A lens image shift compensation device capable of resisting flight interference

Abstract

The present invention discloses a lens image motion compensation device that is resistant to flight interference. The device comprises a reflector frame disposed in front of a detector, a gyroscope and a reflector disposed on parallel gyro and reflector axes of the reflector frame, respectively. The gyroscope is disposed within a suspended frame on the gyro axis, with the reflector's surface facing the detector for collecting images. The reflector frame is also provided with an angular velocity sensor connected to the dual-axis gyroscope. The detector comprises a visible light detection assembly and an infrared detection assembly fixed within the detection frame. The detection frame is also provided with a reflector compensation control unit, whose signal output terminal is connected to a drive motor via a PWM drive module and receives detection signals from the angular velocity sensor. The present invention can compensate for image motion of the detection assembly via the reflector, while also protecting it through a lock protection, thereby reducing interference with the lens caused by impact and vibration.

Description

Technical Field

[0001] The invention belongs to the technical field of flight detection and relates to a lens image motion compensation device capable of resisting flight interference. Background Art

[0002] In recent years, the rapid development of aviation technology, including drones, has made it increasingly important both in the national economy and in national defense and military affairs. Aerial photography is a key application. Objects of different temperatures exhibit distinct characteristics in the infrared band: the lower the temperature, the darker the color. Infrared optical systems detect the target's own radiation. Compared to visible light optical systems, they offer advantages such as all-weather observation, environmental immunity, and superior penetration. For example, using drone-based simultaneous infrared and visible light remote sensing technology for environmental monitoring can effectively detect hidden drainage outlets concealed in the grass along river banks.

[0003] However, a pressing issue that needs to be addressed is the tumbling and rolling associated with flight during continuous filming. This requires stabilization of the camera's line of sight. 3D stabilization is a solution adopted by many products. 3D stabilization is highly complex and suitable for large, high-value equipment, such as platform-mounted inertial navigation systems. Conventional video or photo stabilization systems struggle to withstand this.

[0004] Image motion compensation is a technique used by photographic equipment to compensate for the relative motion between the image of the subject and the photosensitive surface during the exposure process. This relative motion, called image motion, can cause image blur. Image motion occurs when photographing a moving object with a camera, or when photographing from a moving vehicle, ship, or aircraft in flight. Aerial photography is particularly prone to this, as the aircraft carrying the equipment is constantly in motion and the imaging requires a finite exposure time. Therefore, relative motion between the image and the photosensitive surface is inevitable. Image motion compensation is necessary to minimize or eliminate this relative motion, and it is a crucial measure for improving image quality in aerial photography. In addition to image motion caused by differential speed, aerial photography can also experience image motion in other directions, such as rotation and tumble. Summary of the Invention

[0005] The technical problem solved by the present invention is to provide a lens image motion compensation device that is resistant to flight interference, which can compensate for image motion to the detection component through a reflector and protect it through a lock protection to reduce the interference of impact and vibration on the lens.

[0006] The present invention is achieved through the following technical solutions:

[0007] A flight interference-resistant lens image motion compensation device includes a reflector frame arranged in front of a detector, a gyroscope and a reflector respectively arranged on a gyro axis and a reflector axis of the reflector frame, the gyroscope being arranged in a suspended frame on the gyroscope axis, and the reflector facing the detector for collecting images.

[0008] On one side of the reflector frame, the gyro axis and the reflector axis are connected through a rotating wheel and a steel belt transmission mechanism, and the gyro axis is also connected to the output shaft of the drive motor through a transmission belt; the reflector frame is also provided with an angular velocity sensor connected to the dual-axis gyroscope;

[0009] The detector includes a visible light detection component and an infrared detection component fixed in a detection frame; the detection frame is also provided with a reflector compensation control unit, whose signal output end is connected to the drive motor via a PWM drive module and receives the detection signal sent by the angular velocity sensor.

[0010] When the detector's exposure time is insufficient, the reflector compensation control unit sends a drive command to the drive motor through the PWM drive module, driving the reflector to rotate in the opposite direction of the carrier's flight through the gyro axis and the reflector axis to perform image motion compensation or visual axis compensation, so that the visual axis remains on the scene or target.

[0011] When the reflector frame changes its posture, the gyroscope will detect the angular velocity generated by the suspended frame, and the angular velocity sensor will feed back the detected signal to the reflector compensation control unit; the reflector compensation control unit will adjust the drive instruction according to the angular velocity feedback signal;

[0012] When the image motion compensation or the visual axis compensation time is over, the reflector compensation control unit sends a drive command to the drive motor to drive the reflector to accelerate the rotation in the direction of the carrier flight and restore it to the visual axis position before the image motion compensation or the visual axis compensation;

[0013] The gyro axis and the reflector axis are connected by a rotating wheel and a steel belt transmission mechanism with a transmission ratio of 1 / 2. When the gyro axis rotates relative to the carrier, the steel belt transmission mechanism drives the reflector axis to rotate half the angle, so that the visual axis of the reflector remains stable in the inertial space.

[0014] The reflector frame includes a horizontal arm with a rotating shaft and tuning fork-shaped longitudinal arms arranged on both sides thereof, and a parallel gyroscope axis and reflector axis are arranged between the tuning fork-shaped longitudinal arms; wherein a square suspension frame is provided on the gyroscope axis for installing a gyroscope.

[0015] The reflector fixing frame is provided with a locking pin, which is provided with a limit block; the detection frame is provided with a locking hole matching the locking pin, and a positioning ring groove matching the limit block is also provided in the locking hole, and a spring is provided on the rear side of the positioning ring groove.

[0016] The locking and unlocking of the reflector fixing frame and the detection frame are as follows:

[0017] The locking pin extends into the locking hole, and the limit block is stuck in the positioning ring groove to achieve the locking of the mirror fixing frame and the detection frame;

[0018] When the reflector fixing frame is subjected to sufficient impact, inertia drives the locking pin to break through the restriction of the positioning ring groove on the limit block, and the limit block compresses the spring; the compressed spring rebounds and pushes the locking pin out of the locking hole. The spring is confined in the locking hole, thereby unlocking the reflector fixing frame and the detection frame.

[0019] After the reflector fixing frame and the detection frame are unlocked, the reflector axis is kept stable by the motor torque provided by the pitch motor and the roll motor.

[0020] Compared with the prior art, the present invention has the following beneficial technical effects:

[0021] The present invention provides a flight interference-resistant lens image motion compensation device, which is configured by arranging a freely rotatable reflector driven by a motor in front of a detector. When exposure compensation is required for thermal images or visible light, or before such a time arrives, a control unit controls the drive motor to cause the reflector to enter a compensation scanning motion state. During the period when the reflector reaches a stable compensation angular velocity (40ms), the camera exposure is triggered (20ms) to complete the exposure compensation.

[0022] The present invention also protects the reflector assembly from damage before reaching the shooting position by locking the locking mechanism based on the locking pin and the locking hole; when the flight is subjected to a large impact force, the locking mechanism based on the locking pin and the locking hole relies on the inertial impulse to unlock and restore the two-dimensional freedom movement of the reflector assembly. The cantilever and buffer structure adopted avoid interference of the flight on the detector and the lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the optical path of the reflector of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the present invention;

[0025] Figure 3 This is one of the structural diagrams of the reflector mechanism of the present invention;

[0026] Figure 4 This is the second structural diagram of the reflector mechanism of the present invention;

[0027] Figure 5 This is a schematic diagram of the fixing of the reflector mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram when the optical axis is fixed at 3.6°;

[0029] Figure 7 This is a schematic diagram when the optical axis is fixed at 7.2°;

[0030] Figure 8 is the curve of the mirror angular velocity changing with time;

[0031] Figure 9 is the curve of the reflector angle changing with time.

[0032] Among them, 1 is the fairing, 2 is the infrared detection component, 3 is the reflector, 4 is the reflector roll axis, 5 is the carrier roll axis, 6 is the visible light detection component, 7 is the drive motor, 8 is the gyroscope axis, 9 is the reflector frame, 10 is the reflector axis, 11 is the angular velocity sensor, 12 is the gyroscope, 13 is the locking pin, 14 is the positioning ring groove, and 15 is the detection frame. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the embodiments, which are intended to explain the present invention rather than to limit it.

[0034] See also Figure 1 The present invention sets a freely rotatable reflector in front of the detector. When thermal images or visible light need to be exposed for compensation, or before the opportunity arrives, the control unit controls the driving motor to make the reflector enter the compensation scanning motion state. When the reflector reaches a stable compensation angular velocity (40ms), the camera exposure is triggered (20ms) to complete the exposure compensation.

[0035] See also Figure 2-Figure 5 The present invention provides a flight interference resistant lens image motion compensation device, comprising a reflector frame arranged in front of a detector, wherein a gyroscope and a reflector are respectively arranged on a gyro axis and a reflector axis of the reflector frame, which are parallel to each other; the gyroscope is arranged in a suspended frame on the gyroscope axis, and the mirror surface of the reflector faces the detector for collecting images;

[0036] On one side of the reflector frame, the gyro axis and the reflector axis are connected through a rotating wheel and a steel belt transmission mechanism, and the gyro axis is also connected to the output shaft of the drive motor through a transmission belt; the reflector frame is also provided with an angular velocity sensor connected to the dual-axis gyroscope;

[0037] The detector includes a visible light detection component and an infrared detection component fixed in a detection frame; the detection frame is also provided with a reflector compensation control unit, whose signal output end is connected to the drive motor via a PWM drive module and receives the detection signal sent by the angular velocity sensor.

[0038] Furthermore, when the exposure time of the detector is insufficient, the reflector compensation control unit sends a drive instruction to the drive motor through the PWM drive module, driving the reflector to rotate in the opposite direction of the carrier's flight through the gyro axis and the reflector axis to perform image motion compensation or visual axis compensation, so that the visual axis stays on the scene or target object;

[0039] When the reflector frame changes its posture, the gyroscope will detect the angular velocity generated by the suspended frame, and the angular velocity sensor will feed back the detected signal to the reflector compensation control unit; the reflector compensation control unit will adjust the drive instruction according to the angular velocity feedback signal;

[0040] When the image motion compensation or the visual axis compensation time is over, the reflector compensation control unit sends a drive command to the drive motor to drive the reflector to accelerate the rotation in the direction of the carrier flight and restore it to the visual axis position before the image motion compensation or the visual axis compensation;

[0041] Furthermore, the gyro axis and the reflector axis are connected through a rotating wheel and a steel belt transmission mechanism with a transmission ratio of 1 / 2. When the gyro axis rotates relative to the carrier, the steel belt transmission mechanism drives the reflector axis to rotate half the angle, so that the visual axis of the reflector remains stable in the inertial space.

[0042] Specifically, the reflector frame includes a horizontal arm with a rotating shaft and tuning fork-shaped longitudinal arms arranged on both sides thereof, and a gyroscope axis and a reflector axis parallel to each other are arranged between the tuning fork-shaped longitudinal arms; wherein a square suspension frame is provided on the gyroscope axis for installing a gyroscope.

[0043] For further information, see Figure 5 The reflector fixing frame is provided with a locking pin, which is provided with a limit block; the detection frame is provided with a locking hole matching the locking pin, and a positioning ring groove matching the limit block is also provided in the locking hole, and a spring is provided on the rear side of the positioning ring groove.

[0044] The locking and unlocking of the reflector fixing frame and the detection frame are as follows:

[0045] The locking pin extends into the locking hole, and the limit block is stuck in the positioning ring groove to achieve the locking of the mirror fixing frame and the detection frame;

[0046] When the reflector fixing frame is subjected to sufficient impact, inertia drives the locking pin to break through the restriction of the positioning ring groove on the limit block, and the limit block compresses the spring; the compressed spring rebounds and pushes the locking pin out of the locking hole. The spring is confined in the locking hole, thereby unlocking the reflector fixing frame and the detection frame.

[0047] After the reflector fixing frame and the detection frame are unlocked, the reflector axis is kept stable by the motor torque provided by the pitch motor and the roll motor.

[0048] The mirror control unit sends a driving command to the pitch motor or roll motor to drive the mirror to perform image motion compensation or line of sight compensation. The following simplifies it to the flying vehicle rotating counterclockwise and the mirror rotating clockwise.

[0049] The flying vehicle rotates counterclockwise, and at a certain speed-to-height ratio, it drives the scanning process of the visible light and thermal image detection optical axes relative to the visual axis of the aircraft imaging system relative to the ground scene.

[0050] The motor drives the reflector in a clockwise rotation for 40 milliseconds. During this time, the aircraft and reflector rotate at a 2:1 speed ratio, keeping the optical axis stationary in space. During this 40 millisecond period, the optical axis of the thermal image or visible light remains stationary relative to the scene, allowing for long exposure times (typically 20 milliseconds).

[0051] During this process, the flying vehicle rotates at a constant speed. When the camera completes shooting, the compensation mirror quickly returns to the starting position and performs the next cycle of reverse compensation action according to the time synchronization requirements.

[0052] The timing control of image motion compensation is explained using clockwise and counterclockwise rotation:

[0053] The flying vehicle rotates at a constant speed of 36° / s, that is, it scans one circle in 10 seconds. The detector field of view is 5°, and an image is taken every 3.6°. During shooting, the visual axis needs to stay at this position for 40ms to provide the necessary integration time for the thermal imager. Therefore, the thermal imager can take 100 images in one circle and stitch them together to obtain a panoramic image.

[0054] The reflector performs stepping motion relative to the object space, with a stepping angle of 3.6° and a stepping period of 100ms. The visual axis dwell time at each stepping angle is 40ms, and the remaining 60ms is adjustment time.

[0055] The flying vehicle rotates counterclockwise at a speed of 36° / s, and the reflector rotates clockwise at a speed of 18° / s. Due to the 2 times of the reflection angle of the reflector, the angular speed of the visual axis can reach a speed of 36° / s, making the visual axis stationary in space. This process lasts for 40ms, and the detection axis is stationary at 0°.

[0056] After 40ms, the flying vehicle starts to rotate counterclockwise. After 60ms, when the reflector rotates counterclockwise to 3.6°, the flying vehicle rotates counterclockwise by 1.8° and the visual axis rotates by 3.6°, that is, returning to the initial relative position with the reflector, or called zero position, that is, the visual axis jumps from 0° to 3.6°. Figure 6 As shown, the visual axis jumps from position 1 to position 2, and the angle between the two positions is 3.6°.

[0057] After 100ms, the reflector continues to rotate counterclockwise at a constant speed, and the flying vehicle begins to scan clockwise again. The two offset each other, and the visual axis stops at 3.6°, that is, position 2, and maintains for 40ms. The flying vehicle begins to rotate counterclockwise. After 60ms, the flying vehicle returns to zero position, and the reflector reaches 7.2°, that is, position 3. Figure 7 shown.

[0058] The curve of the mirror angular velocity changing with time is as follows Figure 8 As shown, the curve of the reflector angle changing with time is as follows Figure 9 shown.

[0059] After 100 cycles of this process, 100 images of the entire circumference can be obtained.

[0060] The device is connected to the aircraft by a shock-absorbing bolt, which secures the device to the aircraft. A shock-absorbing rubber layer between the bolt and the device absorbs high-frequency vibrations from the aircraft, physically isolating the vibration and ensuring stable image acquisition. During flight, impacts are transmitted in the forward direction via the fixed coupling plate, resulting in a weak tangential component. The optical device is secured within a fixed frame, providing strong impact resistance. Furthermore, the frame is coated with plastic deformation structures such as rubber and sponge to absorb impact forces.

[0061] The above embodiments are preferred examples for implementing the present invention, and the present invention is not limited to the above embodiments. Any non-essential additions or replacements made by those skilled in the art based on the technical features of the present invention fall within the scope of protection of the present invention.

Claims

1. A lens image motion compensation device capable of resisting flight interference, characterized in that: The invention comprises a reflector frame arranged in front of the detector, wherein the gyroscope and the reflector are respectively arranged on a gyroscope axis and a reflector axis which are parallel to each other of the reflector frame; the gyroscope is arranged in a suspended frame on the gyroscope axis, and the mirror surface of the reflector faces the detector for collecting images; On one side of the reflector frame, the gyro axis and the reflector axis are connected through a rotating wheel and a steel belt transmission mechanism, and the gyro axis is also connected to the output shaft of the drive motor through a transmission belt; the reflector frame is also provided with an angular velocity sensor connected to the dual-axis gyroscope; The detector includes a visible light detection component and an infrared detection component fixed in a detection frame; the detection frame is also provided with a reflector compensation control unit, whose signal output end is connected to the drive motor via a PWM drive module and receives the detection signal sent by the angular velocity sensor; The gyro axis and the reflector axis are connected by a rotating wheel and a steel belt transmission mechanism with a transmission ratio of 1 / 2. When the gyro axis rotates relative to the carrier, the steel belt transmission mechanism drives the reflector axis to rotate half the angle, so that the visual axis of the reflector remains stable in the inertial space. The reflector frame includes a horizontal arm with a rotating shaft and tuning fork-shaped longitudinal arms arranged on both sides thereof, and a gyroscope axis and a reflector axis parallel to each other are arranged between the tuning fork-shaped longitudinal arms; wherein a square suspension frame is provided on the gyroscope axis for mounting a gyroscope; The reflector frame is provided with a locking pin, which is provided with a limit block; the detection frame is provided with a locking hole that matches the locking pin, and a positioning ring groove that matches the limit block is also provided in the locking hole, and a spring is provided on the rear side of the positioning ring groove; The locking and unlocking of the reflector frame and the detection frame are as follows: The locking pin extends into the locking hole, and the limit block is stuck in the positioning ring groove to achieve the locking of the reflector frame and the detection frame; When the reflector frame is subjected to sufficient impact, inertia drives the locking pin to break through the restriction of the positioning ring groove on the limit block, and the limit block compresses the spring; the compressed spring rebounds and pushes the locking pin out of the locking hole. The spring is confined in the locking hole, thereby unlocking the reflector frame and the detection frame.

2. The flight interference resistant lens image motion compensation device according to claim 1, wherein: When the detector's exposure time is insufficient, the reflector compensation control unit sends a drive command to the drive motor through the PWM drive module, driving the reflector to rotate in the opposite direction of the carrier's flight through the gyro axis and the reflector axis to perform image motion compensation or visual axis compensation, so that the visual axis remains on the scene or target. When the mirror frame changes its posture, the gyroscope will detect the angular velocity generated by the suspended frame, and the angular velocity sensor will feed back the detected signal to the mirror compensation control unit; the mirror compensation control unit will adjust the drive instruction according to the angular velocity feedback signal; When the image motion compensation or the visual axis compensation time ends, the reflector compensation control unit sends a driving instruction to the drive motor to drive the reflector to accelerate the rotation in the direction of the carrier flight and restore it to the visual axis position before the image motion compensation or the visual axis compensation.

3. The flight interference resistant lens image motion compensation device according to claim 1, wherein: After the reflector frame and the detection frame are unlocked, the reflector axis is kept stable by the motor torque provided by the pitch motor and the roll motor.

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