CN205594182U - Marine gravimeter stabilized platform - Google Patents

Abstract

The utility model provides a stable platform for a marine gravimeter, which comprises a base, a frame and a platform body for installing the marine gravimeter. The base is provided with an accommodating cavity, the frame is rotatably connected in the accommodating cavity, and the base is provided with a first angle sensor and a first motor for driving the frame to rotate. The platform is rotatably connected to the cavity surrounded by the frame, and the frame is provided with a second angle sensor and a second motor for driving the platform to rotate. The rotation axis of the frame relative to the base and the rotation axis of the table body relative to the frame are perpendicular to each other. By calculating the data measured by each measuring element in the stable platform of the marine gravimeter, control the rotation of the first motor and the second motor, adjust the offset angle of the table body and the frame, keep the gravimeter parallel to the vertical line, and ensure the gravity of the gravimeter. measurement accuracy.

Description

Marine Gravometer Stabilized Platform

technical field

The utility model relates to the field of marine gravity measurement, in particular to a stable platform of a marine gravimeter.

Background technique

Marine gravimeters are gravimeters used on ships or inside submarines. Under the condition of sailing in a straight line at a constant speed in the ocean, gravity measurement is carried out continuously. Since the instrument is placed on the moving hull, it is often subject to the equiangular motion of pitching and rolling of ships and other carriers, as well as vertical acceleration, horizontal acceleration, and base tilt. And other effects, the accuracy of gravity measurement will be reduced. Therefore, adjusting the position of the ocean gravimeter to keep it parallel to the vertical line has become a difficult problem in ocean gravity measurement.

Utility model content

In view of this, the purpose of the embodiment of the utility model is to provide a stable platform for marine gravimeters to isolate the equiangular motions of pitch and roll of ships and other carriers, so that the marine gravimeters are always kept parallel to the vertical line of the ground and are not affected by Acceleration, thereby improving the measurement accuracy of ocean gravimeters.

In order to achieve the above object, the technical scheme that the utility model embodiment adopts is as follows:

A marine gravimeter stable platform, the marine gravimeter stable platform includes a base, a frame and a platform for installing a marine gravimeter, the base is provided with an accommodation cavity, and the frame is rotatably connected to the accommodation cavity Inside, the base is provided with a first angle sensor and a first motor for driving the frame to rotate, the platform is rotatably connected to the cavity surrounded by the frame, and the frame is provided with a second angle The sensor and the second motor for driving the table body to rotate, the rotation axis of the frame relative to the base and the rotation axis of the table body relative to the frame are perpendicular to each other, and the table body is also provided with A gyro sensor and an acceleration sensor, the base is provided with a gravimeter electronic box, the gravimeter electronic box includes a digital control module and an acceleration analog-to-digital conversion module, and the acceleration analog-to-digital conversion module is electrically connected to the acceleration sensor, The digital control module is electrically connected to the acceleration analog-to-digital conversion module, the gyro sensor, the first angle sensor, the second angle sensor, the first motor, and the second motor

Preferably, the digital control module is used to receive electrical angle signals collected by the first angle sensor and the second angle sensor, receive gyroscope signals collected by the gyroscope sensor, and the acceleration analog-to-digital conversion module is used to Converting the analog signal collected by the acceleration sensor into a digital pulse signal and outputting the digital pulse signal to the digital control module, the digital control module is also used to perform digital pulse signal output by the acceleration analog-to-digital conversion module counting, and calculate according to the preset algorithm according to the angle electric signal, gyroscope signal and digital pulse signal, so as to control the rotation of the first motor and the second motor, so as to adjust the horizontal position of the frame and the platform.

Preferably, the first angle sensor is used to sense the rotation angle of the frame, the second angle sensor is used to sense the rotation angle of the table, and the gyro sensor is used to sense the rotation angle of the table. The offset angle of the body relative to the horizontal plane, and the acceleration sensor is used to sense the acceleration of the table body.

Preferably, the digital control module includes a serial port, a resolver-to-digital converter, a microcontroller, and a pulse counting circuit, and the serial port, a resolver-to-digital converter, and a pulse counting circuit are electrically connected to the microcontroller.

Preferably, the resolver-to-digital converter is used to convert the electrical angle signals collected by the first angle sensor and the second angle sensor into digital angle signals, and the serial port is used to receive the gyroscope collected by the gyro sensor. instrument signal, the pulse counting circuit is used to count the digital pulse signal output by the acceleration analog-to-digital conversion module, and the microcontroller is used to count the digital angle signal, gyroscope signal, and digital pulse signal according to preset The algorithm is used to control the rotation of the first motor and the second motor to adjust the horizontal position of the frame and the platform.

Preferably, the gravimeter electronic box also includes a temperature control module, the temperature control module is electrically connected to the acceleration sensor and the acceleration analog-to-digital conversion module, and the temperature control module is used to control the acceleration sensor and the acceleration The temperature of the environment where the analog-to-digital conversion module is located.

Preferably, the gravimeter electronic box further includes a power conversion module, which is used to convert the input power to the power required for the operation of the marine gravimeter stabilization platform.

Preferably, the gyro sensor is a fiber optic gyro.

Preferably, the acceleration sensor is a quartz accelerometer.

Preferably, both the first motor and the second motor are torque motors.

The stable platform of the marine gravimeter provided by the utility model includes a base, a frame and a table body, the table body is used for installing the marine gravimeter, the table body is rotatably connected in the frame, and the frame is rotatably connected in the base. By calculating the data measured by each measuring element, controlling the rotation of the first motor and the second motor, adjusting the offset angle of the table body and the frame, keeping the gravimeter parallel to the vertical line of the ground, and ensuring the measurement accuracy.

In order to make the above-mentioned purpose, features and advantages of the present invention more comprehensible, preferred embodiments are specifically cited below, together with the accompanying drawings, and are described in detail as follows.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following drawings will be briefly introduced in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained according to these drawings without creative work.

Fig. 1 is a structural schematic diagram of a stable platform of a marine gravimeter provided by an embodiment of the present invention.

Description of main component symbols:

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. . The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to FIG. 1 , which is a schematic structural diagram of a stable platform for a marine gravimeter provided by an embodiment of the present invention. The marine gravimeter stable platform provided by the embodiment of the utility model is used to isolate the pitching and rolling equiangular motions of ships and other carriers, so that the marine gravimeter is always kept at the level with the vertical line of the ground and is not affected by horizontal acceleration, thereby improving the marine gravity. The measurement accuracy of the gravimeter. The stable platform of the marine gravimeter provided by the embodiment of the utility model includes a base 110 , a frame 120 and a platform body 130 , and the platform body 130 is used for installing the marine gravimeter 200 .

Wherein, the base 110 is provided with an accommodating cavity 111, and the accommodating cavity 111 may be in various shapes, such as circular, rectangular, polygonal, etc., which is not limited in this embodiment of the present utility model. The frame 120 is rotatably connected in the receiving cavity 111 , and the base 110 is also provided with a first angle sensor 112 and a first motor 113 , and the first motor 113 can drive the frame 120 to rotate. The frame 120 is provided with a second angle sensor 121 and a second motor 122, and the second motor 122 can drive the platform 130 to rotate. The rotation axis of the frame 120 relative to the base 110 is perpendicular to the rotation axis of the platform 130 relative to the frame 120 , that is, the rotation directions of the frame 120 and the platform 130 are perpendicular to each other. The rotation axis here can be understood as a virtual axis, that is, the axis around which the frame 120 rotates relative to the base 110 and the axis around which the platform 130 rotates relative to the frame 120 .

The table body 130 is also provided with a gyro sensor 131 and an acceleration sensor 132. Preferably, in the embodiment of the present invention, the gyro sensor 131 is a fiber optic gyro, and the acceleration sensor 132 is a quartz accelerometer.

The fiber optic gyroscope has fewer parts, the instrument is firm and stable, and has strong anti-shock and anti-acceleration capabilities; the wound optical fiber is longer, which improves the detection sensitivity and resolution by several orders of magnitude compared with the laser gyroscope; no mechanical transmission parts , there is no wear problem, so it has a long service life; it is easy to adopt integrated optical circuit technology, the signal is stable, and it can be directly used for digital output and connected to the computer interface; by changing the length of the optical fiber or the number of cycles of light in the coil , can achieve different precision, and has a wide dynamic range; the propagation time of the coherent beam is short, so in principle, it can be started instantly without preheating; the structure is simple, the price is low, the volume is small, and the weight is light.

Quartz accelerometer has simple structure, small size, fast response and high sensitivity.

The base 110 is provided with a gravimeter electronics box 114 . The gravimeter electronic box 114 includes a digital control module (not shown) and an acceleration analog-to-digital conversion module (not shown). The gravimeter electronic box 114 is electrically connected to the gyro sensor 131 , the acceleration sensor 132 , the first angle sensor 112 , the second angle sensor 121 , the first motor 113 , and the second motor 122 . Both the first motor 113 and the second motor 122 are torque motors. Torque motor is a special motor with soft mechanical characteristics and wide speed range. The shaft of this motor does not output power with constant power but with constant torque. It has low speed, high torque, strong overload capacity, and responsive Fast, good characteristic linearity, small torque fluctuation, etc., can directly drive the load without reducing the transmission gear, thereby improving the operating accuracy of the system.

The first angle sensor 112 is used to sense the rotation angle of the frame 120 , and the second angle sensor 121 is used to sense the rotation angle of the table body 130 , and then outputs an angle electrical signal matching the rotation angle. The acceleration sensor 132 is used to sense the acceleration of the table body 130, the acceleration includes the acceleration in the three directions of X, Y, and Z in the three-dimensional coordinate system, and then outputs an acceleration analog signal matching the acceleration. The acceleration analog-to-digital conversion module is used to convert the analog signal collected by the acceleration sensor 132 into a digital pulse signal and output the digital pulse signal to the digital control module. The gyro sensor 131 is used to sense the offset angle of the platform 130 relative to the horizontal plane, and output a gyroscope signal matching the offset angle.

The digital control module is used for receiving the electrical angle signals collected by the first angle sensor 112 and the second angle sensor 121, and receiving the gyroscope signal collected by the gyro sensor 131, and according to the received electrical angle signal, gyroscope signal and digital pulse signal Calculate according to a preset algorithm to control the rotation of the first motor 113 and the second motor 122 to adjust the horizontal position of the frame 120 and the platform body 130 so that the marine gravimeter 200 installed on the platform body 130 is aligned with the vertical line of the ground keep parallel.

The stable platform of the marine gravimeter provided by the embodiment of the utility model is installed on a carrier such as a ship. During the driving process of the ship, due to the ups and downs of the waves, the ship will move with the ups and downs, and the stable platform of the marine gravimeter will move along with it. The gravimeter 200 installed on the platform body 130 cannot be kept parallel to the vertical line of the ground.

The function of the stable platform of the marine gravimeter provided by the embodiment of the utility model is to ensure that the gravimeter 200 remains parallel to the vertical line all the time. The specific working principle is as follows: when the ship is moving, due to the carrier tilt and acceleration The entire marine gravimeter stable platform will be tilted relative to the horizontal plane, and the gravimeter 200 will also be tilted or offset relative to the vertical line, which will seriously affect the accuracy of its measurement of ocean gravity. When the above situation occurs , the digital control module is based on the received first angle sensor 112 and second angle sensor 121 sensed frame 120 and platform body 130 offset angle relative to the horizontal plane, the gyroscope signal collected by the gyro sensor 131, the acceleration analog-to-digital conversion The digital pulse signal output by the module is calculated, and then the first motor 113 and the second motor 122 are controlled to rotate, and the first motor 113 and the second motor 122 drive the frame 120 and the table body 130 to rotate, and adjust the level of the frame 120 and the table body 130 position, so that the gravimeter 200 is kept parallel to the vertical line of the ground, thereby ensuring the accuracy and stability of the gravimeter 200 to measure gravity.

The digital control module mainly includes a serial port, a resolver-to-digital converter, a microcontroller and a pulse counting circuit. The serial port, resolver-to-digital converter, and pulse counting circuit are electrically connected to the microcontroller. The serial port is used to receive the gyroscope signal collected by the gyroscope sensor 131 .

The resolver-to-digital converter is used to convert the electrical angle signals collected by the first angle sensor 112 and the second angle sensor 121 into digital angle signals. The pulse counting circuit is used for counting the digital pulse signal output by the acceleration analog-to-digital conversion module. The microcontroller is used to calculate the digital angle signal, gyroscope signal and digital pulse signal according to a preset algorithm to control the rotation of the first motor 113 and the second motor 122 to adjust the level of the frame 120 and the table body 130 Location.

The gravimeter electronic box 114 also includes a temperature control module, which is electrically connected to the acceleration sensor and the acceleration analog-to-digital conversion module. Because the acceleration sensor 132 and the acceleration analog-to-digital conversion module are affected by the measurement accuracy more obviously when the external temperature changes, in order to make the acceleration sensor 132 and the acceleration analog-to-digital conversion module work in a stable temperature environment, the utility model embodiment provides The ocean gravimeter stable platform is also provided with a temperature control module.

The temperature control module controls the heating power of the heating plate by controlling the current flowing through the heating plate, so that the temperature in the stable platform of the marine gravimeter provided by the embodiment of the present invention reaches an inherent temperature, and the inherent temperature value can be preset set up. Thereby ensuring the measurement accuracy of the acceleration.

The gravimeter electronic box 114 also includes a power conversion module, which is used to convert the input power to the power required for the stable platform of the marine gravimeter provided by the embodiment of the present invention. The input power supply is generally a 220V AC voltage source. By adopting a series of voltage transformations, the 220V voltage source is converted into other power sources, for example, converted into a 28V DC power source through an AC/DC switch, and then converted into a DC power source The DC or AC power supply required for the work of each inertial instrument, circuit module, and circuit board in the marine gravimeter stabilization platform provided by the embodiment of the utility model.

For example, for the working power supply of the digital control module is a 5V DC power supply, the 28V DC power supply can be stepped down to 5V through a DC/DC power conversion module.

The working power supply of the first angle sensor 112 and the second angle sensor 121 is 26V/400Hz excitation power supply, through a DC/AC power conversion module, the 28V DC power supply can be converted into 26V/400Hz excitation AC power supply.

In summary, the stable platform of the marine gravimeter provided by the embodiment of the utility model controls the rotation of the first motor 113 and the second motor 122 by calculating the data measured by each measuring element, and adjusts the offset angle of the table body 130 and the frame 120 , so that the gravimeter 200 is kept parallel to the vertical line to ensure the measurement accuracy.

The above is only a specific embodiment of the present utility model, but the scope of protection of the present utility model is not limited thereto. Anyone familiar with the technical field can easily think of changes or changes within the technical scope disclosed by the utility model Replacement should be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be based on the protection scope of the claims.

Claims (10)

1. a marine gravitometer stabilized platform, it is characterised in that described marine gravitometer Stabilized platform includes pedestal, framework and for installing the stage body of marine gravitometer, described pedestal Being provided with receiving chamber, described frame member is connected to described receiving intracavity, and described pedestal is arranged There is the first angular transducer and for driving the first motor of described frame member, described stage body Being rotationally connected with in the cavity that described framework surrounds, described framework is provided with the second angle sensor Device and for driving the second motor that described stage body rotates, described framework is relative to described pedestal Rotary shaft and described stage body be mutually perpendicular to relative to the rotary shaft of described framework, described stage body Being additionally provided with gyro sensor and acceleration transducer, described pedestal is provided with gravimeter electricity Sub-case, described gravimeter electronic box includes digital control module and acceleration analog-to-digital conversion module, Described acceleration analog-to-digital conversion module electrically connects with described acceleration transducer, described numeral control Molding block and described acceleration analog-to-digital conversion module, gyro sensor, the first angle sensor Device, the second angular transducer, the first motor, the second motor all electrically connect.

Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that Described digital control module is used for receiving described first angular transducer, the second angular transducer The angle signal of telecommunication gathered, receives described gyro sensor and connects the gyroscope signal of collection, Described acceleration analog-to-digital conversion module is for the analogue signal gathered by described acceleration transducer Be converted to digital pulse signal and by the output of this digital pulse signal to described digital control mould Block, described digital control module is additionally operable to the number to the output of described acceleration analog-to-digital conversion module Word pulse signal counts, and according to the angle signal of telecommunication, gyroscope signal and digit pulse Signal calculates according to algorithm set in advance, to control described first motor and the second electricity Machine rotates, to adjust the horizontal level of described framework and stage body.

Marine gravitometer stabilized platform the most according to claim 2, it is characterised in that Described first angular transducer is for sensing the anglec of rotation of described framework, described second angle Sensor is for sensing the anglec of rotation of described stage body, and described gyro sensor is used for sensing Described stage body deviation angle with respect to the horizontal plane, described acceleration transducer is used for sensing institute State the acceleration of stage body.

Marine gravitometer stabilized platform the most according to claim 2, it is characterised in that Described digital control module includes that serial ports, rotation become digital converter, microcontroller, pulsimeter Number circuit, described serial ports, rotation become digital converter, pulse-scaling circuit and described microcontroller Device electrically connects.

Marine gravitometer stabilized platform the most according to claim 4, it is characterised in that Described rotation becomes digital converter for described first angular transducer and described second angle being passed The angle signal of telecommunication of sensor collection is converted to digital angle signal, and described serial ports is used for receiving institute Stating the gyroscope signal that gyro sensor gathers, described pulse-scaling circuit is for described The digital pulse signal of acceleration analog-to-digital conversion module output counts, described microcontroller For to described digital angle signal, gyroscope signal, digital pulse signal according to setting in advance Fixed algorithm calculates, to control described first motor and the second electric machine rotation, to adjust Described framework and the horizontal level of stage body.

Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that Described gravimeter electronic box also includes temperature control modules, and described temperature control modules is with described Acceleration transducer, acceleration analog-to-digital conversion module electrically connect, and described temperature control modules is used In controlling described acceleration transducer and the temperature of described acceleration analog-to-digital conversion module place environment Degree.

Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that Described gravimeter electronic box also includes power transfer module, for input power is converted to institute State the power supply needed for the work of marine gravitometer stabilized platform.

Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that Described gyro sensor is optical fibre gyro.

Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that Described acceleration transducer is quartz accelerometer.

Marine gravitometer stabilized platform the most according to claim 1, its feature exists In, described first motor and described second motor are torque motor.