The invention relates to the technical field of underwater operation, a Doppler water flow sensor, a position sensor, a gyroscope sensor, a full-rotation propeller thruster, a fixed propeller thruster and a control system are arranged on a cradle head shell, and the Doppler sensor is used for collecting water flow information; the position sensor and the gyroscope sensor collect holder pose information, the collected water flow information and the holder pose information serve as input quantity of the control system to be analyzed, and the control system conducts analysis according to a shooting task and a target which are set in advance and gives an instruction to the propeller to be matched with water flow to change the position of the holder. According to the underwater cradle head, when the water flow state meets the shooting requirement, the direction of the underwater cradle head can be adjusted through water flow, so that the power of the driving motor of the propeller is reduced, the consumption of electric energy in the shooting process is greatly reduced, the effect of saving energy consumption is achieved, and then the cruising ability of the cradle head is improved.

    本发明涉及水下作业的技术领域,本发明在云台壳体上设置多普勒水流传感器、位置传感器、陀螺仪传感器、全回转螺旋桨推进器、固定式螺旋桨推进器和控制系统,利用多普勒传感器采集水流信息,位置传感器和陀螺仪传感器采集云台位姿信息,采集的水流信息和云台位姿信息作为控制系统的输入量进行分析,控制系统会根据之前设定好的拍摄任务和目标进行分析,下达指令给推进器配合水流改变云台位置,该水下云台在水流状态满足拍摄需求时,可利用水流来调整水下云台的方向,使得推进器的驱动电机功率得以下降,大大减少了拍摄过程中对电能的消耗,起到了节约能耗的效果,进而提高云台的续航能力。


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    Titel :

    Self-adaptive underwater holder and control method thereof


    Weitere Titelangaben:

    一种自适应水下云台及其控制方法


    Beteiligte:
    DONG SIYUAN (Autor:in) / WU ZIGUO (Autor:in) / CHEN HAOJIE (Autor:in) / CHENG WEI (Autor:in) / LIU DANHUA (Autor:in) / CHEN YIJUN (Autor:in) / MA GUOXIA (Autor:in) / YANG YUJIAO (Autor:in) / YAO GUICAN (Autor:in) / HUANG JIAXUAN (Autor:in)

    Erscheinungsdatum :

    29.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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