An installation platform for water surface and underwater terrain survey radar with three-dimensional leveling function

Abstract

This invention relates to the field of radar gimbal technology, specifically to an underwater topographic survey radar installation platform with three-dimensional leveling function. The platform includes an aircraft with a gimbal adjustment device mounted on its bottom, and a green laser depth sounding radar mounted on the gimbal adjustment device. This invention utilizes radar adjustment components at both ends of the rotating part. These components can simultaneously apply auxiliary torque to the rotating part while the motor applies torque to maintain the green laser depth sounding radar's level. This counteracts, to some extent, the continuous overturning torque generated by strong winds, reducing the load on the motor. This solves the problem of the motor continuously overheating and accelerating aging due to sustained high load, thus improving the service life of the gimbal adjustment device, ensuring its adjustment accuracy, and effectively guaranteeing the measurement accuracy of the green laser depth sounding radar.

Description

Technical Field

[0001] This invention relates to the field of radar gimbal technology, specifically to an installation platform for a surface and underwater topographic survey radar with three-dimensional leveling function. Background Technology

[0002] LiDAR can be mounted on an aircraft and operate by following the aircraft in flight. LiDAR uses lasers for ranging to obtain accurate three-dimensional data of terrain and landforms. However, the attitude disturbances of the aircraft during flight directly cause the radar to shake. Without a gimbal to isolate these disturbances, the attitude disturbances of the aircraft will cause geometric distortion and positioning deviations in the LiDAR. Especially for LiDAR, the swaying of the aircraft will cause the laser emitted by the LiDAR to shake, which will lead to deviations in measurement results. Even if a high-precision inertial navigation system is used for attitude post-processing compensation, it is difficult to perfectly correct the point cloud distortion caused by high-frequency jitter and large shaking by algorithms alone, resulting in data deviations. Therefore, ensuring the stability of the radar during operation is very important.

[0003] To address the aforementioned issues, existing technologies offer several solutions. For example, patent application number CN202211401847.1 provides a flow measurement radar mounted on a UAV gimbal. This design adjusts the flow measurement radar by installing a gimbal longitudinal axis adjuster on the aircraft, ensuring the radar's stability during operation. However, when the aircraft flies into strong winds, the enormous wind resistance exerts a continuous and powerful tumbling torque on the radar. To maintain the radar's level, the gimbal motor must continuously output high torque to counteract this force. This prolonged, continuous heavy-load condition causes the motor coils to overheat due to high current, leading to accelerated aging of the motor. Furthermore, this continuous high load severely exacerbates the wear of the transmission structure. Whether it's the risk of pitting or tooth breakage caused by the high contact stress between the teeth of the radar adjustment gear-driven gimbal, or the fretting wear of the direct-drive motor bearings under frequent micro-adjustments, both will gradually create mechanical gaps within the system, causing the radar to exhibit uncorrectable micro-shaking and compromising stability and accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide an installation platform for a surface and underwater topographic survey radar with three-dimensional leveling function, so as to solve the problem that the gimbal needs to apply a large torque to keep the green laser depth sounding radar horizontal when the aircraft is flying into the wind.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An underwater topographic survey radar mounting platform with three-dimensional leveling function includes an aircraft. A gimbal adjustment device is mounted on the bottom of the aircraft, and a green laser depth sounding radar is mounted on the gimbal adjustment device. The gimbal adjustment device includes a longitudinal axis adjustment arm and a transverse axis adjustment arm. The longitudinal axis adjustment arm is fixedly mounted on the bottom of the aircraft, and the transverse axis adjustment arm is rotatably mounted on one end of the longitudinal axis adjustment arm. Motors are installed at both ends of the transverse axis adjustment arm and at one end of the longitudinal axis adjustment arm. The motor at one end of the longitudinal axis adjustment arm controls the rotation of the transverse axis adjustment arm. Rotating parts are rotatably connected to both ends of the transverse axis adjustment arm. Motors at both ends of the transverse axis adjustment arm control the rotation of the rotating parts. Radar adjustment components are installed at both ends of the rotating parts. The green laser depth sounding radar is fixedly mounted between the two radar adjustment components. When the motor applies torque to maintain the level of the green laser depth sounding radar, the radar adjustment components apply torque to the rotating parts.

[0006] When the aircraft flies into the wind, the force exerted by the wind on the green laser depth sounding radar can be categorized as follows: If the wind direction is horizontal to the radar, the area directly in front of the radar experiences significant pressure. In this case, the motors do not require much torque to maintain the radar's alignment. However, if the wind blows diagonally above the radar, the area directly in front of and above the radar experiences greater pressure. In this case, the motors on both sides apply torque to support the radar and keep it horizontal. Similarly, if the wind blows diagonally below the radar, the area directly in front of and below the radar experiences greater pressure. Under high pressure, the motors on both sides apply torque to support the green laser depth sounding radar and keep it horizontal. This design, by setting radar adjustment components at both ends of the rotating part, can simultaneously apply auxiliary torque to the rotating part while the motor applies torque to maintain the green laser depth sounding radar horizontally. This offsets to some extent the continuous overturning torque generated by strong winds, reduces the load on the motor, solves the problem of the motor continuously overheating and aging due to the continuous high load, improves the service life of the gimbal adjustment device, ensures the adjustment accuracy of the gimbal adjustment device, and effectively guarantees the measurement accuracy of the green laser depth sounding radar.

[0007] Preferably, the radar adjustment assembly includes a rectangular frame, on which a longitudinal slider and a transverse slider are elastically slidably connected. The longitudinal slider and the transverse slider are perpendicular to each other. The longitudinal slider and the transverse slider are respectively provided with a longitudinal groove and a transverse groove. A rectangular slider is fixedly connected to the rotating part. The rectangular slider is slidably connected inside the longitudinal groove and the transverse groove, and the rectangular slider is in contact with the inner wall of the longitudinal groove and the transverse groove. Four radar adjustment racks are provided on the inner wall of the rectangular frame. A radar adjustment gear is provided on the rotating part. A bearing is provided between the radar adjustment gear and the rotating part. A torsion spring is provided between the radar adjustment gear and the rotating part.

[0008] This design, through the arrangement of a rectangular frame, longitudinal slider, transverse slider, rectangular slider, radar adjustment rack, radar adjustment gear, and torsion spring, forms a purely mechanical force compensation device. When the wind direction is horizontal, the lateral pressure on the green laser depth sounding radar is mainly borne by its own structure. At this time, the torque required for the gimbal adjustment device to keep the green laser depth sounding radar horizontal is minimal. The rectangular slider only slides horizontally with the green laser depth sounding radar within the longitudinal and transverse slides. The radar adjustment gear and radar adjustment rack remain completely separated, the torsion spring is not triggered, and the radar adjustment components do not generate any additional resistance. When the wind blows diagonally above or below the green laser depth sounding radar, the vertical overturning torque generated by the wind pressure forces the green laser depth sounding radar to tend to move vertically. The gimbal adjustment device keeps the green laser depth sounding radar absolutely horizontal in real time. The vertical displacement trend of the optical depth sounding radar is transformed into a compound motion of the rectangular slider within the longitudinal and transverse grooves through the elastic sliding of the longitudinal and transverse sliders on the rectangular frame. This motion drives the radar adjustment gear on the rotating part to mesh with the corresponding radar adjustment rack on the inner wall of the rectangular frame. The rotation of the radar adjustment gear tightens the torsion spring, and the reaction force generated by the torsion spring acts directly on the rotating part. The direction of this reaction force is exactly opposite to the direction of the overturning torque caused by the oblique wind pressure. As a result, the actual load on the motor is greatly reduced while the gimbal adjustment device keeps the green laser depth sounding radar horizontal in real time. Only a small current is needed to complete the precise leveling, which to some extent offsets the continuous overturning torque generated by strong winds, reducing the load on the motor. Moreover, the radar adjustment component is a purely mechanical structure, which is low in cost and has extremely high reliability and maintainability.

[0009] Preferably, the rotating part is provided with a circular guide block, and the rectangular frame is symmetrically fixedly connected with transverse limiting blocks on the left and right sides, and the distance between the transverse limiting blocks on both sides is the same as the diameter of the circular guide block.

[0010] This design incorporates circular guide blocks on the rotating part and symmetrically fixed transverse limiting blocks on both sides of the rectangular frame. The distance between the transverse limiting blocks is the same as the diameter of the circular guide blocks. This ensures that, in the initial state, the circular guide blocks are precisely locked by the transverse limiting blocks, completely constraining the horizontal movement freedom of the rotating part. Even if the green laser depth sounding radar is subjected to horizontal wind pressure, the rectangular slider cannot slide horizontally within the longitudinal and transverse grooves. The radar adjusting gear and the radar adjusting rack remain separated, thus preventing unnecessary horizontal displacement of the green laser depth sounding radar when the horizontal or diagonal wind force is small. Only when the green laser depth sounding radar is subjected to large wind pressure from above or below... When sufficient vertical displacement is generated, the circular guide block will disengage from the horizontal limit blocks on both sides, releasing the lock on horizontal movement. At this time, the rectangular slider can move along the horizontal slide groove, thereby driving the radar adjustment gear to mesh with the corresponding radar adjustment rack and tighten the torsion spring, applying auxiliary support torque to the rotating part. The vertical displacement of the green laser depth sounding radar is negligible compared to the up and down floating of the aircraft during flight. Therefore, this locking mechanism will not affect the real-time compensation capability of the gimbal adjustment device for the normal floating condition of the aircraft. It only intervenes to unload the force when the continuous oblique wind pressure causes significant vertical displacement, ensuring the stable accuracy of the green laser depth sounding radar under complex wind fields.

[0011] Preferably, the rectangular frame is symmetrically fixedly connected with inclined limiting blocks on the upper and lower sides. Inclined surfaces one is symmetrically arranged on both sides of the inclined limiting blocks, and inclined surfaces two is symmetrically arranged on both sides of the transverse limiting blocks. Inclined surfaces one and the adjacent inclined surfaces two are parallel to each other, and the distance between them is consistent with the diameter of the circular guide block. All four radar adjusting racks are inclined, and the inclination angle of each radar adjusting rack is consistent with the inclination angle of the adjacent inclined surface one.

[0012] This design uses symmetrically fixed oblique limiting blocks on the upper and lower sides of a rectangular frame. An oblique surface (slope one) is symmetrically arranged on both sides of the oblique limiting blocks, and an oblique surface (slope two) is symmetrically arranged on both sides of the transverse limiting blocks. The oblique surfaces are parallel to each other, with the distance between them equal to the diameter of the circular guide block. Simultaneously, all four radar adjustment racks are tilted, with the tilt angle of each rack matching the tilt angle of the adjacent oblique surface. This ensures that when the green laser depth sounding radar experiences vertical displacement due to oblique wind pressure, the circular guide block, as it breaks free from the constraint of the transverse limiting blocks, first contacts oblique surfaces one and two. The parallel oblique surfaces one and two form an oblique guide channel, allowing the pressure on the circular guide block within this channel to be naturally converted into... The sliding motion along the inclined plane is smoother and more fluid than planar contact, effectively avoiding hard collisions and movement jamming between the circular guide block and the lateral or inclined limit block. At the same time, since the tilt angles of the four radar adjustment racks are exactly the same as the tilt angle of the first inclined plane, the radar adjustment gear can smoothly cut into the teeth of the corresponding radar adjustment rack from the side during the sliding of the circular guide block along the first and second inclined planes, rather than directly impacting the tooth surface from above the tooth tip. The meshing process between the radar adjustment gear and the radar adjustment rack achieves a smooth transition, ensuring that the auxiliary support torque applied by the radar adjustment component is always smooth and stable, further improving the stability and reliability of the gimbal adjustment device for adjusting the green laser depth sounding radar under strong wind and oblique blowing conditions.

[0013] Preferably, the torsion spring is a bidirectional torsion spring, and a dust cover is provided on the rotating part, which completely covers the torsion spring.

[0014] This design, by setting the torsion spring as a bidirectional torsion spring, ensures that when the green laser depth sounding radar is subjected to upward wind pressure and the radar adjustment gear and radar adjustment rack rotate in both directions, the bidirectional torsion spring can provide the same force to the rotating part. It also avoids the problems of asymmetrical torque attenuation, sudden drop in fatigue life, and easy breakage failure caused by one side being tightened in the direction of rotation and the other side being stretched open in the opposite direction of rotation when a single torsion spring is working in both directions. The radar adjustment component can provide stable, symmetrical, and reliable auxiliary support torque to the motor of the gimbal adjustment device under both upward and downward wind conditions. At the same time, the dust cover can also shield the torsion spring, preventing sand and water vapor from contaminating the torsion spring during flight and thus accelerating its aging. Therefore, this design significantly improves the long-term reliability of the system.

[0015] Preferably, an initial position limiting block is symmetrically and elastically slidably connected to the transverse limiting block. The initial position limiting block is provided with a return slope and a reinforcing slope. The inclination angle of the reinforcing slope is greater than the inclination angle of the return slope. When the green laser depth sounding radar is in the initial position, the green laser depth sounding radar is in contact with the reinforcing slopes on the four surrounding initial position limiting blocks.

[0016] This design utilizes a symmetrical, elastically sliding connection between the initial position limiting block and the lateral limiting block. A return slope and a reinforcing slope are provided on the initial position limiting block, with the inclination angle of the reinforcing slope being greater than that of the return slope. Simultaneously, when the green laser depth sounder is in its initial position, it contacts the reinforcing slopes on the four surrounding initial position limiting blocks. This allows the reinforcing slopes, with their larger inclination angle, to provide a significant initial position locking force for the green laser depth sounder when wind speeds are low. Even with slight horizontal wind pressure or minor inertial forces from normal flight acting on the green laser depth sounder, the green laser... The optical depth sounding radar also has difficulty overcoming the resistance of the reinforced slope to generate displacement, thus avoiding unnecessary vertical movement of the green laser depth sounding radar when the wind force is not strong. Only when the slanted wind force increases to a level sufficient to overcome the elastic force of the initial position limit block will the green laser depth sounding radar push the initial position limit block to elastically retract and cross the reinforced slope to enter the return slope area. At this time, the small tilt angle of the return slope reduces the motion damping of the green laser depth sounding radar after it is unlocked. Therefore, this design further ensures the in-situ stability of the green laser depth sounding radar under light wind conditions and the unloading reliability under strong wind conditions.

[0017] Preferably, damping is provided between the longitudinal slider and the transverse slider and the inner wall of the rectangular frame.

[0018] This design incorporates damping between the longitudinal and transverse sliders and the inner wall of the rectangular frame. When the green laser depth sounder is subjected to wind forces and begins to move, the sliding speed of the longitudinal and transverse sliders within the rectangular frame is limited by this damping. This prevents the green laser depth sounder from rapidly undulating due to even the slightest wind fluctuations. Only a continuous and sufficiently strong wind pressure is allowed to propel the green laser depth sounder smoothly, thus avoiding the radar from moving back and forth due to sudden changes in wind force during gusts. This effectively prevents ineffective wear on the radar adjustment components. Simultaneously, the speed-limiting effect of the damping ensures that the movement of the green laser depth sounder remains smooth and controllable. It also prevents the inner wall of the rectangular frame from being impacted or the circular guide block from colliding with inclined planes one and two when moving too quickly, further ensuring the stability of the gimbal adjustment device and the overall service life of the radar adjustment components.

[0019] Preferably, a rounded chamfer is provided between the inclined surfaces on both sides of the inclined limiting block.

[0020] This invention provides a smooth arc-shaped transition surface for the circular guide block when it slides within the guide channel formed by the first and second inclined surfaces and approaches the root region of the inclined limit block. This avoids significant wear when the circular guide block comes into contact with the sharp corner where the two inclined surfaces meet. Furthermore, the circular guide block can smoothly slide from one inclined surface to the other along the arc-shaped chamfer with a continuous and abrupt sliding trajectory, thus eliminating guide jamming caused by sharp corner obstruction. This ensures the stability of the radar adjustment assembly when the direction of the oblique wind pressure changes and the circular guide block needs to cross the inclined limit block for directional movement, thereby extending the overall service life of the radar adjustment assembly.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention provides radar adjustment components at both ends of the rotating part. These components can simultaneously apply auxiliary torque to the rotating part while the motor applies torque to maintain the green laser depth sounding radar horizontally. This offsets the continuous overturning torque generated by strong winds to a certain extent, reducing the load on the motor. This solves the problem of the motor continuously overheating and aging due to the motor maintaining a high load, thus improving the service life of the gimbal adjustment device, ensuring the adjustment accuracy of the gimbal adjustment device, and effectively guaranteeing the measurement accuracy of the green laser depth sounding radar.

[0022] 2. By setting a circular guide block on the rotating part, the present invention avoids unnecessary horizontal displacement of the green laser depth sounding radar when the horizontal or diagonal wind force is small. Only when the green laser depth sounding radar is subjected to a large wind pressure from above or below and generates sufficient vertical displacement will the circular guide block disengage from the horizontal limit blocks on both sides, thus ensuring the stable accuracy of the green laser depth sounding radar under complex wind fields.

[0023] 3. This invention symmetrically connects inclined limiting blocks to the upper and lower sides of a rectangular frame, symmetrically sets inclined surfaces one on both sides of the inclined limiting blocks, and symmetrically sets inclined surfaces two on both sides of the transverse limiting blocks, and makes inclined surfaces one and the adjacent inclined surfaces two parallel to each other and the distance between them consistent with the diameter of the circular guide block, ensuring that the auxiliary support torque applied by the radar adjustment component is always smooth and stable, further improving the stability and reliability of motor load reduction when the gimbal adjustment device keeps the green laser depth sounding radar absolutely horizontal in real time under strong wind oblique blowing conditions. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the installation platform for the surface and underwater topographic survey radar with three-dimensional leveling function of the present invention. Figure 2 This is a schematic diagram of the gimbal adjustment device of the present invention; Figure 3 for Figure 2Enlarged view of point A in the middle; Figure 4 for Figure 3 A schematic diagram of the structure after the horizontal axis adjusting arm has been removed. Figure 5 for Figure 4 Schematic diagram of the structure behind the central circular guide block; Figure 6 for Figure 4 A schematic diagram of the structure after the removal of the horizontal and oblique limiting blocks; Figure 7 This is a sectional view of the rectangular frame of the present invention along the vertical line of symmetry; Figure 8 for Figure 7 Enlarged view of section B in the middle.

[0025] In the diagram: 1. Aircraft; 2. Green laser depth sounding radar; 3. Longitudinal axis adjusting arm; 4. Lateral axis adjusting arm; 5. Rotating part; 6. Rectangular frame; 7. Longitudinal slider; 8. Lateral slider; 9. Longitudinal groove; 10. Lateral groove; 11. Rectangular slider; 12. Radar adjusting rack; 13. Radar adjusting gear; 14. Torsion spring; 15. Circular guide block; 16. Lateral limit block; 17. Inclined limit block; 18. Inclined surface one; 19. Inclined surface two; 20. Bearing; 21. Damping; 22. Initial position limit block; 23. Returning inclined surface; 24. Reinforced inclined surface; 25. Rounded chamfer; 26. Dust cover. Detailed Implementation

[0026] This invention provides an installation platform for an underwater and surface topographic survey radar with three-dimensional leveling function. The technical solution is as follows: Please see Figures 1 to 8 An underwater topographic survey radar mounting platform with three-dimensional leveling function includes an aircraft 1. A gimbal adjustment device is installed at the bottom of the aircraft 1, and a green laser depth sounding radar 2 is installed on the gimbal adjustment device. The gimbal adjustment device includes a longitudinal axis adjustment arm 3 and a transverse axis adjustment arm 4. The longitudinal axis adjustment arm 3 is fixedly installed at the bottom of the aircraft 1, and the transverse axis adjustment arm 4 is rotatably installed at one end of the longitudinal axis adjustment arm 3. Motors are provided at both ends of the transverse axis adjustment arm 4 and at one end of the longitudinal axis adjustment arm 3. The motor at one end of the longitudinal axis adjustment arm 3 is used to control the rotation of the transverse axis adjustment arm 4. Rotating parts 5 are rotatably connected at both ends of the transverse axis adjustment arm 4. The motors at both ends of the transverse axis adjustment arm 4 are used to control the rotation of the rotating parts 5. Radar adjustment components are provided at both ends of the rotating parts 5. The green laser depth sounding radar 2 is fixedly installed between the two radar adjustment components. When the motor applies torque to maintain the level of the green laser depth sounding radar 2, the radar adjustment components are used to apply torque to the rotating parts 5.

[0027] Please see Figures 1 to 8The radar adjustment assembly includes a rectangular frame 6, on which a longitudinal slider 7 and a transverse slider 8 are elastically slidably connected. The longitudinal slider 7 and the transverse slider 8 are perpendicular to each other. The longitudinal slider 7 and the transverse slider 8 are respectively provided with a longitudinal groove 9 and a transverse groove 10. A rectangular slider 11 is fixedly connected to a rotating part 5, and the rectangular slider 11 is slidably connected inside the longitudinal groove 9 and the transverse groove 10, and the rectangular slider 11 contacts the inner walls of the longitudinal groove 9 and the transverse groove 10. Four radar adjustment racks 12 are provided on the inner wall of the rectangular frame 6. A radar adjustment gear 13 is provided on the rotating part 5, and a bearing 20 is provided between the radar adjustment gear 13 and the rotating part 5. A torsion spring 14 is provided between the rotating parts 5 and a circular guide block 15 is provided on the rotating part 5. A transverse limiting block 16 is symmetrically fixedly connected to the left and right sides of the rectangular frame 6. The distance between the transverse limiting blocks 16 on both sides is the same as the diameter of the circular guide block 15. An oblique limiting block 17 is symmetrically fixedly connected to the upper and lower sides of the rectangular frame 6. An oblique surface 18 is symmetrically provided on both sides of the oblique limiting block 17. An oblique surface 2 19 is symmetrically provided on both sides of the transverse limiting block 16. The oblique surface 18 and the oblique surface 2 19 on the adjacent side are parallel to each other, and the distance between them is the same as the diameter of the circular guide block 15. The four radar adjustment racks 12 are all inclined, and the inclination angle of each radar adjustment rack 12 is the same as the inclination angle of the adjacent oblique surface 18.

[0028] Please see Figures 1 to 8 The torsion spring 14 is a bidirectional torsion spring. A dust cover 26 is provided on the rotating part 5, which completely covers the torsion spring 14. An initial position limit block 22 is symmetrically and elastically slidably connected to the transverse limit block 16. The initial position limit block 22 is provided with a return slope 23 and a reinforcing slope 24. The inclination angle of the reinforcing slope 24 is greater than the inclination angle of the return slope 23. When the green laser depth sounding radar 2 is in the initial position, the green laser depth sounding radar 2 and the reinforcing slopes on the four surrounding initial position limit blocks 22 are connected. 24. A damping 21 is provided between the longitudinal slider 7 and the transverse slider 8 and the inner wall of the rectangular frame 6. The damping 21 is specifically configured as follows: a plastic-coated guide rail is used on the inner wall of the rectangular frame 6. The plastic-coated guide rail is made of cast iron. The longitudinal slider 7 and the transverse slider 8 slide on the plastic-coated guide rail. At this time, the static and dynamic friction coefficients between the longitudinal slider 7 and the transverse slider 8 and the inner wall of the plastic-coated guide rail are very close, making it difficult to crawl and exhibiting viscous damping characteristics. A rounded chamfer 25 is provided between the inclined surfaces 18 on both sides of the inclined limiting block 17.

[0029] Please see Figures 1 to 8 The workflow of an installation platform for an underwater and surface topographic survey radar with three-dimensional leveling function is as follows: The aircraft 1 is equipped with a gimbal adjustment device and a green laser depth sounding radar 2. It takes off to perform terrain surveying missions. During the flight, the motor at one end of the longitudinal axis adjustment arm 3 controls the horizontal axis adjustment arm 4 to rotate around the longitudinal axis. The motors at both ends of the horizontal axis adjustment arm 4 control the rotating parts 5 on both sides to rotate around the horizontal axis. The three motors work together to form three-dimensional leveling, so that the gimbal adjustment device can stabilize the green laser depth sounding radar 2 in a horizontal attitude in real time.

[0030] When aircraft 1 hovers or flies at low speed in the air and encounters relatively weak winds, the green laser depth sounding radar 2, installed between two radar adjustment components, is initially locked in place by the reinforcing ramps 24 on the four initial position limit blocks 22. Because the tilt angle of the reinforcing ramps 24 is much larger than that of the return ramps 23, the green laser depth sounding radar 2 cannot overcome the large-angle locking resistance of the reinforcing ramps 24 under slight horizontal wind pressure or the small inertial force generated by the normal floating of aircraft 1. The green laser depth sounding radar 2 remains stationary. At this time, the rotating part... The circular guide block 15 on the 5 is locked by the transverse limiting blocks 16 symmetrically fixed on the left and right sides of the rectangular frame 6. The distance between the transverse limiting blocks 16 on both sides is the same as the diameter of the circular guide block 15. The horizontal movement of the rotating part 5 is completely constrained. Therefore, the rectangular slider 11 cannot slide in the longitudinal slide groove 9 and the transverse slide groove 10. The radar adjusting gear 13 and the radar adjusting rack 12 on the inner wall of the rectangular frame 6 are completely separated. The torsion springs 14 are all in a naturally relaxed state and are not triggered. The radar adjusting assembly does not generate any additional torque.

[0031] When the aircraft 1 flies into the wind and the wind blows horizontally towards the green laser depth sounding radar 2, the green laser depth sounding radar 2 is subjected to a large horizontal wind pressure. The main component of the wind force is along the horizontal direction, while the vertical component of the wind force is relatively small. The green laser depth sounding radar 2 hardly produces any displacement in the vertical direction. The circular guide block 15 is still constrained to its initial position by the horizontal limit blocks 16 on both sides. The rectangular slider 11 does not slide within the longitudinal slide groove 9 and the horizontal slide groove 10. The radar adjustment gear 13 and the radar adjustment rack 12 remain separated. The torsion spring 14 is not triggered. At this time, the motor only needs to output a small torque to maintain the horizontal attitude of the green laser depth sounding radar 2.

[0032] When aircraft 1 flies into the wind and the wind blows diagonally upwards or downwards from the green laser depth sounding radar 2, the green laser depth sounding radar 2 experiences significant wind pressure simultaneously in front of and above it. This wind pressure generates a downward flipping torque component in the vertical direction, forcing the green laser depth sounding radar 2 to move vertically downwards. Meanwhile, the motor of the gimbal adjustment device continuously outputs torque to counteract this flipping torque in order to keep the green laser depth sounding radar 2 horizontal in real time. As the diagonal wind force continues to increase and becomes sufficient to overcome the elastic force of the initial position limiting block 22 and the large-angle locking force of the reinforced inclined surface 24, the green laser depth sounding radar 2 pushes the initial position limiting block 22 to elastically retract, and the green laser depth sounding radar 2 begins to move vertically downwards from the reinforced inclined surface 24. As vertical displacement accumulates, the circular guide block 15 on the rotating part 5 disengages from between the two lateral limiting blocks 16. The circular guide block 15 first contacts the inclined surface 18 on the upper side of the inclined limiting block 17 and the inclined surface 19 on the corresponding side of the lateral limiting block 16. The inclined surface 18 and the inclined surface 19 are parallel to each other and the distance between them is the same as the diameter of the circular guide block 15, forming an inclined guide channel. The pressure on the circular guide block 15 in this guide channel is naturally converted into sliding motion along the inclined surface direction, which is smoother and more fluid than planar contact, and will not cause hard collisions or movement jamming. While the circular guide block 15 slides, it drives the rectangular slider 11 through the rotating part 5 to slide in the longitudinal groove 9 and The rectangular slider 11 undergoes a compound motion within the transverse slide 10. Due to the damping 21 installed between the longitudinal slider 7 and the transverse slider 8 and the inner wall of the rectangular frame 6, the sliding speed of the rectangular slider 11 is limited by viscosity, preventing the green laser depth sounding radar 2 from rapidly shifting due to wind changes. The compound motion of the rectangular slider 11 drives the radar adjusting gear 13 on the rotating part 5 to approach the radar adjusting rack 12 at the corresponding position on the inner wall of the rectangular frame 6. Since all four radar adjusting racks 12 are inclined and the inclination angle of each radar adjusting rack 12 is consistent with the inclination angle of the adjacent inclined surface 18, the radar adjusting gear 13 can smoothly cut into the corresponding radar from the side during the sliding process guided by the circular guide block 15 along the inclined surface 18 and the inclined surface 19. The meshing process between the teeth of the adjusting rack 12 and the radar adjusting gear 13 and the radar adjusting rack 12 achieves a smooth transition. After the radar adjusting gear 13 meshes with the radar adjusting rack 12, the radar adjusting gear 13 starts to rotate. At this time, the radar adjusting gear 13 rotatably connected to the rotating part 5 rotates. The rotational torque of the radar adjusting gear 13 is transmitted to the torsion spring 14. The reaction force generated after the torsion spring 14 is tightened acts directly on the rotating part 5. The direction of this reaction force is exactly opposite to the direction of the overturning torque caused by the wind pressure above. This is equivalent to providing an auxiliary support torque that increases synchronously with the wind force to the motors at both ends of the horizontal axis adjusting arm 4. Therefore, the torque output required by the motor to maintain the horizontal position of the green laser depth sounding radar 2 is reduced.Simultaneously, if the wind suddenly weakens, the accumulated elasticity of the torsion spring 14 will push the green laser depth sounding radar 2 back to its initial position. Similarly, the damper 21 intervenes to filter out meaningless back-and-forth fluctuations caused by the light wind.

[0033] During the continuous action of the oblique wind, the circular guide block 15 slides along the guide channels of the first inclined surface 18 and the second inclined surface 19 to near the root region of the oblique limiting block 17. The rounded chamfer 25 between the two inclined surfaces 18 on both sides of the oblique limiting block 17 provides a smooth arc transition surface for the circular guide block 15, avoiding movement jamming or guide jamming and severe wear caused by sharp corners at the intersection of the two inclined surfaces 18, and ensuring that the auxiliary support torque applied by the radar adjustment component is always smooth and stable. When the direction of the oblique wind pressure changes and the circular guide block 15 needs to change direction, the rounded chamfer 25 can also provide a smooth transition for the circular guide block 15.

[0034] When the oblique wind weakens to the point where it is insufficient to overcome the elastic force of the initial position limiting block 22, the green laser depth sounding radar 2 smoothly returns to its initial position under the restoring elastic force of the longitudinal slider 7 and the transverse slider 8. The circular guide block 15 is once again locked by the transverse limiting blocks 16 on both sides, the radar adjustment gear 13 separates from the radar adjustment rack 12, and the radar adjustment component completely exits the working state. Throughout the entire flight mission, the radar adjustment component always adaptively completes the complete working cycle of locking, guiding sliding, meshing unloading, reversing switching, and resetting exit according to the magnitude and direction of the wind, effectively ensuring the accuracy and reliability of the gimbal adjustment device for real-time horizontal leveling of the green laser depth sounding radar 2.

[0035] The specific embodiment of the present invention has been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the embodiments described above. For those skilled in the art, various changes, modifications, substitutions, and variations made to these embodiments without departing from the principles and ideas of the present invention should still fall within the protection scope of the present invention.

Claims

1. A surface and underwater topographic survey radar installation platform with three-dimensional leveling function, comprising an aircraft (1), wherein a gimbal adjustment device is installed at the bottom of the aircraft (1), and a green laser depth sounding radar (2) is installed on the gimbal adjustment device, characterized in that, The gimbal adjustment device includes a longitudinal axis adjustment arm (3) and a transverse axis adjustment arm (4). The longitudinal axis adjustment arm (3) is fixedly installed at the bottom of the aircraft (1). The transverse axis adjustment arm (4) is rotatably installed at one end of the longitudinal axis adjustment arm (3). Both ends of the transverse axis adjustment arm (4) and one end of the longitudinal axis adjustment arm (3) are equipped with motors. The motor at one end of the longitudinal axis adjustment arm (3) is used to control the rotation of the transverse axis adjustment arm (4). Rotating parts (5) are rotatably connected at both ends of the transverse axis adjustment arm (4). The motors at both ends of the transverse axis adjustment arm (4) are used to control the rotation of the rotating parts (5). Radar adjustment components are provided at both ends of the rotating parts (5). The green laser depth sounding radar (2) is fixedly installed between the two radar adjustment components. When the motor applies torque to maintain the level of the green laser depth sounding radar (2), the radar adjustment components are used to apply torque to the rotating parts (5). The green laser depth sounding radar (2) uses laser for ranging to obtain accurate three-dimensional data of the terrain.

2. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 1, characterized in that, The radar adjustment assembly includes a rectangular frame (6), on which a longitudinal slider (7) and a transverse slider (8) are elastically slidably connected. The longitudinal slider (7) and the transverse slider (8) are perpendicular to each other. The longitudinal slider (7) and the transverse slider (8) are respectively provided with a longitudinal groove (9) and a transverse groove (10). A rectangular slider (11) is fixedly connected to the rotating part (5). The rectangular slider (11) is slidably connected inside the longitudinal groove (9) and the transverse groove (10), and the rectangular slider (11) is in contact with the inner wall of the longitudinal groove (9) and the transverse groove (10). Four radar adjustment racks (12) are provided on the inner wall of the rectangular frame (6). A radar adjustment gear (13) is provided on the rotating part (5). A bearing (20) is provided between the radar adjustment gear (13) and the rotating part (5). A torsion spring (14) is provided between the radar adjustment gear (13) and the rotating part (5).

3. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 2, characterized in that, A circular guide block (15) is provided on the rotating part (5), and a transverse limiting block (16) is symmetrically fixedly connected on the left and right sides of the rectangular frame (6). The distance between the transverse limiting blocks (16) on both sides is consistent with the diameter of the circular guide block (15).

4. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 3, characterized in that, The rectangular frame (6) is symmetrically fixed with inclined limiting blocks (17) on the upper and lower sides. Inclined surfaces (18) are symmetrically arranged on both sides of the inclined limiting blocks (17). Inclined surfaces (19) are symmetrically arranged on both sides of the transverse limiting block (16). Inclined surfaces (18) and the adjacent inclined surfaces (19) are parallel to each other, and the distance between them is consistent with the diameter of the circular guide block (15). The four radar adjustment racks (12) are all inclined, and the tilt angle of each radar adjustment rack (12) is consistent with the tilt angle of the adjacent inclined surface (18).

5. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 2, characterized in that, The torsion spring (14) is a bidirectional torsion spring, and a dust cover (26) is provided on the rotating part (5), which completely covers the torsion spring (14).

6. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 4, characterized in that, The lateral limiting block (16) is symmetrically and elastically connected to an initial position limiting block (22). The initial position limiting block (22) is provided with a return slope (23) and a reinforcing slope (24). The inclination angle of the reinforcing slope (24) is greater than that of the return slope (23). When the green laser depth sounding radar (2) is in the initial position, the green laser depth sounding radar (2) is in contact with the reinforcing slope (24) on the four surrounding initial position limiting blocks (22).

7. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 2, characterized in that, Damping (21) is provided between the longitudinal slider (7) and the transverse slider (8) and the inner wall of the rectangular frame (6).

8. The underwater and surface topographic survey radar installation platform with three-dimensional leveling function according to claim 6, characterized in that, A rounded chamfer (25) is provided between the inclined surfaces (18) on both sides of the inclined limiting block (17).

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