Series-parallel composite offshore binocular wave measuring device

Abstract

The application discloses a series-parallel composite offshore binocular wave measuring device, and aims at solving the problems that the existing offshore wave data measuring device is in series connection or parallel connection, the series connection is difficult to meet the high load requirement, and the parallel connection is limited in the motion range. The yaw module is fixed on the top plate of the pitch-roll composite module, and the visual camera module is fixed on the rotary bearing of the yaw module. The yaw module realizes the motion compensation of the heading angle, the pitch-roll composite module is a two-degree-of-freedom parallel mechanism, and realizes the motion compensation of the roll angle and the pitch angle. The yaw module and the pitch-roll composite module form a series connection, and the two electric cylinders in the pitch-roll composite module and the stand constitute a parallel connection. The overall series-parallel composite relationship can interact to compensate the angular displacement in the pitch, roll and yaw directions, so that the binocular wave measuring visual camera can stably measure waves at sea, adapt to the offshore operation environment, and acquire clear wave photos in real time.

Description

Technical Field

[0001] This invention relates to a wave measuring device, specifically a series-parallel composite marine binocular wave measuring device. Background Technology

[0002] Oceans cover 71% of the Earth's surface, and exploring and utilizing marine resources has become a crucial aspect of human activity in the 21st century. Faced with a complex and ever-changing marine environment, mastering real-time information on the height, direction, and period of ocean waves is of paramount importance for the smooth operation of maritime economic and military activities. Natural disasters such as typhoons and storm surges inevitably cause changes in ocean wave parameters. Ocean waves contain enormous energy, capable of causing ships to sway and even sink, posing a significant threat to maritime operations and causing substantial damage to coastal protection and ports. Research and application of ocean wave measurement can effectively monitor ocean wave information and forecast sea conditions, thereby improving the disaster prevention capabilities of ports, reducing losses to coastal ports under extreme disaster conditions, ensuring the safety of coastal port operations and the lives and property of people, and creating conditions for rapid and stable national economic growth. It is of great significance. Furthermore, it can also be used for wave power generation. Therefore, wave observation is closely related to people's lives and is essential.

[0003] Existing marine wave data measurement devices come in two configurations: series and parallel. The series configuration, lacking translational requirements, is easy to design compactly; however, due to accumulated deviations, it struggles to meet high load requirements while maintaining positioning accuracy. The parallel configuration offers advantages in terms of high load capacity and high speed, making it advantageous for smaller movement ranges. However, for larger movement ranges, the parallel configuration loses its advantage due to structural limitations. Summary of the Invention

[0004] This invention addresses the problem that existing marine wave data measurement devices are either in series or in parallel configurations, with the series configuration failing to meet high load requirements and the parallel configuration having limited range of motion. Therefore, this invention provides a series-parallel composite marine binocular wave measurement device.

[0005] A series-parallel composite binocular wave measuring device for marine applications includes a visual camera module, a yaw module, and a pitch-roll composite module. The yaw module is fixedly mounted on the top plate of the pitch-roll composite module, and the visual camera module is fixedly mounted on the slewing bearing of the yaw module. The yaw module includes a first servo motor, a reducer, a bearing end cover, a slewing disk, a bearing, a cover plate, a motor protective housing, a limit switch, a limit rod, and a support. The first servo motor and the reducer are installed inside the motor protective housing. The motor shaft of the first servo motor is fixedly connected to the input shaft of the reducer, and the output shaft of the reducer is keyed to the bearing end cover. The bearing end cover is connected to the slewing disk... The disc is connected by connecting elements. The bearing is a slewing bearing, which is fitted onto the outside of the bushing of the bearing end cover. The inner ring of the bearing is connected to the bearing end cover by bolts, and the outer ring of the bearing is fitted with the inner wall of the flange on the cover plate. The cover plate is located on the upper end of the motor protective housing and is connected to the motor protective housing by connecting elements. There are two limit switches, both of which are fixed on the cover plate. The limit rod is fixed on the outer edge of the bearing end cover, and the limit rod is located at the farthest end of the limit switch. Two supports are located below the slewing disc and are symmetrically arranged on both sides of the motor protective housing. The supports are connected to the cover plate by connecting elements. The yaw rotation angle is ±170°.

[0006] Furthermore, the vision camera module includes a swing arm, two camera mounts, and a vision camera. The two camera mounts are symmetrically arranged at both ends of the swing arm and fixedly connected to it. Each camera mount contains a vision camera.

[0007] Furthermore, the pitch-roll composite module includes a top plate, a base, a column, two electric cylinders, two second servo motors, two universal joints, and three offset universal joints; the upper end of the column is hinged to the offset universal joints, the push rod at the upper end of the electric cylinder is hinged to the offset universal joint, the upper end of the offset universal joint is fixed to the top plate, the lower end of the column is fixed to the base, the cylinder body at the lower end of the electric cylinder is hinged to the universal joint, the lower end of the universal joint is fixed to the base, and the output shaft of the second servo motor is connected to the push rod inside the electric cylinder.

[0008] Compared with the prior art, the present invention has the following advantages:

[0009] 1. This invention provides a series-parallel composite binocular wave measurement device for the sea, combining the advantages of both series and parallel configurations. The binocular vision camera is mounted on a yaw module, which in turn is mounted on a pitch-roll composite module. The yaw module compensates for the heading angle, while the pitch-roll composite module, a two-degree-of-freedom parallel mechanism, compensates for both roll and pitch angles. The yaw module and the pitch-roll composite module, being a series-parallel composite structure, interact to compensate for angular displacements in the pitch, roll, and yaw directions. This allows the binocular wave measurement camera to stably measure waves at sea, adapting to the marine operating environment and acquiring clear wave photographs in real time. The series-parallel composite structure not only makes the overall structure of the device compact but also meets the requirements of high rotational load, high speed, and large angle.

[0010] 2. The roll and pitch degrees of freedom require a small rotation angle range (±30°). A two-degree-of-freedom parallel mechanism with two electric actuators and one column is used. This ensures rotation speed, angle, and accuracy while maintaining a simple, compact structure that is easy to manufacture and assemble. The yaw degree of freedom requires a large rotation angle range (±170°). This angle range (±170°) is difficult to achieve with a parallel mechanism. A direct-drive method using a motor and reducer is adopted. This achieves a large rotation angle range, and with proper selection, it can ensure rotation speed and accuracy. At the same time, the yaw motion is decoupled from the roll and pitch motions, making kinematic calculation and control simpler than a three-degree-of-freedom parallel configuration.

[0011] 3. The serial-parallel composite marine binocular wave measuring device of the present invention can adapt to the marine operating environment, acquire clear wave photos in real time, and achieve low-frequency motion compensation of 0~0.5Hz by controlling the servo motor. The system positioning accuracy is better than ±0.1°. Attached Figure Description

[0012] Figure 1 This is a front view of the overall structure of the serial-parallel composite marine binocular wave measuring device of the present invention;

[0013] Figure 2 A stereoscopic view of visual camera module 1;

[0014] Figure 3 A 3D view of yaw module 2;

[0015] Figure 4 This is the main view of yaw module 2;

[0016] Figure 5 for Figure 4 AA section view;

[0017] Figure 6 A schematic diagram showing the connection of the servo motor 20, reducer 21, bearing end cover 22, rotary disk 23, bearing 24, and limit rod 28;

[0018] Figure 7 This is a 3D view of the pitch-roll composite module 3.

[0019] The components include: 1. Vision camera module; 10. Swing arm; 11. Camera mount; 12. Vision camera; 2. Yaw module; 20.

[0020] First servo motor; 21. Reducer; 22. Bearing end cover; 23. Rotary disk; 24. Bearing; 25. Cover plate; 26. Motor protective shell; 27. Limit switch; 28. Limit rod; 29. ​​Support; 251. Flange; 3. Pitch-roll composite module; 31. Top plate; 32. Base; 33. Column; 34. Electric cylinder; 35. Second servo motor; 36. Universal joint; 37. Offset universal joint. Detailed Implementation

[0021] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0022] like Figure 1 As shown, the present invention provides a series-parallel composite binocular wave measurement device, which comprises a visual camera module.

[0023] The system comprises three modules: a yaw module 1, a yaw module 2, and a pitch-roll composite module 3. The yaw module 2 is fixedly mounted on the top plate 31 of the pitch-roll composite module 3, and the visual camera module 1 is fixedly mounted on the slewing bearing 21 of the yaw module 2. The camera module 1 is used for wave measurement at sea, capturing clear images of waves in real time. The yaw module 2 is used to deflect the visual camera module 1 and to compensate for the heading angle. The pitch-roll composite module 3 is a two-degree-of-freedom parallel mechanism that compensates for the roll and pitch angles. By adjusting the yaw module 2 and the pitch-roll composite module 3, a stable shooting platform is provided for the camera module 1, thereby achieving stable wave measurement.

[0024] like Figure 2 As shown, the vision camera module 1 includes a swing arm 10, two camera mounts 11, and a vision camera 12. The two camera mounts 11 are symmetrically arranged at both ends of the swing arm 10 and fixedly connected to it. Each camera mount 11 contains a vision camera 12. The vision camera module 1 is mounted on the rotary disk 23 of the yaw module 2.

[0025] like Figures 2-6As shown, the yaw module 2 includes a first servo motor 20, a reducer 21, a bearing end cover 22, a rotary disk 23, a bearing 24, a cover plate 25, a motor protective shell 26, a limit switch 27, a limit rod 28, and a support 29. The first servo motor 20 and the reducer 21 are installed inside the motor protective shell 26. The motor shaft of the first servo motor 20 is fixedly connected to the input shaft of the reducer 21, and the output shaft of the reducer 21 is keyed to the bearing end cover 22. The bearing end cover 22 is connected to the rotary disk 23 through a connecting element. The bearing 24 is a rotary bearing, which is fitted outside the bushing of the bearing end cover 22. The inner ring of the bearing 24 is bolted to the bearing end cover 22. The outer ring of the bearing 24 is fitted with the inner wall of the flange 251 on the cover plate 25. The cover plate 25 is located on the upper end of the motor protective housing 26 and is connected to the motor protective housing 26 through a connecting element. There are two limit switches 27, both of which are fixed on the cover plate 25. The limit rod 28 is fixed on the outer edge of the bearing end cover 22 and is located at the farthest end of the limit switch 27. Two supports 29 are located below the rotary disk 23 and are symmetrically arranged on both sides of the motor protective housing 26. The supports 29 are connected to the cover plate 25 through a connecting element. Both the first servo motor 20 and the bearing 24 are waterproof and corrosion-resistant products.

[0026] like Figure 7 As shown, the pitch-roll composite module 3 includes a top plate 31, a base 32, a column 33, two electric cylinders 34, two second servo motors 35, two universal joints 36, and three offset universal joints 37. The upper end of the column 33 is hinged to the offset universal joints 37, the push rod at the upper end of the electric cylinder 34 is hinged to the offset universal joint 37, the upper end of the offset universal joint 37 is fixed to the top plate 31, the lower end of the column 33 is fixed to the base 32, the cylinder body at the lower end of the electric cylinder 34 is hinged to the universal joint 36, the lower end of the universal joint 36 is fixed to the base 32, and the output shaft of the second servo motor 35 is connected to the push rod inside the electric cylinder 34. The pitch-roll composite module 3 and the yaw module 2 are fixedly connected to the support 29 via the top plate 31.

[0027] Working principle of the invention:

[0028] The visual camera module 1 is mounted on the yaw module 2, which in turn is mounted on the pitch-roll composite module 3. The yaw module 2 and the pitch-roll composite module 3 are connected in series, while the two electric cylinders 34 in the pitch-roll composite module 3 are connected in parallel with the column 33. The yaw module 2 is used to compensate for the heading angle, and the pitch-roll composite module 3 is a two-degree-of-freedom parallel mechanism that compensates for the roll and pitch angles. By adjusting the yaw module 2 and the pitch-roll composite module 3, a stable shooting platform is provided for the visual camera module 1, thereby achieving stable wave measurement. A rubber pad is placed between the base 32 of the pitch-roll composite module 3 and the hull to passively isolate external disturbances in the 10~80 Hz range. The first servo motor 20 and the two second servo motors 35 all have brake and power-off self-locking functions, and the structure is also equipped with soft limit switches and limit switches to prevent damage to the equipment due to inertial impact during overload or power failure.

Claims

1. A series-parallel composite marine binocular wave measuring device, the wave measuring device comprising a visual camera module (1), a yaw... The yaw module (2) and the pitch-roll composite module (3); the yaw module (2) is fixedly mounted on the top plate (31) of the pitch-roll composite module (3), and the vision camera module (1) is fixedly mounted on the slewing bearing (21) of the yaw module (2), characterized in that: The yaw module (2) includes a first servo motor (20), a reducer (21), a bearing end cover (22), a rotary disk (23), a bearing (24), a cover plate (25), a motor protective shell (26), a limit switch (27), a limit rod (28), and a support (29). The first servo motor (20) and the reducer (21) are installed inside the motor protective shell (26). The motor shaft of the first servo motor (20) is fixedly connected to the input shaft of the reducer (21). The output shaft of the reducer (21) is keyed to the bearing end cover (22). The bearing end cover (22) is connected to the rotary disk (23) through a connecting element. The bearing (24) is a rotary bearing. The bearing (24) is fitted outside the bushing of the bearing end cover (22). The inner ring of the bearing (24) is connected to the bearing end cover (22). The bearing end cover (22) is connected by bolts. The outer ring of the bearing (24) is fitted with the inner wall of the flange (251) on the cover plate (25). The cover plate (25) is set on the upper end of the motor protective shell (26) and is connected to the motor protective shell (26) through a connecting element. There are two limit switches (27). Both limit switches (27) are fixed on the cover plate (25). The limit rod (28) is fixed on the outer edge of the bearing end cover (22) and the limit rod (28) is located at the farthest end of the limit switch (27). Two supports (29) are located below the rotary disk (23) and are symmetrically arranged on both sides of the motor protective shell (26). The supports (29) are connected to the cover plate (25) through a connecting element. The yaw rotation angle is ±170°.

2. The series-parallel composite marine binocular wave measurement device according to claim 1, characterized in that: The vision camera module (1) includes a swing arm (10), two camera mounts (11) and a vision camera (12). The two camera mounts (11) are symmetrically arranged at both ends of the swing arm (10) and fixedly connected. Each camera mount (11) contains a vision camera (12).

3. The series-parallel composite marine binocular wave measurement device according to claim 1, characterized in that: The pitch-roll composite module (3) includes a top plate (31), a base (32), a column (33), two electric cylinders (34), two second servo motors (35), two universal joints (36), and three offset universal joints (37). The upper end of the column (33) is hinged to the offset universal joint (37), the push rod at the upper end of the electric cylinder (34) is hinged to the offset universal joint (37), the upper end of the offset universal joint (37) is fixed to the top plate (31), the lower end of the column (33) is fixed to the base (32), the cylinder body at the lower end of the electric cylinder (34) is hinged to the universal joint (36), the lower end of the universal joint (36) is fixed to the base (32), and the output shaft of the second servo motor (35) is connected to the push rod inside the electric cylinder (34).

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