Design method of marine camera damping device and camera damping device thereof

Abstract

The invention relates to the technical field of ship equipment, and discloses a design method of a marine camera damping device and the camera damping device thereof.The design method comprises the steps of S1, device structure design; s2, initial damping design of the damper; s21, calculating the total load m of the swing support including the camera according to m = N / (a * q); s22, determining a critical acceleration a0; s23, calculating the initial damping N0 of the damper according to N0 = m a0 * q; s3, calculating the average peak acceleration amax of the ship body; s4, designing the actual maximum damping of the damper; s41, a0 is set to be the stable acceleration a stable of the swing support; s42: N (amount) = mamax * q-ma (stability) * q, and the rated damping N (amount) required by the damper is obtained; and S43, calculating the safe damping NA of the damper, wherein the safe damping NA = the damping safety coefficient * Nmax. According to the invention, the camera can be prevented from being damaged due to long-term shaking or violent movement of the ship, and the camera can collect images clearly under various movement conditions of the ship.

Description

Technical Field

[0001] The present invention relates to the technical field of ship equipment, and in particular to a design method for a ship camera damping device and a camera damping device thereof. Background Art

[0002] With the continuous advancement of science and technology, the shipping industry has also ushered in new developments in digital management. Among them, ship video surveillance, as an important part of ship digital management, is playing an increasingly important role in the shipping industry. The ship video surveillance system uses cameras installed in various key areas of the ship to achieve comprehensive monitoring of the ship's internal and external environment, equipment operating status, etc.; ship operation managers can use the ship video surveillance system to monitor the operating status of key ship equipment in real time, discover and solve potential problems in advance, prevent accidents, ensure the safety of crew members and ships, ensure the normal operation of ships, and realize ship command, timely dispatch equipment and staff to respond to emergencies.

[0003] Competition in the global shipping market is becoming increasingly fierce, and the development of digital management of ocean-going ships is an inevitable trend. In this context, ship video surveillance will play a more important role. Therefore, how to achieve and improve the stability and reliability of ship cameras, the basic components of ship video surveillance systems, has gradually attracted the attention of ship equipment technicians. When a ship is traveling on the ocean, the state of the hull is not as stable as a vehicle on land. The hull is affected by its own acceleration and deceleration and the ups and downs of the ocean waves, and six degrees of freedom will be generated. Generally, a rectangular coordinate system with the center of gravity of the ship as the origin is taken, the X-axis is parallel to the hull baseline and points to the bow, the Z-axis is perpendicular to the hull baseline and points upward, and the Y-axis points to the left side of the hull. The roll, pitch, and bow roll are reciprocating rotations around the X, Y, and Z axes respectively, and the sway, sway, and heave are reciprocating translations along the X, Y, and Z axes respectively. Marine cameras are generally hung or fixed high up on the ship's equipment. The above six movements often occur when the ship is sailing at sea, especially the swaying and pitching movements, which occur more frequently. If this continues for a long time, it is inevitable that the supporting components of the marine camera will be damaged, causing corresponding damage to the marine camera, thereby affecting the normal operation of the ship's video surveillance system.

[0004] Related reference CN220727754U discloses a damping stabilizing swing device, in which a damping wheel and a bracket are fixed by threaded connection, and the damping wheel includes a rotating shaft, which passes through the lower end of the bracket and is connected to the hub of the rotating frame. The damping wheel can provide rotational damping for the rotating frame, but the disadvantage is that the camera cannot be shaken within a safe range of speed and amplitude, and the camera image is not clear enough. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a design method and a camera damping device for a ship, which can prevent the camera from being damaged due to long-term shaking or violent movement of the ship, and can also enable the camera to capture clear images under various movement conditions of the ship.

[0006] In order to solve the above technical problems, the present invention provides a design method of a marine camera damping device, comprising the following steps: Step S1: device structure design; Let m be the total load of the swing bracket, including the mass of the camera; N be the torque damped by the damper; a be the acceleration of the hull; q be the distance between the center of gravity of the swing bracket and the center of rotation; Step S2: initial damping design of the damper; S21: Calculate the total load m of the swing bracket including the camera according to the relationship m =N / (a*q); S22: Determine critical acceleration a0; When the hull is in uniform linear motion, the swing bracket is in a stationary state, and the hull acceleration is the critical acceleration a0 of the swing bracket; When the hull acceleration is greater than or equal to a0, the swing bracket shakes to avoid a large stress at the connection between the swing bracket and the camera; S23: Calculate the initial damping N0 of the damper according to the relationship N0=m a0*q; Step S3: Calculate the average peak acceleration a of the hull max ; S31: Plan a hull installation position for the ship camera, and install an acceleration sensor at the planned position; S32: Record at least 30 days of ship running acceleration data; S33: taking the daily peak value of the hull acceleration within the data range and establishing a data set; S34: Remove extreme values ​​in the data set and calculate the average peak acceleration a of the hull max ; Step S4: designing the actual maximum damping of the damper; S41: Set the critical acceleration a0 to be the stable acceleration a of the swing bracket 稳 ; Hull acceleration is less than or equal to a 稳 When the swing bracket rotates, the camera can capture clear images; S42:N 额 =ma max *q-ma 稳 *q, get the required rated damping N of the damper 额 ; S43: Calculate the actual maximum damping of the damper, i.e. the safety damping N 安 , N安 = Damping safety factor * N max .

[0007] By adopting the above technical scheme, through detailed steps, including the structural design of the device, the calculation of the initial damping, the determination of the average peak acceleration of the hull and the design of the actual maximum damping, in particular, by recording the hull operation acceleration data for at least 30 days and obtaining the average peak acceleration after removing the extreme values, the accuracy of the designed and manufactured device and its adaptability to the hull movement are ensured, the shaking speed and amplitude of the camera can be controlled within a safe range, the camera can be prevented from being damaged due to long-term shaking or violent movement of the ship, and the camera can also achieve clear imaging under various ship movement conditions.

[0008] A camera damping device manufactured by a design method of a marine camera damping device includes a damper mainly composed of an inner layer and an outer layer, the inner layer of the damper is fixedly installed on a rotating shaft, the rotating shaft is integrally installed on a bracket, and a fixing piece is installed in the middle of the bracket; a fixed disc and a swing bracket are fixedly arranged on the outer layer of the damper, and the fixed disc is tightly attached to the outer side of the swing bracket; a camera is installed on the swing bracket.

[0009] By adopting the above technical solution, the main body of the device is assembled from a bracket, a fixed disc, a swing bracket and a damper. The components are connected by welding or bolts, and the structure is simple and stable, and the installation is easy. The camera is mounted at the bottom of the device, and the upper end is fixed at the intended working position. The device is installed facing the bow, and the rotating shaft is parallel to the Y axis of the above rectangular coordinate system. The overall structure is stable and reliable.

[0010] Preferably, the damper is a rotation damper, and there is resistance between the inner layer and the outer layer to hinder the inner layer and the outer layer from rotating relative to each other.

[0011] By adopting the above technical solution, the hull will shake, and the rotation damper can effectively slow down the swing speed of the camera installed on the hull.

[0012] Preferably, reinforcing ribs are provided at the bends of the bracket.

[0013] By adopting the above technical solution, the reinforcing ribs play a role in supporting and strengthening the bracket, thereby extending the service life of the bracket.

[0014] Preferably, the middle portion of the bracket and the fixing member are connected by bolts.

[0015] By adopting the above technical solution, when the bracket or fixing parts need to be replaced or repaired, the bolt connection method will greatly save the time and labor cost of repair and replacement.

[0016] Preferably, the fixing element is mounted on the hull structure.

[0017] By adopting the above technical solutions, the design of the fixings usually takes into account the convenience of installation and maintenance, and adopts standardized interfaces and sizes, so that the device and camera can be easily installed on the hull. At the same time, it is easy to disassemble and replace, which helps to reduce the difficulty and cost of maintenance.

[0018] Preferably, the fixed disc is mounted on the outer side of the swing bracket by bolts.

[0019] By adopting the above technical solution, the bolt connection method allows the fixed disc to be easily installed on the swing bracket without the need for complicated welding or bonding processes, thereby reducing installation difficulty and cost and improving installation efficiency.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention includes detailed steps, including structural design of the device, calculation of initial damping, determination of average peak acceleration of the hull, and design of actual maximum damping. In particular, by recording at least 30 days of hull running acceleration data and removing extreme values ​​to determine the average peak acceleration, the accuracy of the designed and manufactured device and its adaptability to hull motion are ensured, the shaking speed and amplitude of the camera can be controlled within a safe range, the camera can be prevented from being damaged due to long-term shaking or violent movement of the ship, and clear imaging of the camera can be achieved under various ship motion conditions.

[0021] 2. The main body of the device of the present invention is assembled from a bracket, a fixed disc, a swing bracket and a damper. The components are connected by welding or bolts, and the structure is simple and stable, and the installation is easy. The camera is mounted at the bottom of the device, and the upper end is fixed at the intended working position. The device is installed facing the bow, and the rotating shaft is parallel to the Y axis of the above-mentioned rectangular coordinate system. The whole is stable and reliable.

[0022] 3. The reinforcing ribs of the present invention play a role in supporting and reinforcing the bracket, thereby extending the service life of the bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 : Axonometric view of the camera damping device; Figure 2 : Axonometric section view of the camera damping device; Figure 3 : Front cross-sectional view of the camera damping device; Figure 4 : Side view of the camera damping device; Figure 5 : Schematic diagram of damper structure; Figure 6 : Schematic diagram of the fixed disc structure; Figure 7 , 8 ,9,10: Schematic diagram of the camera damping device movement.

[0024] In the figure: 1-fixed component, 2-reinforcement rib, 3-bracket, 4-rotating shaft, 5-damper, 6-fixed disc, 7-swing bracket, 8-camera. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the structural characteristics, buffering mechanism and damping design of the damper of the device, a detailed explanation is given below in conjunction with the accompanying drawings.

[0026] like Figure 1 , 2 As shown in Figure 3, the present invention provides a marine camera damping device, the main body of the device is assembled by a bracket 3, a fixed disc 6, a swing bracket 7 and a damper 5, and the components are connected by welding or bolts. The structure is simple and stable, and the installation is easy. The reinforcing rib 2 plays the role of supporting and reinforcing the bracket 3, extending the service life of the bracket 3. The fixing component 1 is installed on the hull structure. The design of the fixing part 1 usually takes into account the convenience of installation and maintenance. Standardized interfaces and dimensions are used so that the device and the camera 8 can be easily installed on the hull. At the same time, it is easy to disassemble and replace, which helps to reduce the difficulty and cost of maintenance. The bracket 3 is integrated with the rotating shaft 4. The middle part of the bracket 3 and the fixing part 1 are connected by bolts. When the bracket 3 or the fixing part 1 needs to be replaced or repaired, the bolt connection method will greatly save the time and labor cost of maintenance and replacement. The damper 5 is installed between the rotating shaft 4 and the swing bracket 7, and the fixed disc 6 is used to fix the damper 5; the camera 8 is installed at the lower end of the swing bracket 7. A camera is mounted on the bottom of the device, and the upper end is fixed at the intended working position. The device is installed facing the bow, and the rotating axis is parallel to the Y-axis of the above-mentioned rectangular coordinate system. The device is overall stable and reliable.

[0027] like Figure 4 , 5 As shown in Figures 6, the damper 5 is a rotary damper, which is divided into two layers, inner and outer. There is resistance between the inner and outer layers to prevent the inner and outer layers from rotating relative to each other. The hull will shake, and the rotary damper can effectively slow down the swing speed of the camera 8 installed on the hull. The inner layer is welded to the rotating shaft 4, and the outer layer is welded to the fixed disc 6. The fixed disc 6 is bolted to the outside of the swing bracket 7; after the installation is completed, the outer layer of the damper 5 is integrated with the fixed disc 6 and the swing bracket 7, and the inner layer of the damper 5 is integrated with the fixed rotating shaft 4. The fixed disc 6 is tightly attached to the outer side of the swing bracket 7. The fixed disc 6 is installed on the outer side of the swing bracket 7 by bolts. The bolt connection method allows the fixed disc 6 to be easily installed on the swing bracket 7 without the need for complicated welding or bonding processes, which reduces the difficulty and cost of installation and improves installation efficiency.

[0028] After the fixing component 1 is installed and fixed at the specified position, the lower end of the device, i.e., one end of the swing bracket 7, can rotate around the rotating shaft 4; the damper 5 will provide damping when the swing bracket 7 rotates to slow down the swing speed and swing amplitude of the swing bracket 7. The damping provided by the damper 5 is variable damping, and there is a certain range of variation. The damping will change with the motion state of the swing bracket 7. When the device rotates, the faster the rotation speed, the greater the damping, and the two are positively correlated.

[0029] The device is installed facing the bow, and the fixed rotating shaft 4 is parallel to the Y-axis of the rectangular coordinate system described in the article. When the ship undergoes swaying and pitching motion, the device can effectively slow down the shaking speed of the camera, reduce the shaking angle, and avoid damage to the internal components of the camera due to the violent movement of the hull, thereby effectively extending the service life of the camera.

[0030] When the hull is stationary or in uniform linear motion, that is, when the hull has no acceleration, the swing bracket at the lower end of the device points vertically to the ground under the action of gravity, and its center of gravity is at the position shown in the figure; when the hull is surging or accelerating or decelerating, the swing bracket will rotate around the axis of rotation under the action of gravity, damping force and inertia, then the swing bracket at the lower end of the device will rotate in the opposite direction of the hull acceleration under the action of inertia, and the maximum rotation angle is affected by the acceleration and damping force of the hull, and the force condition of the device will change with the motion state of the hull.

[0031] Definition of physical quantities: The torque provided by the damper 5 is N. The size and direction of N will change with the movement state of the swing bracket 7, and its change has a certain range. The damper 5 has an initial damping N0, and the damping direction is always opposite to the movement trend of the swing bracket 7; the total load of the swing bracket 7 at the lower end of the device (including the camera) is m, and the distance between its center of gravity and the center of rotation is q; the hull acceleration is a, where the inertial force is F, F=ma; the rotation angle of the swing bracket 7 is α; the hull acceleration is a, and the acceleration direction is the positive direction.

[0032] The following will introduce the movement process of the swing bracket and the buffer mechanism of the device in detail with the attached drawings: (1) When the acceleration is small, the inertia moment is smaller than the resistance moment, and there is a torque relationship: ma*q<N0, and the device is stationary; (2) If Figure 7 As shown, the acceleration a increases, the inertia moment is greater than or equal to the resistance moment, and there is a moment relationship: ma*q≥N0, the device starts to rotate in the opposite direction around the rotation axis 4; the critical acceleration of the swing bracket 7 to rotate is recorded as a0; (3) If Figure 8 As shown, when the acceleration is greater than a0, the inertia moment is greater than the combined moment of the gravity moment and the resistance moment, and there is a moment relationship: ma cosα*q>mg sinα*q+N, and the swing bracket 7 will rotate in the opposite direction around the rotating shaft 4 under the action of the inertia force; (4) The acceleration stabilizes to a1 (a1>a0), at which point the inertia moment is greater than or equal to the gravity moment, and less than or equal to the combined moment of gravity and resistance moment. There exists a torque relationship: mg sinα max *q+N≥ma1cosα max *q≥mg sinα max *q, the device rotates in the opposite direction around the rotation axis 4 to the maximum rotation angle α max , the device tends to be stable; the maximum rotation angle of the swing bracket 7 is α max It increases with the acceleration of the ship.

[0033] (5) If Fig. 9 As shown, the acceleration a decreases, the gravity moment is greater than the combined moment of the inertia moment and the resistance moment, and there is a moment relationship: mg sinα*q >ma cosα*q+N, and the swing bracket 7 rotates in the positive direction around the rotating shaft 4 under the action of the gravity of the device; (6) Fig.10 As shown, the acceleration decreases to 0, the gravity torque is greater than the resistance torque, and the torque relationship is: mg sinα*q >N. The swing bracket 7 will rotate around the rotating shaft 4 in the positive direction under the action of the gravity of the device, and finally slowly rotate to a stable position.

[0034] The damper 5 will provide damping when the swing bracket 7 rotates to slow down the swing speed and swing amplitude of the swing bracket 7. The damping provided by the damper 5 is variable damping, which will change with the motion state of the swing bracket 7. When the swing bracket 7 rotates, the faster the rotation speed, the greater the damping force, and the two are positively correlated; the swing bracket 7 rotates slower, and the resistance also decreases. When the device slowly rotates to the original position, the gravity torque is always greater than the resistance torque. The damping provided by the damper 5 has a certain range, and its initial damping should not be too large to prevent the device from not being able to play a good buffering effect; its maximum damping should not be too small, otherwise the shaking of the camera 8 cannot be controlled within a safe range.

[0035] The design method of this device is as follows: Step S1: device structure design; The size of the load m and the distance q will affect the size of the initial damping N0. The device should be designed to be light and compact according to the actual situation to reduce the demand for damping by the damper; m is set as the total load of the swing bracket 7, including the mass of the camera; N is the torque damped by the damper 5; a is the acceleration of the hull; q is the distance between the center of gravity of the swing bracket 7 and the center of rotation; Step S2: initial damping design of the damper; S21: Measure the distance q between the center of gravity of the load and the center of rotation; calculate the total load m of the swing bracket 7 (including the camera) according to the relationship ma*q=N; S22: Determine critical acceleration a0; When the hull is moving in a uniform linear motion, the swing bracket 7 is in a stationary state, and the hull acceleration is the critical acceleration a0 of the swing bracket 7; when the hull acceleration is greater than or equal to a0, shaking is required to avoid generating large stress at the connection between the swing bracket 7 and the camera 8, which helps to reduce the risk of equipment damage or performance degradation caused by excessive stress; S23: N0=ma0*q, calculate the initial damping N0 of damper 5; Step S3: Calculate the average peak acceleration a of the hull max ; S31: Planning the installation position of the ship camera 8 on the hull, and installing an acceleration sensor at the planned position; S32: Record at least 30 days of ship running acceleration data; S33: taking the daily peak value of the hull acceleration within the data range and establishing a data set; S34: Remove extreme values ​​in the data set and calculate the average peak acceleration a of the hull max ; Step S4: actual maximum damping design of the damper 5; S41: Set the critical acceleration a0 to be the stable acceleration a of the swing bracket 7 稳 ; It is known that the hull acceleration is less than or equal to a 稳 When the swing bracket 7 rotates, the camera 8 can ensure clear image capture; S42:N 额 =ma max *q-ma 稳 *q, the required rated damping N of damper 5 can be obtained 额 ; S43: Calculation of safety damping N 安 = Damping safety factor * N max Assuming the damping safety factor is 1.2, the actual maximum damping of the damper is the safety damping N 安 =1.2 N max The damping design is accurate and the device has a good buffering effect.

[0036] Through detailed steps, including the structural design of the device, the calculation of the initial damping, the determination of the average peak acceleration of the hull and the design of the actual maximum damping, especially by recording the hull operation acceleration data for at least 30 days and obtaining the average peak acceleration after removing the extreme values, the accuracy of the designed and manufactured device and its adaptability to the hull movement are ensured, and the camera shaking speed and amplitude can be controlled within a safe range to avoid damage to the camera due to long-term shaking or violent movement of the ship. It can also achieve clear imaging under various ship movement conditions, thus ensuring the clarity of the camera to the greatest extent.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A design method for a marine camera damping device, characterized in that: The steps include: Step S1: device structure design; Let m be the total load of the swing bracket (7), including the mass of the camera (8); N be the torque damped by the damper (5); a be the acceleration of the hull; q be the distance between the center of gravity and the center of rotation of the swing bracket (7); Step S2: initial damping design of the damper (5); S21: Calculate the total load m of the swing bracket (7) including the camera (8) according to the relationship m =N / (a*q); S22: Determine critical acceleration a0; When the hull is in uniform linear motion, the swing bracket (7) is in a stationary state, and the hull acceleration is the critical acceleration a0 of the swing bracket (7); When the hull acceleration is greater than or equal to a0, the swing bracket (7) shakes to avoid generating a large stress at the connection between the swing bracket (7) and the camera (8); S23: Calculate the initial damping N0 of the damper (5) according to the relationship N0=m a0*q; Step S3: Calculate the average peak acceleration a of the hull max ; S31: planning a hull installation position of the ship camera (8), and installing an acceleration sensor at the planned position; S32: Record at least 30 days of ship running acceleration data; S33: taking the daily peak value of the hull acceleration within the data range and establishing a data set; S34: Remove extreme values ​​in the data set and calculate the average peak acceleration a of the hull max ; Step S4: designing the actual maximum damping of the damper; S41: Set the critical acceleration a0 to be the stable acceleration a of the swing bracket (7) 稳 ; The ship's acceleration is less than or equal to a 稳 When the swing bracket (7) rotates, the camera can capture clear images; S42:N 额 =ma max *q-ma 稳 *q, the required rated damping N of the damper (5) 额 ; S43: Calculate the actual maximum damping of the damper (5), i.e. the safety damping N 安 , N 安 = Damping safety factor * N max .

2. A camera damping device manufactured by the design method of a ship camera damping device according to claim 1, comprising a damper (5) mainly composed of an inner layer and an outer layer, characterized in that: The inner layer of the damper (5) is fixedly mounted on the rotating shaft (4), the rotating shaft (4) is integrally mounted on the bracket (3), and the middle part of the bracket (3) is mounted with a fixing member (1); the outer layer of the damper (5) is fixedly provided with a fixing disc (6) and a swing bracket (7), and the fixing disc (6) is closely attached to the outer side surface of the swing bracket (7); and a camera (8) is mounted on the swing bracket (7).

3. The camera damping device manufactured by the design method of a marine camera damping device according to claim 2 is characterized in that: The damper (5) is a rotation damper, and there is resistance between the inner layer and the outer layer to hinder the inner layer and the outer layer from rotating relative to each other.

4. The camera damping device manufactured by the design method of a marine camera damping device according to claim 2 is characterized in that: A reinforcing rib (2) is provided at the bending portion of the bracket (3).

5. The camera damping device manufactured by the design method of a marine camera damping device according to claim 4 is characterized in that: The middle portion of the bracket (3) and the fixing member (1) are connected by bolts.

6. The camera damping device manufactured by the design method of a marine camera damping device according to claim 5 is characterized in that: The fixing member (1) is mounted on the hull structure.

7. The camera damping device manufactured by the design method of a marine camera damping device according to claim 2 is characterized in that: The fixed disc (6) is mounted on the outer side of the swing bracket (7) by means of bolts.

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