there are two first limit switches, both of which are fixedly mounted on the tray cover, the contact rod is fixedly mounted on the right-angle bracket, and the right-angle bracket is fixedly mounted behind the first rib support.

[0007] Furthermore, the first rib support includes an L-shaped plate and a connecting sleeve, the upper end of the L-shaped plate is provided with an upper hole, and the connecting sleeve is arranged at the front end of the L-shaped plate and located at the upper hole.

[0008] Furthermore, the roll joint module includes a second stepper motor, a second reducer, a right-angle slat, a second limit switch, a first end cover, a second rib support, a second bearing, an elastic retaining ring for the first shaft and a second sleeve flange; the motor shaft of the second stepper motor is fixedly connected to the input shaft of the second reducer, the output shaft of the second reducer is key-connected to the second sleeve flange, and the second sleeve flange is fixedly installed to the second rib support; the second bearing is a deep groove ball bearing, two in number, the inner ring of the second bearing is sleeved on the outside of the second sleeve flange, and the outer ring of the second bearing is sleeved on the outside of the second sleeve flange The ring is installed in the connecting sleeve and the upper hole of the first rib support, the second bearing is positioned with the first shaft by the first end cover with an elastic retaining ring, the first shaft is arranged on the second sleeve flange with an elastic retaining ring, the first end cover is fixedly mounted on the end of the connecting sleeve, the second stepper motor is installed on the second reducer, the second reducer is installed on the first rib support, there are two second limit switches, both of which are fixedly mounted on the outside of the connecting sleeve of the first rib support, the right-angle strip is located between the two second limit switches, and the right-angle strip is fixedly mounted on the second rib support.

[0009] Furthermore, the second rib support includes a flange end plate and a support plate. The flange end plate and the support plate are vertically arranged. The flange end plate and the support plate are made in one piece. A mounting hole is arranged at the front end of the support plate.

[0010] Furthermore, the pitch joint module includes a right swing arm, a third stepper motor, a third reducer, a right return frame, a third bearing, a third bushing flange, a second end cover, a left return frame, a left swing arm, an elastic retaining ring for the second shaft and a third limit switch; the motor shaft of the third stepper motor is fixedly connected to the input shaft of the third reducer, the output shaft of the third reducer is key-connected to the third bushing flange, the left end of the third bushing flange is connected to the left return frame through a connecting element, the left end of the left return frame is connected to the left swing arm through a connecting element, the right end of the left return frame is connected to the right return frame through a connecting element, and the left end of the right swing arm is sleeved on the third stepper motor. The third bearing is a deep groove ball bearing, and there are two of them. The inner ring of the third bearing is sleeved on the outside of the third shaft sleeve flange, and the outer ring of the third bearing is installed in the mounting hole of the second rib support. The third bearing is positioned with the second shaft by an elastic retaining ring through the second end cover, and the second shaft is arranged on the third shaft sleeve flange with an elastic retaining ring. The second end cover is fixedly mounted on the left end of the support plate, and the third stepping motor is mounted on the third reducer, and the third reducer is mounted on the support plate; there are two third limit switches, and both of the two third limit switches are fixedly mounted on the back of the support plate.

[0011] Furthermore, the camera module includes a wave-measuring visual camera, an inertial navigation sensor and a GPS device; there are two wave-measuring visual cameras, which are respectively fixed at the ends of the right swing arm and the left swing arm, the inertial navigation sensor is installed on the left return frame, and there are two GPS devices, which are respectively fixed on the right swing arm and the left swing arm.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The three-degree-of-freedom serial-type marine binocular wave measurement device of the present invention has a yaw joint module to realize motion compensation of the heading angle, a roll joint module to realize motion compensation of the roll angle, and a pitch joint module to realize motion compensation of the pitch angle. The three are in a serial relationship, compensating for the angular displacement in the three directions of pitch, roll, and yaw, providing a stable carrier for the binocular wave measurement visual camera. The serial relationship makes the overall structure compact, meeting the requirements of large load, high speed, and high precision. The present invention has the advantages of convenient and fast communication, power supply, installation, and subsequent operation and maintenance, and can also obtain a large amount of wave data in real time and efficiently, providing important guarantees for the development of normal marine operations.

[0014] 2. The three-degree-of-freedom serial offshore binocular wave measuring device of the present invention uses an offshore drilling platform or a ship as a carrier, and is equipped with a wave measuring device to conduct real-time wave observation at sea, which will effectively solve the communication and power supply problems of existing wave measuring methods. At the same time, the installation and subsequent operation and maintenance of the device are convenient, and a large amount of wave data can be obtained in real time and efficiently, providing important guarantees for the development of normal offshore operations.

[0015] 3. The three-degree-of-freedom serial marine binocular wave measurement device of the present invention has a modular system design, which is convenient for carrying, assembly, maintenance and replacement; the system's low-frequency motion compensation of 0 to 0.5 Hz is satisfied through high-frequency active control, and the system positioning accuracy is better than ±0.1°. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front-view overall structural stereogram of the three-degree-of-freedom serial-type marine binocular wave measuring device of the present invention;

[0017] Figure 2 It is a rear-view overall structural stereogram of the three-degree-of-freedom serial-type marine binocular wave measuring device of the present invention;

[0018] Figure 3 It is a front view of the overall structure of the yaw joint module 1;

[0019] Figure 4 for Figure 3 Left view of

[0020] Figure 5 It is a front view of the overall structure of the roll joint module 2;

[0021] Figure 6 for Figure 5 Left view of

[0022] Figure 7 It is the front view of the pitch joint module 3;

[0023] Figure 8 for Figure 7 A local enlarged view of K;

[0024] Fig. 9 for Figure 3 A partial enlarged view of J;

[0025] Fig.10 It is a rear-view stereoscopic diagram of the overall structure of the pitch joint module 3 and the camera module 4.

[0026] Among them, 1. aviation joint module; 10. first stepper motor; 11. first reducer; 12. base; 13. first limit switch; 14. first bearing; 15. tray cover; 16. first rib support; 161. L-shaped plate; 162. connecting sleeve; 1611. upper hole; 17. contact rod; 18. first sleeve flange; 19. right-angle bracket; 2. roll joint module; 20. second stepper motor; 21. second reducer; 22. right-angle strip; 23. second limit switch; 24. first end cover; 25. second rib support; 251. flange end plate ; 252, support plate; 2521, mounting hole; 26, second bearing; 27, elastic retaining ring for shaft; 28, second sleeve flange; 3, pitch joint module; 30, right swing arm; 31, third stepping motor; 32, third reducer; 33, right return frame; 34, third bearing; 35, third sleeve flange; 36, second end cover; 37, left return frame; 38, left swing arm; 39, elastic retaining ring for second shaft; 3A, third limit switch; 4, camera module; 40, wave vision camera; 41, inertial navigation sensor; 42, GPS device; 5, bottom plate. DETAILED DESCRIPTION

[0027] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0028] like Figure 1 and Figure 2 As shown, the present invention provides a three-degree-of-freedom serial marine binocular wave measuring device, which comprises a yaw joint module 1, a roll joint module 2, a pitch joint module 3, a camera module 4 and a bottom plate 5; the yaw joint module 1 is mounted on the bottom plate 5, the roll joint module 2 is arranged on the yaw joint module 1, the pitch joint module 3 is arranged on the roll joint module 2, and the camera module 4 is mounted at the end of the pitch joint module 3. The yaw joint module 1 is used to realize the motion compensation of the heading angle, the roll joint module 2 is used to realize the motion compensation of the roll angle, and the pitch joint module 3 is used to realize the motion compensation of the pitch angle. The yaw joint module 1, the roll joint module 2 and the pitch joint module 3 form a serial relationship, thereby realizing the compensation of the angular displacement of the ship or offshore platform in the three directions of pitch, roll and yaw, providing a stable carrier for the camera module 4, and a rubber pad is arranged between the bottom plate 5 and the hull to perform passive vibration isolation for the external disturbance of 10 to 80 Hz.

[0029] like Figure 3 , Figure 4 and Fig. 9As shown, the yaw joint module 1 includes a first stepper motor 10, a first reducer 11, a base 12, a first limit switch 13, a first bearing 14, a tray cover 15, a first rib support 16, a contact rod 17, a first sleeve flange 18 and a right-angle bracket 19; the motor shaft of the first stepper motor 10 is fixedly connected to the input shaft of the first reducer 11, the output shaft of the first reducer 11 is key-connected to the first sleeve flange 18, and the first sleeve flange 18 is installed with the first rib support 16 through a connecting element; in addition, the first bearing 14 is a slewing bearing, the first bearing 14 is sleeved on the outside of the first sleeve flange 18 and is arranged between the tray cover 15 and the first sleeve flange 18, the inner ring of the first bearing 14 is fixedly connected to the first sleeve flange 18, and the outer ring of the first bearing 14 is fixedly connected to the tray cover 15 The first shaft sleeve flange 18 and the first rib support 16 are fixedly connected through the first bearing 14, and the bearing is of waterproof and corrosion-resistant type; the first stepper motor 10 is installed on the first reducer 11, and the first reducer 11 is installed on the tray cover 15, the tray cover 15 is fixedly mounted on the upper end of the base 12, and the base 12 is fixedly mounted on the bottom plate 5, and the entire yaw joint module 1 is fixed through the base 12; there are two first limit switches 13, and the two first limit switches 13 are fixedly mounted on the tray cover 15, and the contact rod 17 is fixedly mounted on the right-angle bracket 19, and the right-angle bracket 19 is fixedly mounted at the back of the first rib support 16, and the first limit switch 13 is touched by the contact rod 17, thereby restricting the rotation range of the yaw joint module 1, and the first limit switch 13 is of waterproof type. The first rib support 16 includes an L-shaped plate 161 and a connecting sleeve 162. The upper end of the L-shaped plate 161 is provided with an upper hole 1611. The connecting sleeve 162 is provided at the front end of the L-shaped plate 161 and is located at the upper hole 1611. The working principle of the yaw joint module 1: the first stepper motor 10 is started, and the first sleeve flange 18 is driven to rotate through the first reducer 11, and the first sleeve flange 18 drives the first rib support 16 to rotate, thereby realizing the motion compensation of the heading angle by the first stepper motor 10. The first stepper motor 10 uses an IP67 protection grade model.

[0030] like Figure 5 and Figure 6As shown, the roll joint module 2 includes a second stepper motor 20, a second reducer 21, a right-angle slat 22, a second limit switch 23, a first end cover 24, a second rib support 25, a second bearing 26, a first shaft elastic retaining ring 27 and a second sleeve flange 28; the motor shaft of the second stepper motor 20 is fixedly connected to the input shaft of the second reducer 21, the output shaft of the second reducer 21 is key-connected to the second sleeve flange 28, the second sleeve flange 28 is fixedly installed with the second rib support 25, the second bearing 26 is a deep groove ball bearing, the number is two, the inner ring of the second bearing 26 is sleeved on the outside of the second sleeve flange 28, the outer ring of the second bearing 26 is installed in the connecting sleeve 162 and the upper hole 1611 of the first rib support 16, the second bearing 26 is positioned with the first shaft elastic retaining ring 27 through the first end cover 24, and the first shaft elastic retaining ring 27 is arranged on the second On the shaft sleeve flange 28, the first end cover 24 is fixedly mounted on the end of the connecting sleeve 162, and the support of the second shaft sleeve flange 28 is achieved through the second bearing 26, and the second bearing 26 is selected to be a waterproof and corrosion-resistant model; the second stepper motor 20 is installed on the second reducer 21, and the second reducer 21 is installed on the first rib support 16, so as to realize the series connection of the roll joint module 2 and the yaw joint module 1 and fix the entire roll joint module 2; there are two second limit switches 23, and the two second limit switches 23 are fixedly mounted on the outside of the connecting sleeve 162 of the first rib support 16, the right-angle slats 22 are located between the two second limit switches 23, and the right-angle slats 22 are fixedly mounted on the second rib support 25, and the second limit switch 23 touches the right-angle slats 22, thereby restricting the rotation range of the roll joint module 2, and the second limit switch 23 model is selected to be a waterproof type. The second rib support 25 includes a flange end plate 251 and a support plate 252. The flange end plate 251 and the support plate 252 are vertically arranged, and the flange end plate 251 and the support plate 252 are made in one piece. The front end of the support plate 252 is provided with a mounting hole 2521. The working principle of the roll joint module 2: the second stepper motor 20 is started, and the second sleeve flange 28 is driven to rotate through the second reducer 21, and the second sleeve flange 28 drives the second rib support 25 to rotate, thereby realizing the motion compensation of the roll angle by the second stepper motor 20. The second stepper motor 20 uses an IP67 protection grade model.

[0031] like Figure 7 and Figure 8As shown, the pitch joint module 3 includes a right swing arm 30, a third stepper motor 31, a third reducer 32, a right return frame 33, a third bearing 34, a third shaft sleeve flange 35, a second end cover 36, a left return frame 37, a left swing arm 38, a second shaft elastic retaining ring 39 and a third limit switch 3A; the motor shaft of the third stepper motor 31 is fixedly connected to the input shaft of the third reducer 32, the output shaft of the third reducer 32 is key-connected to the third shaft sleeve flange 35, and the third shaft sleeve flange 35 is The left end is connected to the left return frame 37 through a connecting element, the left end of the left return frame 37 is connected to the left swing rod 38 through a connecting element, the right end of the left return frame 37 is connected to the right return frame 33 through a connecting element, the left end of the right swing rod 30 is sleeved on the third stepping motor 31 and the third reducer 32, and the left end of the right swing rod 30 is connected to the right return frame 33 through a connecting element; in addition, the third bearing 34 is a deep groove ball bearing, the number is two, and the inner ring of the third bearing 34 is sleeved on the third sleeve method The outer ring of the third bearing 34 is installed in the mounting hole 2521 of the second rib support 25, and the third bearing 34 is positioned with the second shaft by the second end cover 36 and the elastic retaining ring 39. The second shaft elastic retaining ring 39 is arranged on the third shaft sleeve flange 35. The second end cover 36 is fixedly mounted on the left end of the support plate 252, and the third shaft sleeve flange 35 is supported by the third bearing 34. The third bearing 34 is of waterproof and corrosion-resistant type; the third stepping motor 31 is installed on the third reducer 32, and the third reducer 32 is installed on the support plate 252, so as to realize the series connection of the pitch joint module 3 and the roll joint module 2 and fix the entire pitch joint module 3; there are two third limit switches 3A, and the two third limit switches 3A are fixedly mounted on the back of the support plate 252. The third limit switch 3A touches the top and bottom of the left return frame 37, so as to restrict the rotation range of the pitch joint module 3. The model of the third limit switch 3A is waterproof. The working principle of the pitch joint module 3: the third stepper motor 31 is started, and the third sleeve flange 35 is driven to rotate through the third reducer 32. The third sleeve flange 35 drives the left return frame 37 and the left rocker arm 38 to swing, and the right return frame 33 and the right rocker arm 30 swing accordingly, thereby realizing the motion compensation of the pitch angle by the third stepper motor 31. The third stepper motor 31 uses an IP67 protection grade model.

[0032] like Figure 7 and Fig.10 As shown, the camera module 4 includes a wave-measuring visual camera 40, an inertial navigation sensor 41 and a GPS device 42; there are two wave-measuring visual cameras 40, which are respectively fixed at the ends of the right pendulum 30 and the left pendulum 38, and the inertial navigation sensor 41 is installed on the left return frame 37 to detect the camera posture. There are two GPS devices 42, which are respectively fixed on the right pendulum 30 and the left pendulum 38.

[0033] Working principle of the present invention

[0034] The wave-measuring visual camera 40 is installed at the end of the pitch joint module 3, the pitch joint module 3 is installed on the roll joint module 2, the roll joint module 2 is installed on the yaw joint module 1, and the inertial navigation sensor 41 is used to measure the posture of the wave-measuring visual camera 40. The yaw joint module 1, the roll joint module 2 and the pitch joint module 3 form a series relationship to compensate for the angular displacement of the wave-measuring visual camera 40 in the three directions of pitch, roll and yaw, so that the wave-measuring visual camera 40 is always in a horizontal state, providing a stable carrier for the camera module 4; the above three joint modules are all set with two limit switches according to the actual required compensation range, and the limit switches are touched by the contact rod 17, the right-angle slat 22 and the left return frame 37 respectively, and the limit switches are positioned and installed according to the compensation range.

Claims

1. A three-degree-of-freedom tandem marine binocular wave measurement device, characterized in that: The wave measuring device comprises a yaw joint module (1), a roll joint module (2), a pitch joint module (3), a camera module (4) and a base plate (5); the yaw joint module (1) is mounted on the base plate (5), the roll joint module (2) is arranged on the yaw joint module (1), the pitch joint module (3) is arranged on the roll joint module (2), and the camera module (4) is mounted at the end of the pitch joint module (3); The yaw joint module (1) comprises a first stepper motor (10), a first reducer (11), a first rib support (16) and a first shaft sleeve flange (18); the motor shaft of the first stepper motor (10) is fixedly connected to the input shaft of the first reducer (11), the output shaft of the first reducer (11) is key-connected to the first shaft sleeve flange (18), and the first shaft sleeve flange (18) is fixedly mounted to the first rib support (16); The first rib support (16) comprises an L-shaped plate (161) and a connecting sleeve (162); an upper hole (1611) is provided at the upper end of the L-shaped plate (161); and the connecting sleeve (162) is provided at the front end of the L-shaped plate (161) and is located at the upper hole (1611); The roll joint module (2) comprises a second stepper motor (20), a second reducer (21), a second rib support (25), and a second shaft sleeve flange (28); the motor shaft of the second stepper motor (20) is fixedly connected to the input shaft of the second reducer (21), the output shaft of the second reducer (21) is key-connected to the second shaft sleeve flange (28), and the second shaft sleeve flange (28) is fixedly installed to the second rib support (25); The second rib support (25) comprises a flange end plate (251) and a support plate (252), the flange end plate (251) and the support plate (252) being arranged vertically, the flange end plate (251) and the support plate (252) being integrally formed, and a mounting hole (2521) being arranged at the front end of the support plate (252); The pitch joint module (3) comprises a right swing arm (30), a third stepping motor (31), a third reducer (32), a right return frame (33), a third bearing (34), a third shaft sleeve flange (35), a second end cover (36), a left return frame (37), a left swing arm (38), a second shaft elastic retaining ring (39) and a third limit switch (3A); the motor shaft of the third stepping motor (31) is fixedly connected to the input shaft of the third reducer (32), the output shaft of the third reducer (32) is key-connected to the third shaft sleeve flange (35), the left end of the third shaft sleeve flange (35) is connected to the left return frame (37) via a connecting element, the left end of the left return frame (37) is connected to the left swing arm (38) via a connecting element, the right end of the left return frame (37) is connected to the right return frame (33) via a connecting element, and the left end of the right swing arm (30) is sleeved between the third stepping motor (31) and the third reducer (32). On the reducer (32), the left end of the right swing rod (30) is connected to the right return frame (33) through a connecting element; the third bearing (34) is a deep groove ball bearing, the number of which is two, the inner ring of the third bearing (34) is sleeved on the outside of the third shaft sleeve flange (35), the outer ring of the third bearing (34) is installed in the mounting hole (2521) of the second rib support (25), the third bearing (34) is positioned with the second shaft elastic retaining ring (39) through the second end cover (36), the second shaft elastic retaining ring (39) is arranged on the third shaft sleeve flange (35), the second end cover (36) is fixedly mounted on the left end of the support plate (252), the third stepping motor (31) is mounted on the third reducer (32), and the third reducer (32) is mounted on the support plate (252); the number of the third limit switches (3A) is two, and the two third limit switches (3A) are fixedly mounted on the back of the support plate (252).

2. A three-degree-of-freedom serial-type marine binocular wave measurement device according to claim 1, characterized in that: The yaw joint module (1) further comprises a base (12), a first limit switch (13), a first bearing (14), a tray cover (15), a contact rod (17) and a right-angle bracket (19); the first bearing (14) is a slewing bearing, the first bearing (14) is sleeved on the outside of the first sleeve flange (18) and is arranged between the tray cover (15) and the first sleeve flange (18), the inner ring of the first bearing (14) is fixedly connected to the first sleeve flange (18), and the outer ring of the first bearing (14) is fixedly connected to the tray cover (15). 5), the first stepper motor (10) is mounted on the first reducer (11), the first reducer (11) is mounted on the tray cover (15), the tray cover (15) is fixedly mounted on the upper end of the base (12), and the base (12) is fixedly mounted on the bottom plate (5); there are two first limit switches (13), both of which are fixedly mounted on the tray cover (15), the contact rod (17) is fixedly mounted on the right angle bracket (19), and the right angle bracket (19) is fixedly mounted behind the first rib support (16).

3. A three-degree-of-freedom tandem marine binocular wave measurement device according to claim 2, characterized in that: The roll joint module (2) further comprises a right-angled strip (22), a second limit switch (23), a first end cover (24), a second bearing (26) and a first shaft elastic retaining ring (27); the second bearing (26) is a deep groove ball bearing, two of which are in number; the inner ring of the second bearing (26) is sleeved on the outside of the second shaft sleeve flange (28); the outer ring of the second bearing (26) is installed in the connecting sleeve (162) and the upper hole (1611) of the first rib support (16); the second bearing (26) is positioned with the first shaft elastic retaining ring (27) through the first end cover (24); the first shaft elastic retaining ring (27) is fixed to the first shaft by the second bearing (26). A retaining ring (27) is arranged on the second shaft sleeve flange (28), the first end cover (24) is fixedly mounted on the end of the connecting sleeve (162), the second stepping motor (20) is mounted on the second reducer (21), the second reducer (21) is mounted on the first rib support (16), there are two second limit switches (23), the two second limit switches (23) are both fixedly mounted on the outside of the connecting sleeve (162) of the first rib support (16), the right-angled plate (22) is located between the two second limit switches (23), and the right-angled plate (22) is fixedly mounted on the second rib support (25).

4. A three-degree-of-freedom serial-type marine binocular wave measurement device according to claim 3, characterized in that: The camera module (4) comprises a wave-measuring visual camera (40), an inertial navigation sensor (41) and a GPS device (42); there are two wave-measuring visual cameras (40), which are respectively fixedly mounted on the ends of the right swing arm (30) and the left swing arm (38); the inertial navigation sensor (41) is installed on the left return frame (37); there are two GPS devices (42), which are respectively fixedly mounted on the right swing arm (30) and the left swing arm (38).

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