阅读说明：本技术 姿态调整装置及调整控制方法、光学浮标 (Attitude adjusting device, adjustment control method and optical buoy ) 是由 张继明 陈世哲 孟庆明 万晓正 张可可 吴玉尚 杨祥龙 管万春 张小磊 于 2020-06-02 设计创作，主要内容包括：本申请提出一种姿态调整装置及调整控制方法、光学浮标,属于海洋资料浮标技术领域。本申请所述姿态调整装置及调整控制方法、光学浮标,所述姿态检测单元检测所述光学观测设备的姿态数据并传输至所述控制单元,所述控制单元通过所述第一驱动单元和第二驱动单元分别控制所述光学观测设备在所述第一方向和第二方向上调整倾斜角度,进而使所述光学观测设备保持竖直状态,满足了所述光学观测设备观测数据的姿态要求,具有较高的光学特性数据的准确性。(The application provides an attitude adjusting device, an adjusting control method and an optical buoy, and belongs to the technical field of ocean data buoys. The posture adjusting device, the posture adjusting control method and the optical buoy have the advantages that the posture detecting unit detects the posture data of the optical observation equipment and transmits the posture data to the control unit, the control unit controls the optical observation equipment to adjust the inclination angle in the first direction and the second direction through the first driving unit and the second driving unit respectively, the optical observation equipment is kept in a vertical state, the posture requirement of the optical observation equipment for observing the data is met, and the accuracy of optical characteristic data is high.)

1. An attitude adjusting apparatus for adjusting an attitude of an optical observation device on an optical buoy, characterized in that: the attitude adjusting device comprises a buoy mounting plate, the buoy mounting plate is mounted on the optical buoy, a driving module is mounted on the buoy mounting plate, the driving module comprises a first driving unit and a second driving unit, the first driving unit can drive the optical observation equipment to adjust the inclination angle in a first direction, the second driving unit can drive the optical observation equipment to adjust the inclination angle in a second direction, and the first direction and the second direction are perpendicular to each other in a horizontal plane;

the posture adjusting device further comprises a control module capable of controlling the optical observation equipment to keep a vertical state, the control module comprises a posture detection unit capable of detecting posture data of the optical observation equipment, the posture detection unit is electrically connected with a control unit, and the control unit is electrically connected with the first driving unit and the second driving unit respectively so as to control the adjusting angles of the optical observation equipment in the first direction and the second direction respectively.

2. The attitude adjustment device according to claim 1, characterized in that: first drive unit is including the first pivot that can rotate in the first direction, first pivot fixed mounting can with first pivot synchronous pivoted first carousel, first pivot and first carousel pass through first support mounting in on the buoy mounting panel, first pivot is connected with and can be driven first pivot drives first carousel pivoted first driving piece.

3. The attitude adjustment device according to claim 2, characterized in that: the second drive unit includes can be in the pivoted second pivot in the second direction, second pivot fixed mounting can with the synchronous pivoted second carousel of second pivot, second pivot and second carousel pass through the second support mounting in on the first carousel, the second pivot is connected with and drives the second pivot drives second carousel pivoted second driving piece.

4. The attitude adjustment device according to claim 3, characterized in that: the optical observation device and the attitude detection unit are mounted on the second turntable.

5. The attitude adjustment device according to claim 3, characterized in that: the control unit is electrically connected with the first driving piece and the second driving piece respectively.

6. The attitude adjustment device according to any one of claims 1 to 5, characterized in that: the control unit is configured to:

receiving attitude data transmitted by the attitude detection unit;

judging whether the optical observation equipment is inclined or not;

if the optical observation equipment is inclined, respectively calculating a first direction adjustment angle and a second direction adjustment angle for adjusting the optical observation equipment to a vertical state;

and controlling the first driving unit to drive the optical observation equipment to rotate by the first direction adjusting angle, and controlling the second driving unit to drive the optical observation equipment to rotate by the second direction adjusting angle.

7. The attitude adjustment device according to claim 6, characterized in that: the control unit is further configured to:

controlling the first driving piece to drive the first rotating shaft and drive the first rotating disc to rotate for adjusting the angle in the first direction;

and controlling the second driving piece to drive the second rotating shaft and drive the second turntable to rotate for adjusting the angle in the second direction.

8. An attitude adjustment control method applied to the attitude adjustment apparatus according to any one of claims 1 to 7 for controlling an optical observation device on the optical buoy to maintain a vertical state, characterized by comprising the steps of:

the attitude detection unit detects attitude data of the optical observation device and transmits the attitude data to the control unit;

the control unit receives the attitude data and judges whether the optical observation equipment is inclined or not;

if the optical observation equipment is inclined, the control unit respectively calculates a first direction adjustment angle and a second direction adjustment angle for adjusting the optical observation equipment to a vertical state;

the control unit controls the first driving unit to drive the optical observation device to rotate by the first direction adjustment angle, and controls the second driving unit to drive the optical observation device to rotate by the second direction adjustment angle.

9. The attitude adjustment control method according to claim 8, characterized in that: the step of controlling the first driving unit to drive the optical observation device to rotate by the first direction adjustment angle and the step of controlling the second driving unit to drive the optical observation device to rotate by the second direction adjustment angle by the control unit further includes the steps of:

the control unit sends a first direction angle adjusting instruction to the first driving part, and the first driving part drives the first rotating shaft and drives the first rotating disc to rotate for the first direction angle adjusting;

and the control unit sends a second direction angle adjusting instruction to the second driving part, and the second driving part drives the second turntable and drives the second turntable to rotate the second direction angle adjusting instruction.

10. An optical buoy is provided with an optical observation device, and is characterized in that: an attitude adjustment apparatus according to any one of claims 1 to 7 is provided.

Technical Field

The application belongs to the technical field of ocean data buoys, and particularly relates to an attitude adjusting device, an adjusting control method and an optical buoy.

Background

The optical buoy is arranged in a designated sea area and used for continuously observing the optical characteristics of the sea surface, the sea water surface layer, the true light layer and even the sea bottom, and has important application value in the aspects of water color remote sensing field radiometric calibration and data authenticity inspection, marine scientific observation, offshore marine environment monitoring and marine military science.

The optical buoy collects optical characteristic data through an optical observation device mounted on the optical buoy, the observation direction of the optical observation device has great influence on the optical characteristic data, and in order to ensure the accuracy of the optical characteristic data, the optical observation device needs to be kept in a vertical state during working.

At present, optical observation equipment is fixedly arranged on an optical buoy, and when the optical buoy is inclined under the action of ocean currents and waves, the optical observation equipment is also inclined, so that the accuracy of optical characteristic data is reduced, and the observation result is influenced.

Disclosure of Invention

In view of the above technical problems, the present application provides an attitude adjustment device, an adjustment control method, and an optical buoy, which can keep the optical observation apparatus in a vertical state and have high accuracy of optical characteristic data.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

an attitude adjusting device for adjusting the attitude of an optical observation device on an optical buoy, the attitude adjusting device comprising a buoy mounting plate, the buoy mounting plate being mounted on the optical buoy, a driving module being mounted on the buoy mounting plate, the driving module comprising a first driving unit capable of driving the optical observation device to adjust the inclination angle in a first direction, and a second driving unit capable of driving the optical observation device to adjust the inclination angle in a second direction, the first direction and the second direction being perpendicular to each other in a horizontal plane;

the posture adjusting device further comprises a control module capable of controlling the optical observation equipment to keep a vertical state, the control module comprises a posture detection unit capable of detecting posture data of the optical observation equipment, the posture detection unit is electrically connected with a control unit, and the control unit is electrically connected with the first driving unit and the second driving unit respectively so as to control the adjusting angles of the optical observation equipment in the first direction and the second direction respectively.

Preferably, the first driving unit comprises a first rotating shaft capable of rotating in a first direction, the first rotating shaft is fixedly provided with a first rotating disc capable of rotating synchronously with the first rotating shaft, the first rotating shaft and the first rotating disc are installed on the buoy mounting plate through a first support, and one end of the first rotating shaft is connected with a first driving piece capable of driving the first rotating shaft and driving the first rotating disc to rotate.

Preferably, the second driving unit includes a second rotating shaft capable of rotating in a second direction, the second rotating shaft is fixedly mounted with a second rotating disc capable of rotating synchronously with the second rotating shaft, the second rotating shaft and the second rotating disc are mounted on the first rotating disc through a second support, and the second rotating shaft is connected with a second driving member capable of driving the second rotating shaft and driving the second rotating disc to rotate.

Preferably, the optical observation device and the attitude detection unit are mounted on the second turntable.

Preferably, the control unit is electrically connected to the first driving member and the second driving member, respectively.

Preferably, the control unit is configured to:

receiving attitude data transmitted by the attitude detection unit;

judging whether the optical observation equipment is inclined or not;

if the optical observation equipment is inclined, respectively calculating a first direction adjustment angle and a second direction adjustment angle for adjusting the optical observation equipment to a vertical state;

and controlling the first driving unit to drive the optical observation equipment to rotate by the first direction adjusting angle, and controlling the second driving unit to drive the optical observation equipment to rotate by the second direction adjusting angle.

Preferably, the control unit is further configured to:

controlling the first driving piece to drive the first rotating shaft and drive the first rotating disc to rotate for adjusting the angle in the first direction;

and controlling the second driving piece to drive the second rotating shaft and drive the second turntable to rotate for adjusting the angle in the second direction.

An attitude adjustment control method applied to the attitude adjustment device for controlling an optical observation device on an optical buoy to keep a vertical state comprises the following steps:

the attitude detection unit detects attitude data of the optical observation device and transmits the attitude data to the control unit;

the control unit receives the attitude data and judges whether the optical observation equipment is inclined or not;

if the optical observation equipment is inclined, the control unit respectively calculates a first direction adjustment angle and a second direction adjustment angle for adjusting the optical observation equipment to a vertical state;

the control unit controls the first driving unit to drive the optical observation device to rotate by the first direction adjustment angle, and controls the second driving unit to drive the optical observation device to rotate by the second direction adjustment angle.

Preferably, the step of controlling the first driving unit to drive the optical observation device to rotate by the first direction adjustment angle and the second driving unit to drive the optical observation device to rotate by the second direction adjustment angle further includes the steps of:

the control unit sends a first direction angle adjusting instruction to the first driving part, and the first driving part drives the first rotating shaft and drives the first rotating disc to rotate for the first direction angle adjusting;

the control unit sends a second direction angle adjusting instruction to the second driving part, and the second driving part drives the second rotating shaft and drives the second turntable to rotate the second direction angle adjusting instruction.

An optical buoy is provided with an optical observation device and is provided with the posture adjusting device.

Compared with the prior art, the application has the advantages and positive effects that:

the posture adjusting device, the posture adjusting control method and the optical buoy have the advantages that the posture detecting unit detects the posture data of the optical observation equipment and transmits the posture data to the control unit, the control unit controls the optical observation equipment to adjust the inclination angle in the first direction and the second direction through the first driving unit and the second driving unit respectively, the optical observation equipment is kept in a vertical state, the posture requirement of the optical observation equipment for observing the data is met, and the accuracy of optical characteristic data is high.

Drawings

Fig. 1 is a schematic structural diagram of an attitude adjustment apparatus according to the present application;

fig. 2 is a second schematic structural diagram of the posture adjustment apparatus of the present application;

FIG. 3 is a schematic diagram of a control module of the attitude adjustment apparatus according to the present application;

FIG. 4 is a schematic flow chart of a method for controlling posture adjustment according to the present application;

fig. 5 is a second flowchart of the attitude adjustment control method according to the present application.

In the above figures: 1. an optical observation device; 2. a buoy mounting plate; 3. a drive module; 31. a first drive unit; 311. a first rotating shaft; 312. a first turntable; 313. a first bracket; 314. a first driving member; 32. a second driving unit; 321. a second rotating shaft; 322. a second turntable; 323. a second bracket; 324. a second driving member; 4. a control module; 41. a control unit; 42. an attitude detection unit.

Detailed Description

The present application is specifically described below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

In the description of the present application, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 3, the present application proposes an attitude adjusting apparatus, which is mounted on an optical buoy and is used to adjust an attitude of an optical observation device 1 on the optical buoy so as to keep the optical observation device 1 in a vertical state. The posture adjusting device comprises a buoy mounting plate 2, a driving module 3 and a control module 4, wherein the control module 4 controls and adjusts the posture of the optical observation device 1 through the driving module 3 so as to enable the optical observation device to reach a vertical state. The buoy mounting plate 2 is installed on the optical buoy, the driving module 3 is installed on the buoy mounting plate 2, the driving module 3 comprises a first driving unit 31 and a second driving unit 32, the first driving unit 31 can drive the optical observation device 1 to adjust the inclination angle in the first direction, the second driving unit 32 can drive the optical observation device 1 to adjust the inclination angle in the second direction, and the first direction and the second direction are perpendicular to each other in the horizontal plane, so that the optical observation device 1 is adjusted to be in a vertical state.

The control module 4 comprises an attitude detection unit 42 and a control unit 41, the attitude detection unit 42 is electrically connected with the control unit 41, and the attitude detection unit 42 is used for detecting attitude data of the optical observation apparatus 1 and transmitting the attitude data to the control unit 41; the control unit 41 is electrically connected to the first driving unit 31 and the second driving unit 32 respectively, so as to control the adjustment angles of the optical observation apparatus 1 in the first direction and the second direction respectively.

The application the attitude adjusting device, attitude detecting element 42 detects optical observation equipment 1's attitude data and transmission extremely control unit 41, control unit 41 passes through first drive unit 31 and second drive unit 32 control respectively optical observation equipment 1 is in adjust inclination in first direction and the second direction, and then make optical observation equipment 1 keeps vertical state, has satisfied optical observation equipment 1 observes the attitude requirement of data, has the accuracy of higher optical characteristics data.

With continued reference to fig. 1 to 3, the first driving unit 31 includes a first rotating shaft 311, a first rotating disk 312, a first bracket 313 and a first driving member 314, the first rotating shaft 311 is rotatable in the first direction, the first rotating disk 312 is fixedly mounted on the first rotating shaft 311 and is rotatable synchronously with the first rotating shaft 311, there are two first brackets 313, the two first brackets 313 are respectively connected to two ends of the first rotating shaft 311, the first bracket 313 is mounted on the buoy mounting plate 2, the control unit 41 is electrically connected to the first driving member 314 to control the rotation of the first driving member 314 by a predetermined angle in the first direction, the first driving member 314 is connected to the first rotating shaft 311 and is capable of driving the first rotating shaft 311 to rotate in the first direction, and further drives the first rotating disk 312 to rotate in the first direction, and finally, driving the optical observation equipment 1 to rotate by a preset angle in the first direction.

Further, the second driving unit 32 includes a second rotating shaft 321, a second rotating disc 322, a second bracket 323 and a second driving member 324, the second rotating shaft 321 can rotate in the second direction, the second rotating disc 322 is fixedly installed on the second rotating shaft 321 and can rotate synchronously with the second rotating shaft 321, the number of the second brackets 323 is two, the two second brackets 323 are respectively connected with two ends of the second rotating shaft 321, the second bracket 323 is installed on the first rotating disc 312, the control unit 41 is electrically connected to the second driving member 324, to control the rotation angle of the second driving member 324 in the second direction, the second driving member 324 is connected to the second rotating shaft 321 and can drive the second rotating shaft 321 to rotate by a preset angle in the second direction, and then the second turntable 322 and the optical observation device 1 mounted thereon are driven to rotate in the second direction by a preset angle.

Preferably, the first driving member 314 is an electric motor or a hydraulic rod; the second drive 324 is an electric motor and/or a hydraulic lever.

Further, the optical observation device 1 is mounted on the second turntable 322, so that the purpose of adjusting the optical observation device 1 is achieved by respectively driving the first turntable 312 and the second turntable 322 to rotate. In order to accurately detect the attitude data of the optical observation apparatus 1, the attitude detection unit 42 is also mounted on the second turntable 322, and the optical observation apparatus 1 and the second turntable 322 are tried to be deviated from the vertical direction by the same angle. In one embodiment of the present application, the attitude sensing unit 42 is an attitude sensor.

Specifically, the control unit 41 receives the attitude data transmitted by the attitude detecting unit 42, and determines whether the optical observation device 1 is tilted; if it is determined that the optical observation apparatus 1 is tilted, the control unit 41 calculates a first direction adjustment angle and a second direction adjustment angle that need to be adjusted when the optical observation apparatus 1 is adjusted to the vertical state; the control unit 41 controls the first driving unit 31 to drive the optical observation apparatus 1 to rotate the first direction adjustment angle, specifically, the control unit 41 controls the first driving part 314 to drive the first rotating shaft 311 and drive the first rotating disc 312 to rotate the first direction adjustment angle; the control unit 41 controls the second driving unit 32 to drive the optical observation apparatus 1 to rotate the second direction adjustment angle, specifically, the control unit 41 controls the second driving member 324 to drive the second rotating shaft 321 and drive the second rotating disc 322 to rotate the second direction adjustment angle, so as to adjust the optical observation apparatus 1 to a vertical state, and the above detection control process is circulated to adjust the posture of the optical observation apparatus 1 at regular time.

The posture adjustment device of the present application detects the posture of the optical observation apparatus 1 by the detection unit and transmits the posture to the control unit 41, the control unit 41 calculates the first direction adjustment angle and the second direction adjustment angle respectively when judging that the optical detection apparatus is tilted, then the first driving member 314 is controlled to drive the first rotating shaft 311 and drive the first rotating disk 312 to rotate in the first direction, the second driving member 324 is controlled to drive the second rotating shaft 321 and drive the second rotating disk 322 to rotate in the second direction, the first direction and the second direction are both in the horizontal plane and are perpendicular to each other, therefore, the optical observation equipment 1 is adjusted to be in a vertical state, and the operation is repeated in such a circulating way, so that the optical observation equipment 1 is ensured to be in a vertical state during working, and the accuracy of observation data is improved.

Referring to fig. 4, the present application further proposes an attitude adjustment control method applied to the aforementioned attitude adjustment apparatus for controlling the optical observation device 1 on the optical buoy to maintain a vertical state, comprising the following steps:

s1: the attitude detecting unit 42 detects attitude data of the optical observation apparatus 1 and transmits the attitude data to the control unit 41;

s2: the control unit 41 receives the attitude data, and determines whether the optical observation apparatus 1 is tilted;

s3: if the control unit 41 determines that the optical observation apparatus 1 is tilted, the control unit 41 calculates a first direction adjustment angle and a second direction adjustment angle for adjusting the optical observation apparatus 1 to a vertical state, respectively;

s4: the control unit 41 controls the first driving unit 31 to drive the optical observation apparatus 1 to rotate by the first direction adjustment angle, and controls the second driving unit 32 to drive the optical observation apparatus 1 to rotate by the second direction adjustment angle;

s5: steps S1-S4 are repeated.

Specifically, referring to fig. 5, the step "the control unit 41 controls the first driving unit 31 to drive the optical observation device 1 to rotate by the first direction adjustment angle, and controls the second driving unit 32 to drive the optical observation device 1 to rotate by the second direction adjustment angle" further includes the steps of:

s41: the control unit 41 sends a first direction adjustment angle command to the first driving member 314, and the first driving member 314 drives the first rotating shaft 311 and drives the first rotating disc 312 to rotate by the first direction adjustment angle;

s42: the control unit 41 sends a second direction angle adjustment command to the second driving member 324, and the second driving member 324 drives the second rotating shaft 321 and drives the second rotating disc 322 to rotate the second direction angle adjustment.

The posture adjustment control method can ensure that the optical observation equipment 1 is in a vertical state during working, improves the accuracy of observed optical characteristic data, and is not repeated herein.

This application further provides an optical buoy, installs optical observation equipment 1, is provided with as before gesture adjusting device can guarantee optical observation equipment 1 is in vertical state at the during operation, has improved the accuracy of the optical characteristic data who observes, no longer gives unnecessary details here.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.