stabilization system for sensors on mobile platforms

专利摘要:
Stabilization system for sensors on mobile platforms A stabilized field sensor device is described to collect field data, in particular magnetic field data, with reduced motion noise. the apparatus includes: drop-molded housing, trailer frame in the housing, a plurality of vibration isolation dampers spaced around the frame, a base assembly mounted for the dampers, a support pedestal having a bottom end fixed to the assembly base and an upper free end, a spherical air bearing connected to the upper free end of the pedestal, an instrument platform with a lower hollow funnel having an upper internal vertex supported on the air bearing for a support point and rotational stability, and at least one field sensor mounted to the instrument platform to collect field data when stabilized against motion noise including vibration, articulation and rotation of the base assembly, trailer frame and casing.
公开号:BR112012017560B1
申请号:R112012017560
申请日:2011-01-07
公开日:2020-02-04
发明作者:David Polzer Benjamim；Fox West Gorden；anthony hurley Peter；Whyle Walker Peter；Leslie Scott Hogg Robert
申请人:Vale Sa；
IPC主号:

专利说明:

STABILIZATION SYSTEM FOR SENSORS ON MOBILE PLATFORMS [001] The invention relates in general to the field of sensor supports, and in particular to a new and useful magnetometer stabilization device that facilitates the continuous collection of data from the magnetic field of the broadband vector including unique measurements of low magnetic frequency in the bandwidth from 1 Hz to 25 Hz, unaffected by motion noise. The invention is particularly useful for prospecting for mineral resources using passive or active electromagnetic techniques from vehicles transported by air, land or water.
Description of the state of the art [002] The problem solved by the invention is the measurement of the continuous vector of time-varying magnetic fields in the frequency range from 1 Hz to above 10 kHz by sensors mounted on a transportable housing towed by an aircraft (often called a fighter, remote controlled plane, or rig) or mounted on a land or water vehicle. The magnetic field of interest is created as a result of electromagnetic induction (EMI) through currents at these frequencies flowing through the Earth. They are induced either through a Primary magnetic signal from a transmitter and antenna (controlled source systems) or through natural time-varying geomagnetic fields produced or reflected from the Earth's ionosphere (natural or passive field systems). These induced fields are extremely weak in comparison to the stable geomagnetic field possessed by Earth. On a fixed platform, weak time-varying components are easily distinguished from the strong geomagnetic field, but on a mobile platform, rotational movements of a vector sensor in a stable field will create variations in the sensor output that may be indistinguishable from the variant fields in time produced by electromagnetic induction. The part of the sensor output due to
Petition 870190119232, of 11/18/2019, p. 10/122 / 41 revolutions is generically called motion noise although it is strictly the rotation and not the linear acceleration of the sensor that causes it.
[003] A variety of devices have been employed in geophysical exploration that exploits EMI to detect zones of increased electrical conductivity (Conductors) on Earth and to characterize the time-varying nature of electrical conductivity on Earth (Polarizability) through the observed magnetic fields. Such EMI measurements are often diagnostic of oil and mineral deposits, structural and lithological variations in the soil, aquifers and contamination plumes, and man-made objects such as fences, plumbing, military material and treasure. A common attribute of most EMI geophysical systems is a need to measure weak time-varying magnetic fields; and many employ a set of three sensors, each sensitive to the field component in a different direction (often orthogonal) to reconstruct the variant magnetic field vector in full time.
[004] The problem that the invention is designed to solve occurs in all cases where a magnetic sensor is attached to a housing that moves through a low frequency or static field like that of the Earth. While linear accelerations are not a problem, the rotational acceleration of the sensor creates a time-varying signal that is additionally what would be obtained if the sensor were kept in a fixed orientation. While the present invention is intended to be deployed in a towed casing from an aircraft, it could be useful in all situations when the vector component's magnetic field data is acquired from any moving vehicle provided a static background field always be there. Such vehicles include spaceships, aircraft, land and underground vehicles, marine and submarine vehicles, or any active or passive towed aircraft or towed platform or connected to such a vehicle. The invention also applies to magnetic field sensors at a fixed location
Petition 870190119232, of 11/18/2019, p. 11/122 / 41 where rotational movement can be introduced in another way through such effects as vibration, or where the magnetic field is to be measured on a moving part, such as on a piece of machinery.
[005] Many sensor technologies are available for continuous sensitive measurement of magnetic fields. These most suitable for use in EMI measurement systems are vector sensors that register a spatial component of the magnetic field over a specified range of frequencies, possibly (or not) including long-term stable field components such as the Earth's geomagnetic field. In what follows, we use the term magnetometer or sensor for any of these types of sensors, despite the fact that this term is sometimes applied to mean only instruments suitable for measuring the essentially stable geomagnetic field, and those magnetometers for detecting variant fields in time often use electromagnetic induction in coils and may therefore sometimes not be referred to as magnetometers.
[006] In the invention contemplated here, the housing of the sensor system is typically towed behind or under an aircraft along transverse lines. In existing state of the art devices towed in this way, the sensors are loaded into their casings in passively damped suspensions. The recovery and damping forces in these suspensions have the competing roles of reducing rotational noise while maintaining approximately the orientation of the sensors in relation to the enclosure and the regulation of these suspensions represents a compromise between two roles. At frequencies far below 25 Hz, such suspensions do not provide sufficient rotational insulation to allow for EMI measurements. In this way, attempts to use existing systems for lower operating frequencies well below 25 Hz have resulted in unacceptable noise levels.
Petition 870190119232, of 11/18/2019, p. 12/122 / 41 [007] As will be explained in this description, the present invention uses a very conventional external vibration isolation system to reduce rotational and linear accelerations, but adds an internal system for rotational isolation with essentially no cushioning or recovery to produce unexpected new advantages over the prior art.
[008] There are a number of methods that have been applied to assist on rotationally stabilized instrument platforms of all types, including passive and active gyroscopic methods, low friction, highly balanced cardan suspensions and spherical bearings. In aero geophysics, gyro stabilized platforms have been used to measure air gravity and gravity gradients, and separate patents exist for these technologies. However, these systems focus on eliminating linear accelerations instead of rotational accelerations. For EMI measurements, rotational accelerations are the most problematic. The internal insulation system focuses on eliminating these by combining three independent techniques; single-point suspension, non-damped, dynamic balancing and inertial gyroscopic stabilization.
[009] The problem of orientation orientation is shared by the film industry where cameras mounted on mobile platforms can be the object of unwanted rotations that produce unusable images. The present invention borrows the basic gyroscopic stabilization technique developed by this industry. However, the stabilization methods used in the film industry are not accurate enough and are also problematic for our purpose.
[0010] In this way, the techniques are refined in two main ways. Firstly, stabilization is made more precise in order to achieve the noise level necessary for useful EMI measurement through the design of the assembly and the means by which the assembly performs it.
Petition 870190119232, of 11/18/2019, p. 13/122 / 41 balanced. Second, additional magnetic protection techniques are employed to minimize the effects of electromagnetic noisy kinematic stabilization equipment on ultrasensitive magnetic sensors.
[0011] Additionally, there are well-known linear motion isolation technologies, including floatation, air bearings, bungee suspension, spring and shock absorber combinations, and active signal compensation schemes. Linear motion isolation can also improve rotational stability by reducing the torques on the platform that result from applying those linear accelerations to an imperfectly balanced instrumentation platform. Likewise, rotational stability is further increased through improvements in the platform's balance.
[0012] The invention contemplated here is different from existing devices in at least three ways that will become apparent later in this disclosure. First, in its rotational insulation solution, it dispenses with the recovery and damping forces used in existing systems instead, the sensors are attached to a rigid instrument platform that is allowed to float freely in a single spherical air bearing. Thus, the assembly is free to rotate in any direction around a precise center of rotation and can maintain its orientation in relation to the earth's static bottom geomagnetic field even while the platform enclosure rotates below it. This approach recognizes that it is not important to maintain the direction of the instrumentation package in relation to the enclosure as long as the provision is made so that the suspension can be maintained within its mechanical operating range. Independent AHRS (orientation and attitude record) systems are commercially available and are used in this invention to keep tracking the orientation of the sensors in relation to the housing and in relation to
Petition 870190119232, of 11/18/2019, p. 12/14/41 to the geographical reference framework. Without the recovery forces and damping friction inherent in existing motion isolation systems, the invention is able to dramatically improve the low frequency noise caused by the rotational instability of the enclosure.
[0013] A second way in which the invention contemplated here differs from existing devices is that it deals with the problem of the dynamic imbalance of the instrumentation platform by incorporating a dynamic balancing system that keeps the center of mass of the instrumentation platform precisely at its center of rotation. This system is a new project that uses active members vibrating at fixed frequencies to assess the level of rotational noise induced through the action of each vibrator on each sensor. The system uses this information to adjust the balancing masses on a feedback curve in order to achieve minimum noise.
[0014] A third way in which the invention differs from existing devices is that it allows additional resistance to rotation to be incorporated through the addition of several gyroscopic stabilizers (borrowed from the film industry) while dealing with the problems of using such noisy electromagnetic devices in close proximity to sensitive EMI sensors.
[0015] There is an industry for routine measurement of electromagnetic induction of the aircraft. This industry has provided a number of commercial controlled source systems including Geotem, Spectrem and Tempest systems that operate from the fixed wing and HeliGeotem aircraft, VTEM (see U.S. Patent 7,157,914 to Morrison et al.), Aerotem, THEM, Skytem and Dighem-type systems that are towed under helicopters. All of these suffer from rotational noise problems to one degree or another, all employ some form of passive sensor rotation control using recovery forces and shock absorbers.
Petition 870190119232, of 11/18/2019, p. 12/15/41 in one way or another. None of these uses gyroscopic stabilization. None of them operate at frequencies below 25 Hz because the noise induced by movement is very high.
[0016] Passive aerial electromagnetic measurements (natural field) suffer from the same susceptibility to motion-induced noise as controlled source systems at lower frequencies. The measurements were made first by Ward with the AFMAG system (Geophysics, Vol. XXIV, No. 4 (October, 1959), pp. 761-789). More recently, passive measurements have been made with the ZT EM system which, according to Geotech, operate in the frequency band of 30 - 6000 Hz. See Field of Geotech's Airborne AFMAG EM System de Lo, et al., AESC Conference, Melbourne , Australia, 2006. VLF-EM is a passive EMI system common to many aerial surveys. The VLF-EM operates above 10 kHz. In the VLF band, motion noise is not important because the aircraft's orientation is stable at these frequencies.
[0017] US patent 6,765,383 to Barringer (2002) describes a telluric magneto survey system operating in the range of 3 to 480 Hz using a towed fighter. Few geophysicists believe the Barringer system could work. In this system, the magnetic field is measured with a full field magnetometer and 3 orthogonal axis induction coils. A standard commercial sensitivity sensor of limited sensitivity is used to register the movement of the fighter and compensate the signal for angular changes in the orientation of the coil. However, the movement of the fighter was not separate from the movement of the coils. US patent 7,002,349 (2006) also by Barringer describes a similar wing tip system.
[0018] US patent 4,629,990 to Zandee (1986) describes the use of low frequency EM fields (below 30 Hz) to correct the relative locations of a transmitter and receiver in systems
Petition 870190119232, of 11/18/2019, p. 16/122 / 41 controlled sources, but disregards the possibility of using low frequency data to measure electromagnetic dispersion due to currents induced on Earth.
[0019] Non-electromagnetic aerial geophysical measurements are made from inertially stabilized platforms. The Airgrav air gravity system of the geophysicist Sander measures the gravity of a stabilized platform inertially adjusted by 3 Schuler axes. US patent 6,883,372 to van Leeuwen et al. reveals similar technology on a gravity gradiometer at BHP Billiton Innovation Pty Ltd. in Melbourne, Australia. Other air gravity / gravity gradiometer systems are operated by Bell Geospace, Arkex and New Resolution Geophysics. A gravity gradiometer developed by RTZ is described in US patents US 5,804,722 and US 5,668,315 by Van Kann et al.
[0020] In a different application, US patent 7,298,869 to Abernathy describes a multispectral terrestrial imaging system stabilized by gyroscope.
[0021] US patent 6,816,788 to Van Steenwyk et al. (2003) describes an inertially stabilized magnetometer measuring device for use in a rotating drilling rig environment. In this patent, measurements of the gravity and magnetic component are made on a drilling rig. Magnetic sensors measure magnetic field components orthogonal to the orifice axis, and a gyroscope is used to detect the inertial angular movement around the axis of the drill rig. The purpose of gyroscopes is to provide an inertial reference for measuring angular rotation data. This angular reference is used to correct measurements for the rotation of the probe, or to provide a reference to control a rotating driving mechanism that causes the sensors to maintain a stable orientation. A patent
Petition 870190119232, of 11/18/2019, p. 17/122 / 41 similar, US patent 6,651,496 to Van Steenwyk et al. describes the use of gyroscopes to obtain rotation information for a probe on a drilling rig so that the rotation information can be used to correct the orientation of the sensors. In both of these cases, only the earth's static magnetic field was measured, and not the magnetic fields caused by time-varying currents flowing on Earth.
[0022] US patent 6,369,573 to Tumer et al., Issued to The Broken Hill Proprietary Company Limited of Australia (BHP - 2002), reveals a towed fighter for use in electromagnetic mineral prospecting that uses a method to reduce rotation of the sensor. The purpose of this patent is similar to the current effort, but the approach uses passive insulation methods with a recovery force (springs) and a shock absorber (fluid). This BHP device consists of two nested spherical shells. The liquid is contained between the inner and outer shells and a sphere has openings through which support strings that project to lock themselves to an internal point within the sphere. The strings have one end connected to an internal point inside the support ball and the other end connected to a spring. The spring includes a damper to cushion the movement of the spring. Deflectors are arranged in the cavity between the inner and outer shells in which the liquid is contained to cushion the movement of the liquid.
[0023] US patent 5,117,695 to Henderson et al. (1995) uses a related concept for damping and describes a method for attenuating vibration employing a set designed for the protection of single-axis instruments such as accelerometers using a damping fluid.
[0024] Other recent patents by Dupius et al. For electromagnetic prospecting have been granted (see US Patent 7,375,529)
Petition 870190119232, of 11/18/2019, p. 18/122 / 41 that uses multiple cores to increase the amount of magnetic flux gathered through a magnetometer.
[0025] Jackson describes an invention in US patent US 7,397,417 (2008) that is a passive geophysical prospecting apparatus that uses a magnet-resistant sensor in the 65kHz-12kHz band.
[0026] US patent 6,244,534 to Klinkert describes an aerial survey system that uses an aerodynamic fighter with manipulated attitude control surfaces to house a transmitter. The slope of the fighter can be controlled via multiple tow ropes, and the receiver can be either on the same fighter or on a separate fighter. The fighter optionally has a separate engine and propeller.
[0027] The US patent application US 2003/0169045 published by Whitton et al., Describes a method for accurately measuring aerial EM measurements using a rigid transmission curve and a separate rigid crusher and receiver coil assembly. This invention employs passive damping.
[0028] There are many patents for autonomous gyroscopic stabilizers. The devices used in the realization described here are manufactured by Kenyon Laboratories and work on the principles described in Theodore Kenyon, US Patent 1957, US 2,811,042.
[0029] US2735063 describes a field magnetometer to measure the Earth's magnetic field vector from an aircraft.
[0030] US3115326 describes an instrument mounting system for isolating a vibration instrument and has particular reference for use with portable instruments such as overhead detection devices.
[0031] US2009 / 0278540 describes a double suspension receiver coil system and an apparatus for driving
Petition 870190119232, of 11/18/2019, p. 19/122 / 41 electromagnetic surveys including both ground and aerial measurements.
Brief description of the invention [0032] The invention consists of four main mechanical systems, a number of auxiliary systems involving pneumatic, mechanical, electronic and computing devices and a number of algorithms to optimize performance.
Mechanical Systems:
[0033] The invention uses four coupled and nested mechanical systems. Each of the systems has a different function in relation to mechanical insulation. The most internal of these is the rotation stabilized instrumentation platform that carries the sensors and the data acquisition system. The outermost system is a shell that is approximately drop-shaped. Its function is to protect internal systems from atmospheric elements and to provide a towing format it will exhibit a minimum of turbulence-induced vibration above 1 Hz. The enclosure is likely to use control surfaces such as affects to adjust its flight characteristics, however, these are not central to the function and novelty of the invention and have been omitted from the drawings.
[0034] The casing is attached to the trailer frame. The towing frame carries the two internal systems and is coupled to the housing via a horizontal rotating axis that allows the towing frame to maintain its tilt angle while changes in the angle of attack of the housing occur during flight. The essential structural component of the tow frame is an approximately horizontal circular ring that charges all internal systems through a set of vibration isolation dampers. The dampers significantly reduce the vibration transmitted to the internal systems from aerodynamic turbulence and variations in tension in the towline.
Petition 870190119232, of 11/18/2019, p. 20/122 / 41 [0035] Inside the trailer frame is the base set, a basket-shaped structure connected to the trailer frame through the vibration dampers. The purpose of the base assembly is to provide a bottom support for the single point pivot air bearing that supports the instrumentation platform in a position where the center of mass of two combined internal systems will be located at the center of the circular ring of the trailer frame.
[0036] The innermost structure is the instrumentation platform, which is in the form of an inverted funnel. This structure is coupled to the base assembly through a single spherical air bearing located on top of a pedestal connected to the base assembly. The bearing is practically frictionless. Aided by the platform's high point of inertia and its almost perfect balance in all three directions around the bearing's rotation point provides an extremely high level of rotational decoupling between the base assembly and the instrumentation platform. This has about 25 degrees of angular free travel in the directions of rotation and inclination around the support column and has complete freedom in the yaw. The platform can float totally free, considering that there are no power, air or mechanical connections connecting it to the outside.
Auxiliary Systems:
[0037] Pneumatic - The main air bearing as well as a number of drive devices in the base assembly operates on compressed air at 551.58-689.48 kPa (80-100 pounds per square inch) of pressure. The supply for these systems is an air line that is not shown in any of the drawings. The air line originates at or below the towing vehicle and enters the enclosure through one of the rotating axes that also serve as the collection points for the towing cables. The air line will be driven from the trailer frame to the base assembly allowing sufficient clearance to accommodate any relative movements
Petition 870190119232, of 11/18/2019, p. 21/122 / 41 induced by vibration dampers.
[0038] Gyroscopic stabilizers - The invention includes three gyroscopic stabilizers located on the instrumentation platform. Each of these is packed with its own battery pack and inverter inside a magnetic protector.
[0039] Data Acquisition System - The invention includes a 4 channel data acquisition system located on the instrumentation platform. The system accepts analog inputs from the vector component magnetometers as well as a PPS (pulse-per-second) signal from a GPS and transmits these to a wireless router located on the towing platform. The data link will be along the LAN cable from the towing platform to the towing vehicle.
[0040] Embedded Computer - The invention includes an embedded computer located on the instrumentation platform. This computer has the dual role of controlling the position of the equilibrium masses and transmitting data from the wireless AHRS device to the wireless router located on the trailer frame.
Dynamic Balancing System:
[0041] The invention includes a dynamic balancing system comprising:
a) three linear vibrators orthogonally oriented and located on the base set just below the air bearing;
b) three linear actuators oriented orthogonally towards each other and located on the instrumentation platform; and
c) a built-in computer to control the positions of the equilibrium masses, acquiring data from the AHRS device incorporating a flow magnetometer and communicating with a PC in the towing vehicle over a wireless link with the wireless router in the frame trailer.
Petition 870190119232, of 11/18/2019, p. 22/122 / 41 [0042] The balancing system works by providing artificial vibration at three fixed frequencies in each of the three vibration directions. The magnetic data from the primary sensors will detect the action of these vibrations if the instrumentation platform is not perfectly balanced. A non-linear optimization algorithm will operate on the PC based on the towing vehicle and will send commands to the embedded computer to optimize the mass balance of the instrumentation platform. The algorithm provides for the maintenance of a slight shift in balance in order to maintain the platform's purpose in an approximately vertical orientation, thus preventing it from reaching its limits of rotation and inclination.
[0043] The various aspects of the novelty that characterize the invention are pointed out with particularities in the attached claims and forming a part of this disclosure. For a better understanding of the invention, its operating advantages and specific objectives related to its uses, reference is made to accompanying drawings and descriptive material in which preferred embodiments of the invention are illustrated.
Brief description of the drawings [0044] In the drawings:
Fig. 1A is a sectional view of a stabilization system according to a preferred embodiment of the present invention;
Fig. 1B is a perspective view of the stabilization system of Fig. 1A, with its transparent casing so that the underlying structures are visible;
Fig. 1C is a perspective view of a trailer frame according to the preferred embodiment of the invention illustrated in Fig. 1A;
Fig. 2A is a perspective view from the top of a base assembly of the embodiment shown in Fig. 1A;
Fig. 2B is a perspective view from the bottom of the set of
Petition 870190119232, of 11/18/2019, p. 23/122 / 41 base of Fig. 2A showing the bottom of a base plate of the base assembly;
Fig. 2C is a schematic view of the interior of the support pedestal in Figs. 2A and 2B showing the three-axis pneumatic vibrating actuators. The source of compressed air or gas is not shown;
Fig. 3A is a perspective view of the instrument platform in the embodiment of Fig. 1A;
Fig. 3B is a perspective view showing the active parts of the instrument platform with the platform structure removed to show the relative positions of the main field sensors and stacked instrument module of the invention;
Fig. 3C is a partial perspective view of a rod portion of the instrument platform showing the position of two secondary gyroscopic stabilizer modules of the invention;
Fig. 3D is a side elevation of the platform;
Fig. 3E is an enlarged detail taken in circle 3E of Fig. 3D;
Fig. 4A is a perspective view of the stem portion of the instrument platform containing stacked instrument modules including the main gyroscopic stabilizer;
Fig. 4B is a perspective view of the stacked instrument modules showing the radiator fins, radiator plates and the magnetic protection of mumetal;
Fig. 4C is a perspective view of the instrument modules stacked with the radiator fins and plates removed and showing the exposed mu magnetic protection;
Fig. 5A is a schematic illustration of the dynamic balancing system of the invention;
Figs. 5B and 5C show the intensities respectively
Petition 870190119232, of 11/18/2019, p. 24/122 / 41 spectral of the vibrations of the pedestal imposed by the mutually orthogonal tire and the spectral intensities resulting from the signals from the three magnetometers mounted on the instrument platform;
Fig. 6A is a top view of the charged hemisphere of the spherical air bearing;
Fig. 6B is a side sectional view of the spherical air bearing; and
Fig. 6C is an exploded perspective view of the spherical air bearing assembly.
Detailed Description
Main utility of the invention:
[0045] The present invention is a new aerial fighter containing several component systems. Along with its internal systems and while being towed from a helicopter or other aircraft, the fighter measures magnetic field data from three components over a wide frequency range, especially including the low frequency band from 1 Hz to 25 Hz The main application of the invention is in geophysical exploration to detect zones of increased electrical conductivity (Conductors) on Earth and to characterize the time-varying nature of electrical conductivity on Earth (Polarization) through the observed magnetic fields. These time-varying magnetic fields are often diagnostic of oil and mineral deposits, structural and lithological variations in the soil, aquifers and plumes of contamination, and man-made objects such as fences, pipes, military material and treasure.
[0046] The present invention is the first device that will enable a user to take advantage of the significant Schumann resonance in the geomagnetic signal of the environment for exploration purposes operating with sufficiently low noise at frequencies below 10 Hz. The present invention will also offer a significant advantage over other air systems
Petition 870190119232, of 11/18/2019, p. 25/122 / 41 in the areas of penetration of conductive overload and the discrimination of highly conductive mineral deposits. The design is also considered a support point towards the realization of an aerial EM system capable of routine detection of induced polarization anomalies.
[0047] The apparatus of the invention is typically towed along transverse lines behind or below an aircraft for low-frequency magnetic lifting using controlled source and / or passive EM systems. However, as described above, it is only a receiver and does not include a description of the transmitter or antenna. However, the described receiver system can be adapted to function as the receiver in a towed source controlled system from a single aircraft, can be used in a tandem aircraft configuration in which one aircraft tows the transmitter and a second aircraft tows the receiver, or in a configuration using a fixed transmitter located on the ground.
[0048] Additionally, the device of the invention can also be mounted on or on several mobile platforms. For example, it can be used on or inside a spaceship, aircraft, land or underground vehicles, ships, boats, boats, barges, balls or in submersible vehicles.
[0049] The apparatus of the present invention incorporates a number of different strategies for rotational isolation of the instrument platform and the device can be used for a number of electromagnetic detection tasks. However, not all of these tasks require the same degree of precision in terms of rotational insulation. So, for example, it may happen that the use of the air bearing alone, without any gyroscope and without a dynamic balancing system may be sufficient to allow magnetic data to be collected from a transmitter towed along with the system because in this case the signals are large enough, where to collect viable natural field data (without
Petition 870190119232, of 11/18/2019, p. 26/122 / 41 transmitter) may need balancing as well as that the gyroscopes are working.
[0050] While the device provides the stabilization of a magnetometer for single low-frequency magnetic measurements, it is applicable to stabilize other devices such as gravimetric, optical receivers (camera / telescope), laser point against rotational movement. Additionally, if used to stabilize an electromagnetic transmitter, the device will prevent the transmitted signal from being modulated by variations in the attitude of the transmission platform.
Physical description:
[0051] Referring to the drawings, in which similar numerical references are used to refer to the same or similar elements, Fig. 1A and Fig. 1B show a preferred embodiment of the stabilization system 10 for aerial or other vehicle magnetometers and other mobile platforms. As illustrated in Fig. 1A to 1C, the entire fighter or probe 10 of the invention is for collecting electromagnetic induction (EMI) data with reduced motion noise. The apparatus comprises an aerodynamics, for example, drop-shaped housing 20 having a bulbous front, preferably spherical, a pointed rear end, a first horizontal axis from front to back 22 and a second horizontal axis from side to side 24 which it is preferably above the central horizontal axis of the envelope 20 so that most of the total weight of the envelope 20 and its contents are below the axis 24 than they are above it. A trailer frame 30 is provided at the bulbous end of the housing 20. The trailer frame 30 has a base ring 32, two crossed arcuate bars, for example, circular bars 34a, 34b each with opposite ends connected at equally spaced locations on the base ring 32 and around it.
[0052] Two horizontal axes 36a, 36b arranged on the second axis
Petition 870190119232, of 11/18/2019, p. 27/122 / 41 horizontal 24 of the housing 20, protrude from the opposite ends of one of the bars 34a, the axes protruding from the opposite sides of the base ring 32 and out through the opposite sides of the bulbous part of the housing 20 to connect the device to a vehicle, for example, a helicopter, by means of a cable and a two-point collector (not shown). The axes 36a and 36b are pivotally connected to the housing 20 and the frame 30 has a size and shape to allow the relative free rotation of the frame 30 in the housing 20 around the second horizontal axis 24. In this way, when the apparatus 10 is lifted by an air vehicle, through its axles 36a and 36b, the housing 20 will tend to bend with its pointed end downwards, but will not apply torque to the internal systems that can maintain its approximately upward orientation. As the vehicle begins to move forward, the airflow around the enclosure 20 will tend to raise the pointed end until it becomes the rear end of the enclosure
20. A drop molded casing 20 with the bulbous end forward has been found to have the most aerodynamic shape for the most bulky internal volume and has been selected for the shape of the casing for this reason although other aerodynamic shapes may be used.
[0053] As best shown in Figs. 1A and 1B, two pairs of vibration isolation dampers 40 are each connected to one of the bars 34a and 34b, and are spaced around the trailer frame 30, each pair of damper being effective in damping vertical and horizontal vibrations of the frame trailer 30. A base assembly 50 is mounted on vibration isolation dampers 40 and is positioned at least partially in the trailer frame 30 and entirely in the bulbous part of housing 20, for free movement of the base assembly 50 in housing 20 when the trailer frame 30 hinges about the second horizontal axis 24 of the housing 20. The vertical and horizontal vibrations of the housing 20 and the frame 30 are thus dampened by the
Petition 870190119232, of 11/18/2019, p. 28/122 / 41 shock absorbers 40 before reaching the base set 50.
[0054] As shown in Figs. 2A and 2B, a support pedestal 54 has a bottom end attached to the base assembly 50 near a bottom of the base assembly 50, the support pedestal 54 extending upwardly on the base assembly 50 and within the trailer frame 30 and having an upper free end centered on the trailer frame 30. A single spherical air bearing 55 which will later be revealed in greater detail with reference to Figs. 6A to 6C is connected to the upper free end of the pedestal 54. A module comprising three linear pneumatic vibrators V in Fig. 2C or V1, V2 and V3 in Fig. 5A, oriented at the right angles, that is, in the respective X, Y directions and Z, for each other are contained within the pedestal 54 as shown in Fig. 2C. As shown in Figs. 1A and 3A, an instrument platform 70 having a lower hollow cone portion 72 with an upper internal vertex is engaged and supported on the spherical air bearing 55. Instrument platform 70 also has an upper stem 71 extending upward from the cone 72 above the apex and into the trailer frame 30. The central axis of the instrument platform 75 extends along the cone portion 72 and the stem 71. The air bearing 55 provides virtually frictionless rotation of the direction of the axis of the instrumentation platform 75, referred to as main rotation or rotation and tilt as well as the rotation of the platform about its own axis 75 which is referred to as rotation or yaw.
[0055] A main gyroscopic stabilizer 91 is mounted inside the stem 71 of the instrument platform 70 as shown in Fig. 4A. The main gyroscopic stabilizer 91 is positioned on the central axis 75 to maintain an absolute fixed orientation of the axis 75 regardless of the change in orientation of the housing 20, at least within the articulation range of the instrument platform 70 which is preferably around 20 degrees, and in the range of about 10 to 30 degrees. This slope range is dictated by the
Petition 870190119232, of 11/18/2019, p. 29/122 / 41 angle of the cone part 71, and must be accommodated by the shape and size of the base set 50 as will be explained later.
[0056] It is noticed that the use of gyroscopic stabilizers is preferred for the best results, but that the invention can also operate without them.
[0057] As shown in Figs. 3A and 3C, at least one, but preferably two secondary weight-balanced gyroscopic stabilizers 78 are also mounted to the instrument platform 70, in locations radially spaced from the central axis 75 on opposite sides of the instrument platform 70, to maintain a fixed absolute orientation of the respective stabilization axes each being orthogonal to the 75 axis.
[0058] As shown in Figs. 3A and 3B, at least one, but preferably three equally spaced and inclined magnetic field sensors 79 are mounted to the instrument platform 70 to collect field data when being stabilized against the rotation of the base assembly 50 of the trailer frame 60 and housing 20.
[0059] Again with reference to Figs. 2A, 2B and 1B, the base 50 comprises a polygonal or circular suspension ring 51 connected to the four pairs of vibration isolation dampers 40, a polygonal or circular base plate 53 spaced below the suspension ring 51 and having a plurality of radially spaced slits in circumference 60, a plurality of base strips 52 connected between the suspension ring 51 and the base plate 53 and spaced around the base plate and suspension ring. Each base strip 52 has a radially extending bottom portion 52a extending close to its bottom end through one of the slots 60 in the base plate 53, and an inward sloping part 52b connected between the arcuate part 56a of each respective base strip 52 and suspension ring 51. The angle of the parts
Petition 870190119232, of 11/18/2019, p. 30/122 / 41 angled 52b of the ribs 52, and the curvature of the arched parts 56a are each selected to allow the instrument platform 70 to bend and rotate about its axis 75 freely within its allowed range of motion in the assembly base 50.
[0060] A plurality of diagonal clamps of the lower shank type 56a are connected between a lower end of a base strip 52, and an intermediate location of an adjacent base strip Q 52 around the base assembly 50, for example, near to the junction of the inclined part 52b to the arcuate part 56a of each frieze 52. A plurality of diagonal clamps of the upper shank type 56b are also connected between an upper end on each base frieze 52 and the intermediate location on the adjacent base frieze 52 These diagonal clamps increase the torsional stiffness of the base assembly 50. The support pedestal 54 has an upper part above the base plate 53 and a lower part below the base plate 53, the lower end of each base strip 52 being connected to the bottom of the support pedestal 54 below the base plate 53. A pair of reinforcement plates 61 on opposite sides of the part of each base strip 52 below the plate base 53, further strengthens the strips 52 in this area and the suspension ring 51, the strips 52, and the base plate 53 and the reinforcement plates 61, as well as the diagonal clamps 56a and 56b, are each preferably made wrapped carbon fiber compound for straight, light weight and non-magnetic properties.
[0061] The stem part 71 and the cone part 72 of the instrument platform 70 each comprise a single piece of material encased in centered carbon compound and, as best shown in Figs. 3A, 3B and 4A, the stem part 71 contains a plurality of stacked instrument modules 77 including the main gyroscopic stabilizer 91, a data acquisition system 90 and a power module 98 comprising an inverter and a battery 100a. The instrument platform 70 also includes
Petition 870190119232, of 11/18/2019, p. 31/122 / 41 a plurality of vertically circumferentially spaced vertical reinforced strips 74 extending together with the cone portion 72 and the stem 71, and a plurality of horizontal reinforcement flanges 73. The plurality of reinforcement flanges extends around of the instrument platform 70 and has slots to receive the platform strips 74. The flanges 73 function as stern platforms and one of them carries a pair of weight-balanced secondary gyroscopic stabilizers 78 mounted inside mumetal guards located on opposite sides of the stem 71.
[0062] The apparatus preferably has three field sensors 79 in which each comprises a magnetometer to collect magnetic field data including low frequency magnetic measurements in a bandwidth from 1 Hz to 25 Hz, these three magnetometers 79 being mounted in equally spaced locations around the surface of the cone portion 72 adjacent to a lower ram of the cone portion 72. Each magnetometer 79 is rigidly mounted to the cone portion 72 and includes a vector component having a longitudinal axis extending along the surface of the cone portion 72 in the direction of the axis 75 and a component that is radial to the axis 75. However, the apparatus will function when using any of the three sensors oriented in substantially different directions from each other.
[0063] Returning to Fig. 1A, the vibration isolation dampers 40 each comprise a vertical damper 42 that suspends the base assembly 50 from the arched bars 34a, 34b of the frame 30, and a horizontal damper 44 that laterally connects the assembly of base 50 to the base ring 32 of the frame 30. In this embodiment, they have been shown as mechanical devices incorporating a bellows, spring and a damper, but other arrangements are possible including the use of single-element dampers made of a visco-elastic polymer or a arrangement of bungee ropes. The base strips 52 of the base set 50 are dimensioned and
Petition 870190119232, of 11/18/2019, p. 32/122 / 41 angled to accommodate a range of 10 to 30 degrees of rotation and inclination of the instrument platform 70 on the spherical air bearing 55.
[0064] Two mumetal protections 99 each containing a secondary gyroscopic stabilizer 78, an inverter 100 and a battery 101 are mounted on the instrument platform 70. Platform 70 also incorporates the actuators (A1, A2 and A3) of a dynamic balancing 80 as shown in Figs. 3D, 3E and 5A.
[0065] Referring now to Figs. 1A and 1B, the invention is made up of five main components introduced above, namely, the casing 20, the trailer frame (frame) 30, the vibration isolation dampers (dampers) 40, the base assembly (base) 50 and the rotationally stabilized instrument platform (platform) 70.
[0066] As perceived, Fig. 1B is a perspective view of the drop molded housing 20 shown here as transparent in order to illustrate the arrangement of the internal components. It should be about 3m in diameter in your preferred shape. The housing 20 is mechanically coupled to the frame 30 by means of bearings on two horizontal axes 36a and 36b located on both sides of the frame 30 along the horizontal axes 24. This allows the housing 20 to be able to tilt independently of the frame 30 and all components attached to it. The ends of the axles 36a, 36b are the towing points for a two-point collector for a helicopter or other aircraft. During takeoff and landing, or during changes in the elevation associated with the next terrain, or changes in air speed, this coupling will allow the casing 20 to adjust its angle of attack to that of the smallest trailer.
[0067] The section in section of Fig. 1A shows the two horizontal axes 36a and 36b that carry the entire load and are connected to the frame 30 and penetrate the housing 20 through the bearings around the corresponding openings in the housing 20. The platform 70 and base 50 are suspended from the
Petition 870190119232, of 11/18/2019, p. 33/122 / 41 frame 30 by the plurality of dampers 40 comprising two types of dampers shown schematically as bellows-like structures in the figures. The dampers 40 serve to isolate the base 50 from the vibrations and rotations of the housing 20 due to the aerodynamic loading of the variant time as well as the variant time voltage in the tow cable. The objective is to provide a high degree of insulation in the range of 1 Hz to 10 Hz and for this purpose several decimeters of vertical and horizontal displacement have been allowed. The vertically oriented dampers 42 have to carry the static load of the platform 70 and the base 50, while the horizontal dampers 44 only need to absorb the dynamic forces associated with the lateral accelerations.
[0068] In Fig. 2A and 2B, the isolated vibration base 50 is illustrated. The base 50 comprises the suspension ring 51 connected to the plurality of vibration isolation dampers 40 and the base plate 53 which is connected to the suspension ring 51 by the plurality of base strips 52. The base 50 further comprises the support pedestal 54 which has a bottom end that is connected to the top surface and in the center of the base plate 53. The support pedestal 54 also has a top end opposite the end that is connected to the base plate 53. Positioned on the end of Opposite top of the support pedestal 54 is the single spherical air bearing 55. The support pedestal 54 is for supporting the rotationally stabilized instrumentation platform 70 of Fig. 3A.
[0069] The base 50 is a cage-like structure of the friezes 52 that connects the suspension ring 51 to the pedestal 54. It is advantageously built from a lightweight carbon fiber core construction like that used to build the platform 70. The base components of the frame 50 that connect the support pedestal 54 through the base plate 53, the ribs 52 to the suspension ring 51 are also made of the lightweight carbon fiber-wrapped core construction. In addition, the entire structure can be
Petition 870190119232, of 11/18/2019, p. 34/122 / 41 made from the carbon fiber core wrap to keep your weight low while maintaining good rigidity. Diagonal clamps 56a and 56b on the carbon fiber tubing are designed to increase torsional stiffness as also perceived.
[0070] Platform 70 is seen in section in Fig. 1A and in perspective in Fig. 3A. It is a funnel-shaped carbon composite core wrap structure that rests in an inverted manner on the spherical air bearing 55 supported by the pedestal 54. Achieving a high degree of rigidity on the platform 70 was a critical objective because it carries the gyroscopes 91, 78 for attitude stabilization as well as the three vector component magnetometers that are primary sensors 79. Maintaining a fixed relative orientation of these components at the level of millionths of a degree over the acquisition of the bandwidth of magnetometers 79 is essential for the success of magnetic field measurements.
[0071] In a preferred embodiment, platform 70 is constructed from a single piece of carbon composite structure. It is made of a carbon composite and funnel-shaped core wrap measuring approximately 1.5 m along the base and 2 m high. The two parts of the funnel are the stem part (stem) 71 and the cone part (cone) 72. The platform strips 74 provide additional rigidity. The main gyroscopic stabilizer 91 is mounted inside the stem 71 as best shown in Fig. 4a and should stabilize the sensors 79 mounted close to the lower ram of the cone 72. For this reason the platform 70 needs to be sufficiently rigid so that its deformations are negligible ( <1.0e-7 Radians). While the stiffness would be greatly increased by reducing the size of the structure, wide physical dimensions are necessary to physically separate the gyroscopic stabilizers 91, 78 (which are sources of electromagnetic noise) from the magnetic field sensors 79. Figs. 3B and 3C show the relative positions of these electronic components.
Petition 870190119232, of 11/18/2019, p. 35/122 / 41 [0072] The stem 71 contains a series of stacked instrument modules 77 comprising the data acquisition system 90, followed by the main gyroscopic stabilizer 91, followed by its power module 98 containing an inverter and a battery 100a. These modules are positioned so that those that create most of the electromagnetic noise are located further away from the sensors 79. Additionally, there are two transom platforms 73 oriented perpendicular to the stem 71. These allow the additional secondary gyroscopes 78 each contained in a separate protection 99 that stabilizes the rotations around the axis of the funnel 75, a movement that is not repressed by the main axial gyroscopic stabilizer 91.
[0073] The instruments loaded by platform 70 as well as platform 70 itself have six main roles; detect magnetic fields, detect the orientation of platform 70, stabilize platform 70 against small rapid changes in orientation (instability), stabilize platform 70 against systematic orientation drift, scan and transmit data to a computer off the platform, and keep the platform 70 as balanced as possible so that the center of mass coincides with the center of rotation of the air bearing 55.
Primary sensors:
[0074] In the preferred embodiment of the invention, three magnetometers 79 serve as primary field sensors that can detect vector components of the magnetic fields. The three magnetometer sensors 79 are each mounted on the surface of the cone near its ram with their long sensitive axes coplanar to the central axis 75. They are distributed around the central axis every 120 degrees in azimuth. The cables (not shown) run from the sensors 79 to the base of the stem 71 along with the junction of the plurality of vertically stabilized platform strips 74. The sensors 79 are custom-designed by a
Petition 870190119232, of 11/18/2019, p. 36/122 / 41 supplier for this application and are based on a principle of magnetic feedback induction. The sensors have a flat bandwidth between 1 Hz and 10 kHz with a sensitivity of 0.1 V / nT. They have a noise level of 0.1 pT / square root (Hz) and 5 feet / square root (HZ) at 300 Hz, but the invention can use any highly sensitive vector component magnetometer.
[0075] While the preferred embodiment uses magnetic feedback induction coils, useful measurements can be made with several different types of sensors such as induction coils, flow magnetometers or any device that measures the components of the space magnetic field, their derived times , or quantities that are related to the magnetic field through a linear filter.
Data acquisition system:
[0076] The present invention further comprises a 24-bit four-channel data acquisition system (DAQ) 90. The DAQ 90 is used to sample primary sensors 79 above 51 kS / s and include GPS timing and a wireless link to an off-platform PC.
Main gyroscopic stabilizer module:
[0077] Referring now to Fig. 3B and Figs. 4A to 4C, the main gyroscopic stabilizer (PGS) 91 is a commercial Kenyon KS-12 gyroscopic stabilizer as used in the film industry. It is comprised of twin rotors each mounted on a suspension by a single degree of freedom card. It is conducted through a 400 Hz 220V conduction signal derived through an inverter from a 28V DC source. The PGS 91 is cylindrical and resists rotation around any axis perpendicular to its own axis, but does not provide resistance to rotations around its own axis.
[0078] Despite being a commercially available module, PGS 91 cannot be used in a simple way as it produces levels
Petition 870190119232, of 11/18/2019, p. 37/122 / 41 extremely high electromagnetic noise. To solve this problem it is packaged together with its inverter and battery source 100b of power module 98 all within a protection of mumetal M. This reduces its electromagnetic noise by a factor of about 1000. The PGS 91 has to be very rigidly coupled to platform 70. It also produces a significant amount of heat (-100 W) that has to be efficiently dissipated from the protected unit. This leads to the design illustrated in Fig. 4A, 4B and 4C. Fig. 4A shows that the volume of the stem 71 is taken up by the stacked instrument modules 77 that include the PGS 91 and its power module 98 that are held in the center of the stem 71 by a series of 18 screws (not shown) that are threaded into stainless steel inserts in the stem wall 71. The screws are arranged in a symmetrical pattern radially with three screws located every 60 degrees in azimuth around the central axis and form a rigid coupling between the PGS 91, its power module 98 and the stem 71 while allowing a heat dissipating chimney in the form of an annular gap between the internal components and the inner wall of the stem 71. Fig. 4B shows a radiator R composed of a series of plates with cylindrical curvature that are attached to the magnetic protection M by pressing the screws. The F fins extend out of these plates 90 degrees along an annular gap providing heat dissipation within the chimney. In Fig. 4C the radiator plates are removed exposing the magnetic protection of mumetal M. In addition, as shown in Fig. 4A, upper and lower configurations of P power distribution pads are used to ensure that the instrument modules are severely attached to the internal wall of the stem 71 through the collective internal pressure of the screws. Each pad has a flat outer face to accept the pressure of the screws and an internal cylindrical surface to transfer the force equally through radiator plates and the magnetic protection of mumetal. Each lower force distribution pad
Petition 870190119232, of 11/18/2019, p. 38/122 / 41 accommodates two screws and transfers force directly to the PGS while each upper force distribution pad accommodates a screw and transmits the force to the PGS 98 force module.
Secondary gyroscopic stabilizer modules:
[0079] As mentioned above, the invention also comprises at least one secondary gyroscopic stabilizer module 78. The embodiment shown in Fig. 3C has two secondary gyroscopic stabilizer modules 78, one of which is partially hidden behind one of the vertical platform friezes. 74 of the instrument platforms 70. The two secondary gyroscopic stabilizer modules 78 (Kenyon KS-8s) are required for two purposes. They are necessary to resist rotational instability around the axis of the platform 70 (yaw), that is, the funnel axis 75, and to limit the slow angular drift of the platform 70 in any direction due to small imbalances or rotation rates. start of the set. One of the secondary gyroscopic stabilizers 78 is modified due to the fact that commercial gyroscopic stabilizers for the film industry are of limited bandwidth. They withstand torques applied quickly around both of their two axes of resistance, but they cannot withstand stable torques applied over many seconds. This behavior is very desirable in cases where a camera must be allowed to move in response to a stably applied torque even while the gyroscope assembly resists vibration due to mechanical connections or handshaking when moving the vehicle. The magnetometers 79 used in this invention are not very sensitive to any slow drift in the orientation of platform 70. However, platform 70 will stop stabilizing if it reaches the limits of its rotation and tilt travel (that is, approximately 20 degrees ), so the slow drift must be contained. To achieve this, one of the two secondary gyroscopic stabilizers 78 is modified so that the carded suspensions of their sets of
Petition 870190119232, of 11/18/2019, p. 39/122 / 41 internal twin rotors are locked with the rotors rotating in the same direction. This effect transforms the gyroscopic stabilizer 79 into a simple gyro without suspension with its axis pointing along the axis of platform 70. Due to its angular momentum being fixed in relation to platform 70 it will allow platform 70 to develop a slow precession instead of falling about in the event of a slight imbalance of the system.
[0080] The two secondary gyroscopic stabilizers 78 are shown in Fig. 3C employed on opposite sides of the stem 71 for the purposes of balance. Each gyroscope 78 is mounted inside a mumetal protection 99 together with its inverter and battery 100b. The pair of gyroscopes 78 stabilizes the platform 70 against angular instability in the direction of the yaw. These smaller gyroscopes 78 dissipate much less heat than the primary gyroscope stabilizer 91. Heat dissipation is achieved passively through fins (not shown) attached to the mumetal shields 99.
Dynamic balancing system:
[0081] To minimize the torques applied to platform 70 through linear acceleration, platform 70 needs to be well balanced in all three directions around its point of rotation. The platform 70 system includes flexible infrastructure such as cables, sealants, etc. These components change slightly in size and location with their orientation relative to vector g (downward direction), temperature and history of applied external accelerations. A dynamic balancing system 80 in Fig. 5A is therefore necessary to account for all of these small changes in the center of the mass of the platform 70. Balancing system 80 is a controlled system of adjustable balance weights that allows for balance compensation of the platform 70 when needed.
[0082] A schematic of the dynamic balancing system 80 is shown in Fig. 5A. The system incorporates components on the
Petition 870190119232, of 11/18/2019, p. 40/122 / 41 flotation instrumentation (circle) and the base set (rectangle) to which the platform is connected, as well as a PC outside the platform. An embedded computer mounted on the instrument platform 70 controls three microbalancers A1-A3 shown schematically in Fig. 5A and as provided in Figs. 3D and 3E. The micro-balancers are digitally controlled linear actuators A, also shown schematically in Fig. 3A, which can move precisely a small mass of tens of grams over millimeter distances, in each of the three main directions X, Y and Z.
[0083] The information necessary to determine the necessary changes in the positions of the balancers includes the EMI data of the primary sensors as well as the measurements of a Guidance and Attitude Reference System (AHRS) also located on the platform. In the present embodiment, the balancing algorithm is executed on a PC running outside the platform which calculates the wireless EMI data directly from the DAQ system, while the AHRS data is communicated via a wireless link separate from the embedded computer. The commands are issued through the balancing algorithm and wirelessly signaled to the computer incorporated in the platform that reposition the balance masses. Alternatively, the tasks currently being performed by the PC outside the platform, could be performed via a higher performance embedded computer running directly on the platform with either a wired or wireless data link from the primary EMI sensors.
[0084] A 3-axis flow portal DC magnetometer that is part of the AHRS system measures the orientation of the Earth's magnetic field in relation to platform 70 and consequently in relation to each of the main sensors 79. This information provides the sensitivity of the main sensors 79 for rotations around each of the three axes.
Petition 870190119232, of 11/18/2019, p. 41/122 / 41 [0085] The accuracy of the balancing process is increased by applying vibration to the base by operating three mutually perpendicular linear non-magnetic pneumatic vibrators V1, V2 and V3 shown in Fig. 5A. These are located inside the support pedestal 54 just below the air bearing 55 as shown in V in Fig. 2C. The vibrators are operated on 3 separate frequencies closely around a base frequency, for example, 90 Hz with frequency dispersion controlled through the differential pressure of a common pneumatic distribution tube. The platform imbalance will manifest itself as a corresponding narrowband noise signal in each of the sensor components in proportion to their rotational sensitivity. Combining the flow signals with the data flow from the main sensors 79, a non-linear optimization algorithm running on a PC outside the platform will allow the computer incorporated in the platform 70 or another computer to optimize the position of the balancers, that is, actuators A in Fig. 3A or particularly, actuators A1, A2 and A3 in Fig. 3d, 3E and 5A, and thus minimize the measurement noise. A number of algorithms have been considered with a preferred algorithm being defined later in this description.
[0086] In particular, Fig. 5A shows the dynamic balancing system that balances the rotating platform around three different axes. When out of balance, the center of mass of the platform is different from its common center of rotation. The vibrations at the base then cause the platform to rotate and register as magnetic signals in each of the three orthogonal magnetometers on the platform. The pneumatic vibrators V1, V2 and V3 at the base are conducted at three different frequencies. The three linear electromechanical actuators A1, A2 and A3 on the platform adjust the equilibrium masses in a feedback curve.
[0087] Fig. 5B is a graph showing the vibration imposed on the pedestal through the three orthogonal pneumatic vibrators V1, V2 and V3,
Petition 870190119232, of 11/18/2019, p. 42/122 / 41 each performing at a different frequency fl, f2 and f3. The different frequencies are determined using three pressure reduction valves each fed a different vibrator from a common distribution tube and Fig. 5C illustrates signals from three AC magnetometers on the platform registration signals due to the base vibration on three different frequencies. These signals disappear when the platform has its center of mass located exactly at the center of rotation. The mass balance is controlled in the feedback through three orthogonal electromechanical actuators A1, A2 and A3 each controlling the position of an equilibrium mass on a conveyor in the device.
[0088] A two-way wireless link between the embedded computer and the PC outside the platform in Fig. 5A allows AHRS data and position information from triggers A to be relayed to the PC off the platform while the information from control over triggers A is retransmitted.
[0089] The algorithm is necessary for dynamic balancing to work and although any known algorithm that can balance a system like that of the present invention can be used, the preferred embodiment uses a specific and unique algorithm. The steps of the unique algorithm employed by the preferred realization are as follows:
a) The program receives a continuous flow of data from the three primary sensors at a high rate as well as data from the flow magnetometer that is part of the AHRS system on the platform at a much slower rate.
b) From the flow data, the algorithm determines the orientation of each one of the three sensors in relation to the earth's magnetic field. Because of the rotational stability of the platform, this will change very slowly.
c) From this information, a 3 x 3 matrix is computed the
Petition 870190119232, of 11/18/2019, p. 43/122 / 41 that will transform the raw primary sensor components in three virtual directions; these being Ca in the direction of the earth's magnetic field, Ch horizontal and perpendicular to the earth's magnetic field and the third Cv component perpendicular to both.
d) The primary sensor data collected over a time interval ranging from one second to tens of seconds is transformed from Fourier to obtain its complex spectrum.
e) The spectrum of the three raw components is multiplied by the 3 x 3 matrix computed to obtain the spectrum in the directions Ch and Cv. These are the most sensitive to vibrational noise.
f) The transformed strength spectral densities (PSDs) are formed in the directions Ch and Cv multiplying the complex spectrum by their complex conjugates.
g) The PSDs Ch and Cv are calculated over three narrow frequency bands corresponding to frequencies of the vibration of the pedestal producing six spectral amplitudes that are positive real numbers.
[0090] In addition, the simplest variant of the algorithm of the present invention 5 follows, although more refined approaches are possible.
h) A single objective function to be minimized is created considering the sum of 6 PSDs.
i) This objective function is used as the input for a standard non-linear three-dimensional simple optimization algorithm such as the simplex descent method. The result of each application of these is the next suggested set of locations for the mass balancers.
j) The new positions are requested from the computer incorporated on board via wireless transmission and the time is given to them to reach their new positions. The entire algorithm is iterated.
[0091] The algorithm defined above has the platform balance as its only criterion. However, it can be easily modified to
Petition 870190119232, of 11/18/2019, p. 44/122 / 41 provide a small deviation necessary to keep the platform approximately upright and well within its angular range of operation. This can be achieved by adding the objective function of (g) a term consisting of a weighting coefficient times the angular deviation from the vertical of the platform axis as obtained from the AHRS data. The magnitude of the weighting coefficient can be determined by experimentation or analysis to maintain platform compensation while maintaining noise induced by the imbalance deviation below an acceptable level.
Air Bearing:
[0092] A preferred embodiment of the stabilization system 10 according to the present invention employs a spherical air bearing 55 which provides, for the tolerance of precision machining, a single common point of rotation around any axis which is also of very low friction. In the face of accelerations and thermal changes, it would be much more difficult to achieve and maintain a comparable degree of balance using the more traditional solution of the three card suspension bearings supported by nested couplings. [0093] However, the role of the air bearing 55 can be filled by any type of bearing that will allow the 670 instrument platform tilt and yaw requirement and at the same time will not interfere, corrupt, contaminate or adversely affect in any way way of collecting field data, in particular electromagnetic data.
[0094] Referring to Figs. 6A to 6C, the spherical air bearing 55 comprises a source of compressed air or gas in Fig. 6C that is connected and supplies air to the bearing's concave support section so that a section of the top supported hemisphere of the bearing floats in an air or gas cushion. The source or means of supplying compressed air 57 for the air bearing can be reached, for example, through a gas or air compressor having sufficient pressure and flow rate so that it can
Petition 870190119232, of 11/18/2019, p. 45/122 / 41 supply the volume of air or gas that will support the weight of platform 70 when it is fully loaded with its instruments and equipment.
[0095] The air bearing 55 is custom-made for the present invention. It provides more than 25 degrees of rotation in rotation and tilt, and infinite rotation in yawing around a single highly accurate point of rotation. The air bearing 55 is a metal object located relatively close to the sensors. In this way, the stray currents induced in the bearing can be considered in the received signal. To minimize this possibility, bearing 55 was manufactured from stainless steel of relatively low conductivity (# 303). Additionally, as illustrated by Figs. 6A and 6C, a criss-cross pattern of deep grooves G has been milled at the back of both the support concave bearing and the supported hemisphere. Tests have shown the time constant of the main eddy current mode to be about 1 millisecond. Alternatively, the bearing could be manufactured from a machinable ceramic such as MACOR which could be more expensive, but would completely eliminate eddy currents.
Base:
[0096] As best illustrated by Figs. 1A, 2A and 2B, the base assembly 50 carries the load from the platform 70 from the air bearing 55 and its pedestal 54 to the suspension ring 51 which rests on a plane running along the center of mass of the platform system 70 base 50 combined. The structure is necessarily quite wide and must be highly rigid, light and easy to transport to the research site. To achieve the necessary stiffness in a detachable structure, the pedestal base 53 and the suspension ring 51 are connected via light crimps 52 of the carbon fiber composite core wrap and reinforced through thin diagonal clamps 56a, 56b. The ribs 52 connect the suspension ring 51 to the base plate
Petition 870190119232, of 11/18/2019, p. 46/122 / 41 and are shaped to accommodate a 20 degree rotation and tilt range of platform 70 in relation to the pedestal axis. The ribs 52 extend through slits 60 at the level of the base plate where they are each enclosed between pairs of ribs 52 permanently attached to their underside. In this way a rigid connection can be made while allowing the base 50 to be disassembled for transportation on ribs 52, clamps 56a, 56b, base plate 53, suspension ring 51 and individual pedestal 54.
Damping system:
[0097] The damping system shown in Fig. 1A comprises a plurality of vibration isolation buffers 40 that collectively isolate the base 50 from the linear accelerations of the housing 20. Achieving a high degree of insulation at frequencies as low as 1 Hz requires large displacement accommodation. In the design shown here, there are eight dampers 40 of two types. The first set, i.e., the vertical dampers 42 are necessary to accommodate the static load of the base 50 as well as to accommodate the dynamic load. The second set of dampers is horizontally oriented, that is, the horizontal damper 44, and is needed to mainly accommodate lateral dynamic loading. A number of devices have been considered including bungees, air bags, springs, air bearing columns and custom molded blocks of energy-absorbing rubber such as Sorbothane. Each of these has advantages and disadvantages. Some work better on tension while others work better on compression. Both types of dampers can be achieved within the limits of the proposed geometry by modifying the arrangement and nature of the supports.
Frame:
[0098] The trailer frame 30 is illustrated in Figs. 1C, 1B and 1A. The role of the frame 30 is to provide a common connection structure for the plurality of vibration isolation dampers 40, the
Petition 870190119232, of 11/18/2019, p. 47/122 / 41 helicopter trailer and wrapper 20. Must be constructed using hollow composite channels. Due to its large size, it needs to be designed to be assembled on site from six individual parts. Frame 30 will also be the location of wireless receivers for data acquisition 90 and dynamic balancing systems 80.
Housing:
[0099] The wrapper which is best shown in Fig. 1 B, is a 2.8m x 4.3m drop-shaped composite shell to be constructed of four identical quadrants each with a total length of 4.3m. The sections will have an intermediate dimension of about 2m and can be easily transported in a standard width box truck. Using well-established hollow core construction methods, the shell sections can be constructed of carbon composite. The sections can be screwed together through flanges designed externally integral to each section. The total weight of the shell is estimated to be less than 50 kg.
[00100] The two-point suspension of the wrapper 20 will restrict the rotation of the shell around its longitudinal axis. When lifted by a helicopter, before significant forward movement with airflow, the fighter's attitude or inclination is free. The location of the center of gravity of the casing 20 and the downward orientation of the helicopter rotors will likely lead to a downward orientation of the tail. Once the forward speed has been reached by the helicopter, the aerodynamic forces take over and the directional stability in terms of inclination and yaw can be controlled through the shape of the enclosure 20 and supplementary affects. To accommodate this range of tilt movement the housing 20 has been designed to rotate independently of the included instrument platform 70 and to avoid the risk of exceeding the range of rotation allowed for gyroscopic stabilization. The internal assembly, that is, the base 50 and the instrument platform 70, will be held in one position
Petition 870190119232, of 11/18/2019, p. 48/122 / 41 straight through light weighting.
[00101] The purpose of enclosure 20 is to provide protection from the elements and an aerodynamic shape that minimizes turbulence that could create vibration and resistance. The shape of the enclosure 20 will minimize the turbulent flow and provide a degree of directional stability with respect to the apparent direction of the wind which is generally aligned with the direction of flight. Horizontal and vertical stabilizers can be added to increase the rotational response to changes in the apparent wind direction. In-flight turbulence can suddenly change the apparent wind direction and the surface of the stabilizer will greatly increase sensitivity to such changes. The elongated shape of the enclosure 20 will provide a basic level of directional response and the flexibility to select different fins of the stabilizer will facilitate fine tuning of the flight characteristics.
[00102] The casing 20 is designed to be a light rigid skin, suitable to meet the aerodynamic forces, but not to support the entire weight of the casing 20 and internal components. Therefore, a three-point landing gear / support set will be included within this. The support system will connect to the axles on both sides of the frame 30 and ends with 3 feet protruding along the housing 20 which will carry the weight of the systems during assembly and landing. Anticipating that the enclosure 20 will be tailed down when the helicopter is hovering during the pose, a small keel will be provided along with the lower tail junction line for the landing gear to minimize the contact of the enclosure with the ground and the ground. drilling possibility. Although the housing 20 does not need to have any internal structure, it can comprise four friezes, that is, a top frieze, a bottom frieze or keel, a starboard frieze and a door frieze. This would make assembly easier and provide mounting points for the fins of the stabilizer. In theory, the landing gear structure and four friezes would be assembled first.
Petition 870190119232, of 11/18/2019, p. 12/49/41
The instrument platform 70, raised by the frame 30, would be connected through the axes. The final step would be the addition of the skin sections of the wrapper 20.

权利要求:
Claims (15)
[1]
1. Stabilized field sensor (10) to collect field data with reduced motion noise, comprising:
a housing (20);
a trailer frame (30) in the housing (20);
a base assembly (50) mounted with shock absorbers (40) to the trailer frame (30);
a support pedestal (54) extending upwards, having a bottom end attached to the base set (50) near a bottom of the base set (50) and an upper free end;
a single spherical air bearing (55) connected to the free end of the pedestal (54);
characterized by the fact that it comprises an instrument platform (70) having a central axis (75) extending through an upper stem part (71) and a lower cone part (72), the cone part having an internal vertex upper coupled to and supported on the air bearing (55) for a rotating support point;
a dynamic balancing system (80) for dynamically balancing the platform on the air bearing (55); and at least one field sensor (79) mounted to the instrument platform (70) to collect field data being stabilized against motion noise including vibration, articulation and rotation of the base assembly (50), of the trailer frame (30) and the housing (20).
[2]
2. Stabilized field sensor apparatus (10), according to claim 1, characterized by the fact that each of the vibration isolation dampers (40) comprises a set of vertical dampers (42) that suspend the base set of the arched bars (34a, 34b) of the frame, and horizontal dampers (44) that laterally connect the cone part to the base assembly (50) to the base ring (32) of the frame
Petition 870190119232, of 11/18/2019, p. 51/122
2/10 (30).
[3]
3. Stabilized field sensor apparatus (10), according to claim 1, characterized by the fact that the spherical air bearing (55) comprises a concave support section and a supported hemisphere section, in which both the concave support and the supported hemisphere section comprise a cross section of milled fittings (G) to minimize the eddy currents induced by the spherical air bearing.
[4]
4. Stabilized field sensor apparatus (10) according to claim 1, characterized in that the instrument platform (70) comprises an upper stem part (71) having an outer surface and a lower cone part ( 72) also having an outer surface as well as a lower ram.
[5]
5. Stabilized field sensor apparatus (10) according to claim 1, characterized by the fact that the spherical air bearing (55) comprises a source of compressed air or gas (57) connected to the concave support section to provide air to the concave support section so that the supported hemisphere floats on an air cushion.
[6]
6. Stabilized field sensor apparatus (10), according to claim 1, characterized by the fact that the base strips (52) of the base set (50) are angled to accommodate a range of 10 to 30 degrees of inclination and oscillation of the instrument platform (70) in the spherical air bearing (55).
[7]
7. Stabilized field sensor apparatus (10), according to claim 1, characterized by the fact that the field sensor (79) comprises a feedback induction coil to collect magnetic field data including magnetic frequency measurements in a bandwidth from 1 Hz to 25 Hz.
[8]
8. Stabilized field sensor device (10), according to claim 1, characterized by the fact that it comprises three sensors of
Petition 870190119232, of 11/18/2019, p. 52/122
3/10 field each of which having a longitudinal axis and being mounted and equally spaced from the outer surface of the cone part (72) of the instrument platform (70), in which the three field sensors (79) are positioned adjacent to the lower ram of the cone part (72) and in such a way that its longitudinal axes are coplanar with the central axis (75) of the instrument platform (70).
[9]
9. Stabilized field sensor apparatus (10) according to any one of claims 1 to 8, characterized by the fact that it comprises:
the housing (20) is shaped in a drop shape having a bulbous front part, a pointed rear end, a first horizontal front-to-back axis (22) and a second horizontal side-to-side axis (24);
the trailer frame (30) is located at the bulbous end of the housing (20), the trailer frame (30) having a base ring (32), two crossed arcuate bars (34a, 34b) each with opposite ends connected to the spaced around the base ring (32), and two horizontal axes (36a, 36b) supported on the second horizontal axis (24) of the housing (20) and protruding from the opposite ends of one of the bars (34a), the axes protruding from opposite sides of said base ring (32) and out of opposite sides of the bulbous part of the housing (20) to connect the apparatus to a vehicle for loading the apparatus, the axes being articulated to the housing ( 20) and the frame (30) being dimensioned for the free rotation of the frame (30) inward and in relation to the housing (20) around the second horizontal axis (24);
the dampers (40) comprising a plurality of vibration isolation dampers (40) connected and spaced around the trailer frame (30), the dampers (40) being effective in damping vertical and horizontal vibrations of the trailer frame (30) ;
Petition 870190119232, of 11/18/2019, p. 53/122
4/10 the base assembly (50) mounted for the plurality of vibration isolation dampers (40) and positioned at least partially in the trailer frame (30) and completely in the bulbous part of the housing (20) for free movement of the assembly base (50) in the housing (20) when the trailer frame (30) rotates about the second horizontal axis (24) of the housing (20), vertical and horizontal vibrations of the housing (20) and the frame (30) being damped by the dampers (40) before reaching the base set (50);
the support pedestal (54) having the bottom end attached to the base assembly (50) near the bottom of the base assembly (50), the support pedestal (54) extending upwardly on the base assembly (50) and inside the towing frame (30) and having a free upper end spaced into the towing frame (30);
the single spherical air bearing (55) being connected to the free upper end of the pedestal (54);
the instrument platform (70) being a structurally rigid instrument platform (70) having a lower hollow cone part (72) with an upper internal vertex fitted and supported on the spherical air bearing (55) for a rotating and articulated support of the instrument platform (70) on the support pedestal (54), the instrument platform (70) having an upper rod (71) extending upwards from the cone part, above the apex and within the trailer frame (30) a instrument platform (70) having a central axis (75) extending through the cone part and the stem;
the balancing system (80) for dynamically balancing the platform on the air bearing; and, where the field sensor (79) is mounted on the instrument platform (70) to collect field data when balanced against motion noise including vibration, articulation and rotation from the assembly
Petition 870190119232, of 11/18/2019, p. 54/122
5/10 base (50), from the trailer frame (30) and from the housing (20).
[10]
10. Stabilized field sensor apparatus (10), according to claim 9, characterized by the fact that it includes a main gyroscopic stabilizer (91) mounted on the rod (71) and positioned on the central axis to reduce the rotational instability in the inclination and oscillation of the instrument platform (70) on the support pedestal (54) and at least one secondary gyroscopic stabilizer (78) mounted on the instrument platform (70) in a radially spaced location from the central axis (75) to reduce rotational instability in the yaw.
[11]
11. Stabilized field sensor apparatus (10) according to claim 9, characterized by the fact that the base assembly (50) comprises a suspension ring (51) connected to the vibration isolation dampers (40), a base plate (53) spaced below the suspension ring and having a plurality of radially spaced circumferentially extending slits (60), a plurality of base strips (52) connected between the suspension ring and the base plate and spaced around the base plate and the suspension ring, each base strip (52) having an arcuate lower portion extending out radially (52a) extending through one of the slots (60) in the base plate (53) and an inwardly inclined portion (52b) connected between the arched portion of the base strip and the suspension ring, a plurality of lower diagonal clamps (56a) each connected between a lower end of each base strip and an intermediate location of an adjacent base strip, and a plurality of upper diagonal clamps (56b) each connected between an upper end on each base strip and the intermediate location on the adjacent base strip, the diagonal clamps increasing the torsional stiffness of the base assembly (50 ), the support pedestal (54) having an upper part above the base plate (53) and a lower part below the base plate, a lower end of each base strip being connected to the lower part of the
Petition 870190119232, of 11/18/2019, p. 55/122
6/10 support pedestal (54).
[12]
12. Stabilized field sensor apparatus (10) according to claim 9, characterized by the fact that the base assembly (50) comprises a suspension ring (51) connected to the vibration isolation dampers (40), a base plate (53) spaced below the suspension ring and having a plurality of radially spaced circumferentially extending slits (60), the plurality of base strips (52) connected between the suspension ring and the base plate having a arched lower part extending radially outward (52a) extending through one of the slits (60) in the base plate (53) and an inwardly sloping part (52b) connected between the arched part of the base frieze and the suspension, a plurality of lower diagonal clamps (56b) each connected between a lower end on each base strip and the intermediate location on the adjacent base strip, the additional clamps increasing the torsional rigidity of the joint base plate (50), the support pedestal (54) having an upper part above the base plate (53) and a lower part below the base plate, a lower end of each base strip (52) being connected to bottom of the support pedestal (54), and a pair of reinforcement plates (61) on opposite sides of each base strip in a location below the base plate (53), the suspension ring, the strips and the plate base being made of carbon fiber composite wrap.
[13]
13. Stabilized field sensor apparatus (10), according to claim 9, characterized by the fact that it includes a main gyroscopic stabilizer (91) mounted on the rod (71) and positioned on the central axis to reduce the rotational instability in the inclination and oscillation of the instrument platform from the support pedestal and at least one secondary gyroscopic stabilizer (78) mounted to the instrument platform in a radially spaced location from the central axis
Petition 870190119232, of 11/18/2019, p. 56/122
7/10 (75) to reduce rotational instability in the yaw, the stem part (71) and the cone part (72) of the instrument platform (70) each comprising a single piece of the composite material center wrap carbon fiber, the stem part (71) containing a plurality of stacked instrument modules (77) including the main gyroscopic stabilizer (91), a data acquisition system (90) and a force module (98) comprising an inverter and battery (100a), the instrument platform (70) including a plurality of vertical stiffening platform ribs spaced in circumference (74) extending along the stem part (72) and the stem (71), and a plurality of horizontal reinforcement flanges (73) consumed around the platform and due to the platform friezes, the apparatus including a pair of weight-balanced secondary gyroscopic stabilizers (78) mounted on the opposite sides of the rod and on one of the flanges d and horizontal reinforcement (73).
[14]
14. Stabilized field sensor apparatus (10) according to claim 9, characterized by the fact that it also comprises a dynamic balancing system (80) comprising a PC separate from the apparatus, a set of linear mass balancing actuators ( A) mounted on the instrument platform (70) and oriented 90 degrees to each other, as well as a built-in computer mounted on the instrument platform (70) that receives instructions from the PC to control the mass balancing actuator set (A ).
[15]
15. Stabilized field sensor apparatus (10) according to any one of claims 1 to 14, characterized by the fact that it facilitates the continuous collection of magnetic field data including low frequency magnetic measurements in the bandwidth from 1 Hz to 25 Hz not being affected by movement noise, the apparatus (10) comprising:
the housing (20) being shaped into a drop shape (20);
the trailer frame (30) comprising a base ring
Petition 870190119232, of 11/18/2019, p. 57/122
8/10 (32), two convex crossbars (34a, 34b) connected to said base ring (32), and two horizontal axes (36a, 36b) protruding out from one of the two crossbars (34a, 34b) and positioned on opposite sides of the base ring (32), each of said two horizontal axes (36a, 36b) being articulated to said housing (20) through reciprocal bearings (32a, 32b) and each of said two horizontal axes (36a, 36b) entering the housing (20) through said reciprocal bearings (32a, 32b), the horizontal axes (36a, 36b) forming tow points that facilitate connection to a vehicle;
the base assembly (50) being connected to the frame (30) but vibrationally isolated from the housing (20) and the frame (30), the base assembly (50) comprising a support pedestal (54) having an integral bottom end with a circular base plate (53) having a lower part (62), the support pedestal (54) having an opposite top end with a single spherical air bearing (55) comprising a center of rotation, the set of base (50) further comprising a suspension ring (51), a plurality of vertical strips (52) connected to the circular base plate (53), said strips (52) being wrapped between pairs of strips (61) permanently connected to said bottom part (62) of said base plate (53), said base set (50) also comprising diagonal carbon fiber clamps (56) to increase torsional rigidity and which connect the adjacent members of said plurality of friezes vertical (52) to each other;
the instrument platform being a rotationally stabilized instrument platform molded in a hollow funnel (70) comprising a single piece of material encased in the center of carbon compound, said platform having a longitudinal axis (75), a center of mass and a surface external, said platform (70) being supported in an inverted manner on said spherical air bearing (55) and on the pedestal
Petition 870190119232, of 11/18/2019, p. 58/122
9/10 of support (54), the platform (70) comprising a stem part (71) and a cone part (72), said cone part having a lower ram, the stem part containing a series of modules stacked instruments (77) comprising a data acquisition system (90), followed by a main gyroscopic stabilizer (91), followed by a power module (98) comprising an inverter and a battery (100a);
three vector component magnetometers (79) each having a longitudinal axis, the magnetometers (79) being mounted on said external surface of said cone part (72) adjacent to the lower ram, the instrument platform (70) comprising longitudinal friezes ( 74) fixedly attached to the external surface of said stem part (71) and to the cone part (72) for additional rigidity of said platform (70);
two secondary opposing gyroscopic stabilizers (78) to resist rotational instability and rotational movement around the axis (75) of the platform (70), mounted on the platforms (76) and positioned radially out of the axis (75) of the platform, in both sides of said stem part (71), said secondary gyroscopic stabilizers (78) being mounted inside a mu-metal guard (99) together with an inverter and battery (100b);
a dynamic balancing system (80) to ensure that the center of mass of the platforms (70) are located at the center of rotation of the air bearing, the dynamic balancing system (80) comprising a set of mutually perpendicular linear actuators (A) each having a small mass located in a small linear transport; a set of mutually perpendicular linear pneumatic vibrators (V) each vibrating at a different frequency; a PC separate from the device; a dynamic balancing algorithm running on the PC; a built-in computer mounted on the platform (70) to control the established triggers (A); and a means of transmitting
Petition 870190119232, of 11/18/2019, p. 59/122
10/10 wireless information from the PC to the embedded computer; where the computer incorporated in the platform receives wireless position instructions from the dynamic balancing algorithm running on the PC;
a vibration isolation damper system (40) to isolate the base assembly (50) and the platform (70) from the vibrations and rotations of the housing (20), said damper system (40) comprising vertically oriented dampers (42) for suspending said base from said crossbars (34a, 34b) of the frame, and horizontal dampers (44), to laterally connect said base assembly (50) to said base ring (32) of the frame (30);
said radial ribs (52) of said base assembly (50) being angled to accommodate a selected amount of the inclination and oscillation range of said instrument platform (70).

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EA022224B1|2015-11-30|

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ECSP12012076A|2012-09-28|

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法律状态:
2018-10-02| B25M| Entry on limitation or onus of patent assignment [chapter 25.13 patent gazette]|Owner name: VALE S.A. (BR/RJ) Free format text: ANOTACAO DE LIMITACAO OU ONUSREFERENCIA: PROCESSO SINPI/SEI 52402.005510/2018-81 FICA ANOTADA A INDISPONIBILIDADE DO REFERIDO PEDIDO DE PATENTE, DE ACORDO COM O ART. 59,II, DA LPI, CONFORME DETERMINADO PELO MM. JUIZ FEDERAL DA 27A VARA FEDERAL. CONFORME A MESMADETERMINACAO NAO SERA POSSIVEL A TRANSFERENCIA DESTE, SALVO A AUTORIZACAO DESSE JUIZO. |

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2018-10-09| B25M| Entry on limitation or onus of patent assignment [chapter 25.13 patent gazette]|Owner name: VALE S.A. (BR/RJ) Free format text: ANOTACAO DE LIMITACAO OU ONUSREFERENCIA: PROCESSO SINPI/SEI 52402.005792/2018-17 CONFORME DETERMINADO PELA MMA. JUIZA FEDERAL MARIA ADNA FAGUNDES VELOSO DA 15A VARA NA TITULARIDADE DA 27A VARA FEDERAL, FICA ANOTADO CANCELAMENTO PROVISORIO DA INDISPONIBILIDADE PUBLICADA NA RPI 2491 DE 02/10/2018, DE ACORDO COM O ART. 59, II, DA LPI. |

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2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-10-01| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-01-14| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2020-02-04| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 07/01/2011, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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