Two-axis inertial stabilization device and method thereof

Abstract

The present invention discloses a two-axis inertial stabilization device, comprising: a stabilization platform; an inertial unit, arranged on the third side of the stabilization platform; a control module, arranged on the fourth side of the stabilization platform, and its input end is connected to the output end of the inertial unit; a rolling motor module, arranged on the first side of the stabilization platform; and the input end of the rolling motor module is connected to the first output end of the control module; a pitching motor module, arranged on the second side of the stabilization platform, and perpendicular to the rolling motor module; and the input end of the pitching motor module is connected to the second output end of the control module. This system solves the problems of low response frequency, limited compensation angle range, and single-direction stability of the existing stabilization platform. By using a set of vertically arranged motion compensation mechanisms, compensating motions are performed in the horizontal and vertical directions, so that the stabilization device provides stability in the horizontal and vertical directions for the load device in a shaking environment, and provides a stable working environment for the load device.

Description

Technical Field

[0001] The present invention relates to the technical field of stable platforms, and in particular to a two-axis inertial stabilization device and a method thereof. Background Art

[0002] The platform installation surface of ships floating on the sea and vehicles driving on the road will fluctuate. Cameras, laser radars, etc. on ships or vehicles need a relatively stable environment to fully exert their functions and performance. A stable platform can effectively solve this problem.

[0003] Take a ship as an example. When it is floating still, it will roll violently from side to side due to the influence of the waves. When it is sailing in a straight line, it will be affected by the water surface resistance in the forward direction and will pitch forward and backward. When it is sailing and turning, it will produce a large roll amplitude. Depending on the size of the ship, the amplitude and frequency of its pitch and roll vary, ranging from 0.02Hz to 1Hz, and the rolling amplitude ranges from 0.05 to 30°.

[0004] The shaking of the ship itself will bring about the following effects: the searchlights, cameras, lidar and other equipment installed on it will not always point in a specific direction, making it impossible to provide long-term lighting or obtain effective information.

[0005] Take a vehicle as an example. When the engine is turned off and the vehicle is parked, it will shake due to wind load and its own windward surface. When the vehicle is started but not driving, it will shake due to engine vibration and its own structural design. When the vehicle is started and driving, it will shake due to road undulations, vehicle climbing, vehicle turning, vehicle's own shock absorption and structural strength. Depending on the different vehicle engines and different road surfaces and environments, the amplitude and frequency of the vehicle's front and rear pitch and left and right rolling vary. The frequency range is relatively wide, ranging from a few hertz to tens or thousands of hertz. Of course, based on the safety of the vehicle, the climbing amplitude (front and rear pitch) generally does not exceed 30% (about 16.2°), and even high-performance off-road vehicles are only 45% (about 24.2°).

[0006] Vehicle vibration will have the following impacts, such as making it impossible for the laser radar, aiming equipment and other equipment installed on it to always point in a specific direction, thereby permanently obtaining effective information or working normally.

[0007] For moving carriers such as ships and vehicles, the existing stabilizing platforms or stabilizing devices are implemented in the following ways:

[0008] (1) Add anti-roll devices inside the hull to minimize the ship's own rolling.

[0009] (2) In ships and vehicles, a linkage mechanism (six-link, three-link) is invented to eliminate the shaking by sensing the shaking of the vehicle and using the geometric motion of the linkage mechanism to compensate in reverse.

[0010] (3) For moving carriers such as ships and vehicles, a two-axis UT-type or U-shaped turntable is invented to sense the shaking of the carrier and use the reverse rotation of the pitch axis in the frame to eliminate the shaking.

[0011] Patent 1: Application number CN202010745722.5, invention name is a deformable anti-roll fin; Patent 2: Application number CN201922267598.1, invention name is a anti-roll gyro rotor system; Patents 1 and 2 both install specific anti-roll devices inside the hull to make the hull as stable as possible in both pitch and roll directions. However, it is not applicable to specific equipment on the hull, such as searchlights, cameras, laser radars, etc., and cannot obtain a stable working environment.

[0012] Patent 3: Application number is 20191100254.6, the invention name is a shipborne self-stabilizing platform and its control system and method; Patent 4: Application number is 201621478726.7, the invention name is a smart vehicle carrier balancing self-stabilizing device; Patent 5: Application number is 201811310173.8, the invention name is a hybrid mechanism for wave compensation; Patents 3-5 all use telescopic cylinders that can move in a straight line to reversely compensate for the shaking of the hull through compound motion to achieve stability.

[0013] Patent 6: Application number 201821078298.2, the invention name is a marine optoelectronic evidence collection system that can clearly and stably collect evidence. By adding an additional connecting rod spring to the rotary motion mechanism, the shaking amplitude can be passively reduced by the expansion and contraction of the spring when the rotary mechanism shakes.

[0014] Patent 7: Application No. 201821005359.2, invention name is stable platform; Patent 8: Application No. 20110325164.8, invention name is single-degree-of-freedom marine laser rangefinder stable platform and control method; Patent 9: Application No. 202010358780.2, invention name is a light-weight optoelectronic pod and equipment; Patents 7-9 all adopt UT or U-shaped structures. However, the stable platform of Patents 7-9 can only be stabilized by a single pitch axis. Even if there are two axes of stability, the azimuth axis and the pitch axis, the azimuth axis rotation axis is perpendicular to the earth's horizontal plane during normal use, and the pitch axis rotation axis is perpendicular to the azimuth axis rotation axis, so that it can only eliminate the shaking of ships, vehicles, or aircraft in front and back or pitching, heading or azimuth angles, but cannot eliminate the shaking of left and right rolling.

[0015] However, these telescopic cylinder linear motion mechanisms require complex algorithms to achieve rotational motion compensation during shaking, which is difficult to implement. Moreover, the rotation angle range, rotation angular velocity and rotation angular acceleration capabilities of this linear-to-rotational motion are limited, especially the response frequency is not high, so it cannot quickly respond to the shaking amount and compensate for the high-frequency information in the shaking amount. Summary of the invention

[0016] The purpose of the present invention is to provide a two-axis inertial stabilization device and method thereof. This device aims to solve the problems of low response frequency, limited compensation angle range, and single-direction stability of the existing stabilization platform. Through a set of vertically arranged motion compensation mechanisms, compensating motion is performed in the horizontal and vertical directions, so that the stabilization device provides stability in the horizontal and vertical directions for the load device in a shaking environment, providing a stable working environment for the load device.

[0017] In order to achieve the above object, the present invention provides a two-axis inertial stabilization device, which includes:

[0018] A stable platform, mounted on the moving carrier, for mounting the load equipment;

[0019] An inertial unit, disposed on a third side of the stable platform, for collecting shaking information of the stable platform in real time;

[0020] A control module is disposed on the fourth side of the stable platform, and its input end is connected to the output end of the inertial unit, and generates control information according to the shaking information brought by the environment in which the stable platform is located;

[0021] A rolling motor module is arranged on the first side of the stable platform; and the input end of the rolling motor module is connected to the first output end of the control module, and rotates around the horizontal axis according to the control information, and the horizontal axis rotation axis is parallel to the vertical line of the first side of the stable platform to compensate for the shaking of the load device in the horizontal axis direction;

[0022] The pitch motor module is arranged on the second side of the stable platform and is perpendicular to the rolling motor module; the input end of the pitch motor module is connected to the second output end of the control module, and rotates around the longitudinal axis according to the control information, and the longitudinal axis rotation axis is parallel to the vertical line of the second side of the stable platform to compensate for the shaking of the load device in the longitudinal axis direction.

[0023] Most preferably, the shaking information of the stable platform includes: the rolling shaking information of the stable platform in the horizontal axis direction and the pitching shaking information of the stable platform in the vertical axis direction.

[0024] Most preferably, the control information includes: compensating roll information for compensating for the shaking of the stable platform in the lateral direction and compensating pitch information for compensating for the shaking of the stable platform in the longitudinal direction.

[0025] Most preferably, the input end of the control module is connected to the output end of the inertial unit, and the first output end is connected to the input end of the rolling motor module, and according to the roll information in the shake information of the stable platform, the compensating roll information for compensating the shake of the load device in the horizontal axis direction is generated, and the second output end is connected to the input end of the pitch motor module, and according to the pitch information in the shake information of the stable platform, the compensating pitch information for compensating the shake of the load device in the vertical axis direction is generated.

[0026] Most preferably, the stable platform further comprises:

[0027] The fixed platform is used to place the inertial unit, the control module, the rolling motor module and the pitching motor module, and ensure that the rolling motor module and the pitching motor module are arranged vertically;

[0028] The open installation platform is mounted on the periphery of the fixed platform, the inertial unit, the control module, the rolling motor module and the pitching motor module, and its periphery is open for installing load equipment.

[0029] Most preferably, the fixed platform is a four-way body with openings on all sides.

[0030] Most preferably, the rolling motor module is arranged at the opening of the first side of the quadrilateral;

[0031] The pitch motor module is arranged at the opening of the second side of the quadrilateral;

[0032] The inertial unit is arranged at the opening of the third side of the quadrilateral and is symmetrically arranged with the rolling motor module;

[0033] The control module is arranged at the opening of the fourth side of the quadrilateral and is symmetrically arranged with the pitch motor module;

[0034] The inertial unit, the control module, the rolling motor module and the pitching motor module are respectively arranged at the openings around the quadrilateral, and are mutually perpendicular in pairs, so that the two-axis inertial stabilization device has a cross-shaped structure.

[0035] Most preferably, the two-axis inertial stabilization device further comprises:

[0036] The mounting support is arranged at the bottom end of the two-axis inertial stabilization device and can be detachably placed horizontally on the motion carrier to support the two-axis inertial stabilization device.

[0037] Most preferably, the mounting bracket comprises:

[0038] A horizontal plate, which is detachably fixed to the moving carrier horizontally;

[0039] The support ear has a first end connected to the cross plate and a second end connected to the bottom end of the two-axis inertial stabilization device, and is used to support and fix the two-axis inertial stabilization device.

[0040] The present invention also provides a two-axis inertial stabilization method, which is implemented based on the above-mentioned two-axis inertial stabilization device, and the method comprises the following steps:

[0041] Step 1: Install the load device on a stable platform, and place the stable platform on the moving carrier;

[0042] Step 2: The inertial unit collects the shaking information of the stable platform in real time and transmits it to the control module; the shaking information of the stable platform includes: the rolling shaking information of the stable platform in the horizontal axis direction and the pitch shaking information of the stable platform in the vertical axis direction;

[0043] Step 3: The control module generates control information according to the shaking information of the stable platform; the control information includes: compensation roll information and compensation pitch signal;

[0044] Step 4: The roll compensation information is transmitted to the rolling motor module, and the rolling motor module rolls and rotates in the opposite direction of the swaying of the lateral axis of the stable platform to compensate for the swaying of the load device in the lateral axis direction;

[0045] Step 5: Transmitting the compensation pitch information to the pitch motor module, the pitch motor module performs pitch rotation in the opposite direction of the shaking of the longitudinal axis of the stable platform to compensate for the shaking of the load device in the longitudinal axis direction;

[0046] Step 6: Based on the combined effect of step 4 and step 5, the load device on the moving carrier is stabilized in two-axis directions.

[0047] Most preferably, the control module generating the control information further comprises the following steps:

[0048] Step 3.1: The control module generates compensating roll information for compensating the roll of the load device in the transverse direction according to the roll and sway information of the load device in the transverse direction;

[0049] Step 3.2: The control module generates compensation pitch information for compensating the pitch of the load device in the longitudinal direction according to the pitch information of the load device in the longitudinal direction.

[0050] The use of this invention solves the problems of low response frequency, limited compensation angle range and single-direction stability of the existing stabilization platform. By using a group of vertically arranged motion compensation mechanisms, compensatory movements are performed in the horizontal and vertical directions, so that the stabilization device provides stability in the horizontal and vertical directions for the load equipment in a shaking environment, providing a stable working environment for the load equipment.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. The two-axis inertial stabilization device provided by the present invention adopts a two-axis inertial stabilization platform with a cross-shaped structure, which makes the structure simple and compact; an open installation platform is adopted to increase the installation space of the load equipment, which greatly facilitates users to install loads of different models and specifications.

[0053] 2. The two-axis inertial stabilization device provided by the present invention adopts inertial devices to sense the motion information of ships and the like in the pitch and roll directions, and adopts a pitch motor module and a roll motor module to be installed vertically with their rotation axes, and performs motion angle compensation in the opposite directions of pitch and roll. After specific equipment on the ship is installed on this stable platform, it will not be affected by the shaking of the hull in the pitch and roll directions, providing a solution for equipment that requires a relatively stable environment to operate effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] FIG. 1( a ) is a schematic structural diagram of a two-axis inertial stabilization device provided by the present invention;

[0055] FIG1( b ) is a schematic diagram of a top view of the structure of a two-axis inertial stabilization device provided by the present invention;

[0056] Figure 2 A schematic diagram showing that the load device, the two-axis inertial stabilization device and the motion carrier provided by the present invention are kept level with the horizontal plane in both the horizontal and vertical directions in the initial state;

[0057] Figure 3 A schematic diagram showing that the motion carrier provided by the present invention shakes in the horizontal axis direction, and the two-axis inertial stabilization device adjusts the horizontal axis direction of the load device to maintain stability;

[0058] Figure 4 This is a schematic diagram of the motion carrier provided by the present invention sways in the longitudinal axis direction, and the two-axis inertial stabilization device adjusts the longitudinal axis direction of the load equipment to maintain stability. DETAILED DESCRIPTION

[0059] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings. These embodiments are only used to illustrate the present invention and are not intended to limit the protection scope of the present invention.

[0060] The present invention is a two-axis inertial stabilization device, which is arranged on a moving carrier and a load device is placed on the two-axis inertial stabilization device. As the moving carrier shakes in the horizontal and vertical directions, the two-axis inertial stabilization device will generate horizontal axis shaking information in the horizontal direction and vertical axis shaking information in the vertical direction accordingly.

[0061] As shown in FIG. 1( a ) and FIG. 1( b ), the two-axis inertial stabilization device includes: a stabilization platform, an inertial unit 2 , a control module 3 , a rolling motor module 4 and a pitching motor module 5 .

[0062] Among them, the stable platform is used to install the load equipment; in this embodiment, the moving carrier is a ship or a vehicle; the load equipment includes cameras of different shapes, laser radars and other optoelectronic equipment, which can meet the diverse needs of users.

[0063] The inertial unit 2 is disposed on the fourth side of the stable platform, and is used to collect the shaking information of the stable platform in real time; wherein the shaking information of the stable platform includes: the rolling information of the stable platform in the horizontal axis direction and the pitching information of the stable platform in the vertical axis direction.

[0064] As shown in FIG. 1( b ), the control module 3 is disposed on the third side of the stable platform, and its input end is connected to the output end of the inertial unit 2 , and generates control information according to the shaking information of the stable platform; wherein the control information includes: compensation roll information and compensation pitch signal.

[0065] Among them, the input end of the control module 3 is connected to the output end of the inertial unit 2, and the first output end is connected to the input end of the rolling motor module 4. According to the roll information in the shaking information of the stable platform 1, the compensating roll information for compensating the shaking of the load device in the horizontal axis direction is generated; the second output end is connected to the input end of the pitch motor module 5, and according to the pitch information in the shaking information of the stable platform, the compensating pitch information for compensating the shaking of the load device in the vertical axis direction is generated.

[0066] The rolling motor module 4 is arranged on the first side of the stable platform; and the input end of the rolling motor module 4 is connected to the first output end of the control module 3, and rotates around the horizontal axis according to the compensation roll information in the control information, and the horizontal axis rotation axis is parallel to the vertical line of the first side of the stable platform, so as to compensate the shaking of the load device in the horizontal axis direction;

[0067] The pitch motor module 5 is arranged on the second side of the stable platform and is perpendicular to the roll motor module 4; the input end of the pitch motor module 5 is connected to the second output end of the control module 3, and rotates around the longitudinal axis according to the compensation pitch information in the control information, and the longitudinal axis rotation axis is parallel to the vertical line of the second side of the stable platform to compensate for the shaking of the load device in the longitudinal axis direction.

[0068] As shown in FIG. 1( a), the stable platform further includes: a fixed platform 101 and an open installation platform 102; the fixed platform 101 is used to place the inertial unit 2, the control module 3, the rolling motor module 4 and the pitching motor module 5, and ensure that the rolling motor module 4 and the pitching motor module 5 are vertically arranged; the open installation platform 102 is sleeved on the periphery of the fixed platform, the inertial unit 2, the control module 3, the rolling motor module 4 and the pitching motor module 5, and its periphery is open for installing load equipment.

[0069] Among them, in this embodiment, as shown in Figure 1(a), the fixed platform 101 is a four-way body with openings on all sides; the rolling motor module 4 is arranged at the first opening on the first side of the four-way body 101, and the pitch motor module 5 is arranged at the second opening on the second side of the four-way body 101; the inertial unit 2 is arranged at the third opening on the third side of the four-way body 101, and is symmetrically arranged with the rolling motor module 4; the control module 3 is arranged at the fourth opening on the fourth side of the four-way body 101, and is symmetrically arranged with the pitch motor module 5; then the inertial unit 2, the control module 3, the rolling motor module 4 and the pitch motor module 5 are respectively arranged at the openings on all sides of the four-way body 101, and are perpendicular to each other, so that the two-axis inertial stabilization device has a cross-shaped structure.

[0070] In this embodiment, the rolling rotation angle range of the rolling motor module 4 is ±30°; the pitching rotation angle range of the pitching motor module 5 is ±40°.

[0071] In this embodiment, the motion carrier is a ship, and the longitudinal shaking information generated by the rapid navigation of the ship has a longitudinal shaking amplitude of ±20°, which is within the range that the pitch motor module 5 can compensate for; and the shaking frequency generated by the rapid navigation of the ship is 0.5Hz; the stability accuracy of the two-axis inertial stabilization device of the cross-shaped structure is 0.5° (1σ).

[0072] The two-axis inertial stabilization device further comprises a mounting support 6; the mounting support 6 is arranged at the bottom end of the two-axis inertial stabilization device and can be detachably placed horizontally on the motion carrier for carrying the two-axis inertial stabilization device.

[0073] Among them, the mounting support 6 includes: a horizontal plate 601 and a support ear 602; the horizontal plate 601 can be detachably fixed horizontally on the motion carrier; the first end of the support ear 602 is connected to the horizontal plate 601, and the second end is connected to the bottom end of the two-axis inertial stabilization device, which is used to support and fix the two-axis inertial stabilization device.

[0074] In this embodiment, there are two ears 602, including: a first ear and a second ear; and the first end of the first ear is connected to the first end of the horizontal plate 601, and the second end is connected to the control module 3; the first end of the second ear is connected to the second end of the horizontal plate 601, and the second end is connected to the pitch motor module 5.

[0075] The present invention also provides a two-axis inertial stabilization method, which is implemented based on the above-mentioned two-axis inertial stabilization device, and the method comprises the following steps:

[0076] Step 1: Figure 2 As shown, the load device is installed on the open mounting platform 102 of the stabilizing platform, and the stabilizing platform is placed on the moving carrier K. In this embodiment, the stabilizing platform is horizontally placed on the moving carrier K to ensure that the initial state of the load device, the two-axis inertial stabilizing device and the moving carrier K is kept in line with the horizontal plane.

[0077] Step 2: After the motion carrier K starts to move, the inertial unit 2 collects the shaking information of the stable platform in real time and transmits it to the control module 3 in real time; the shaking information of the stable platform includes: the rolling information of the stable platform in the horizontal axis direction and the pitching information of the stable platform in the vertical axis direction;

[0078] In this embodiment, the rolling information of the load equipment driven by the ship K in the transverse direction is ±20°; and the pitching information in the longitudinal direction is ±20°.

[0079] Step 3: The control module 3 generates control information according to the shaking information of the stable platform; the control information includes: compensation roll information and compensation pitch signal; wherein the control module 3 generates the control information further including the following steps:

[0080] Step 3.1: The control module 3 generates compensating roll information for compensating the roll of the load device in the transverse direction according to the roll and sway information of the stabilizing platform in the transverse direction;

[0081] Step 3.2: The control module 3 generates compensation pitch information for compensating the shaking of the load device in the longitudinal direction according to the pitch shaking information of the stable platform in the longitudinal direction.

[0082] Step 4: Transmit the roll compensation information to the rolling motor module 4, and the rolling motor module 4 rolls and rotates in the opposite direction of the swaying of the lateral axis of the stable platform to compensate for the swaying of the load device in the lateral axis direction;

[0083] In this embodiment, if Figure 3 The figure shows a schematic diagram of the rolling motor module 4 rolling and rotating in the opposite direction of the swaying of the stabilizing platform in the lateral direction when the ship K sways in the lateral direction by ±20°, so as to compensate for the swaying of the load device in the lateral direction and ensure that the load device remains horizontal relative to the rolling direction.

[0084] Step 5: The pitch compensation information is transmitted to the pitch motor module 5, and the pitch motor module 5 performs pitch rotation in the opposite direction of the shaking of the longitudinal axis of the stable platform to compensate for the shaking of the load device in the longitudinal axis direction.

[0085] In this embodiment, if Figure 4 The diagram shows that when the ship K sways ±20° in the longitudinal direction, the pitch motor module 5 pitches and rotates in the opposite direction of the sway in the longitudinal direction of the stable platform to compensate for the sway of the load equipment in the longitudinal direction and ensure that the load equipment remains horizontal relative to the pitch direction.

[0086] Step 6: Based on the combined effect of step 4 and step 5, the load device on the moving carrier is stabilized in two-axis directions.

[0087] Working principle of the present invention:

[0088] The load device is installed on a stable platform, and the stable platform is placed on the motion carrier; the inertial unit collects the shaking information of the stable platform in real time and transmits it to the control module in real time; the shaking information of the stable platform includes: the rolling shaking information of the stable platform in the horizontal axis direction and the pitch shaking shaking information in the vertical axis direction; the control module generates control information according to the shaking information of the stable platform; the control information includes: compensation rolling information and compensation pitching signal; the compensation rolling information is transmitted to the rolling motor module, and the rolling motor module rolls and rotates in the opposite direction of the horizontal axis shaking of the stable platform to compensate for the shaking of the load device in the horizontal axis direction; the compensation pitching information is transmitted to the pitch motor module, and the pitch motor module pitches and rotates in the opposite direction of the vertical axis shaking of the load device to compensate for the shaking of the load device in the vertical axis direction; based on the common rotation movement of the rolling motor module and the pitch motor module, the stability of the load device on the motion carrier along the two-axis direction is guaranteed.

[0089] In summary, the present invention solves the problems of low response frequency, limited compensation angle range and single-direction stability of the existing stabilization platform. By means of a group of vertically arranged motion compensation mechanisms, compensatory movements are performed in the horizontal and vertical directions, so that the stabilization device provides stability in the horizontal and vertical directions for the load equipment in a shaking environment, thereby providing a stable working environment for the load equipment.

[0090] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A two-axis inertial stabilization device, characterized in that: include: A stable platform, mounted on the moving carrier, used to place the load equipment; A mounting support is arranged at the bottom end of the two-axis inertial stabilization device and can be detachably placed horizontally on the motion carrier to support the two-axis inertial stabilization device; An inertial unit, disposed on a third side of the stable platform, and used for collecting shaking information of the stable platform in real time; A control module is disposed on the fourth side of the stable platform, and an input end of the control module is connected to an output end of the inertial unit, and generates control information according to shaking information of the stable platform; A rolling motor module is arranged on the first side of the stable platform; and the input end of the rolling motor module is connected to the first output end of the control module, and rotates around the horizontal axis according to the control information, and the horizontal axis rotation axis is parallel to the vertical line of the first side of the stable platform, so as to compensate for the shaking of the stable platform in the horizontal axis direction; A pitch motor module is arranged on the second side of the stable platform and is perpendicular to the rolling motor module; the input end of the pitch motor module is connected to the second output end of the control module, and rotates around the longitudinal axis according to the control information, and the longitudinal axis rotation axis is parallel to the vertical line of the second side of the stable platform, so as to compensate for the shaking of the stable platform in the longitudinal axis direction; The shaking information of the stable platform includes: the rolling information of the stable platform in the horizontal axis direction and the pitching information of the stable platform in the vertical axis direction; The stable platform also includes: A fixed platform, used for placing the inertial unit, the control module, the rolling motor module and the pitching motor module, and ensuring that the rolling motor module and the pitching motor module are arranged vertically; An open mounting platform, which is sleeved on the outer periphery of the fixed platform, the inertial unit, the control module, the rolling motor module and the pitching motor module, and is used to mount the load device; The fixed platform is a four-way body with openings on all sides; The rolling motor module is arranged at the opening of the first side of the quadrilateral; The pitch motor module is arranged at the opening of the second side of the quadrilateral; The inertial unit is arranged at the opening of the third side of the quadrilateral and is symmetrically arranged with the rolling motor module; The control module is arranged at the opening of the fourth side of the quadrilateral and is symmetrically arranged with the pitch motor module; The inertial unit, the control module, the rolling motor module and the pitching motor module are respectively arranged at the openings around the quadrilateral, and are mutually perpendicular in pairs, so that the two-axis inertial stabilization device has a cross-shaped structure.

2. The two-axis inertial stabilizer device according to claim 1, characterized in that: The control information includes: roll compensation information and pitch compensation information.

3. The two-axis inertial stabilizer device according to claim 2, characterized in that: The input end of the control module is connected to the output end of the inertial unit, and the first output end is connected to the input end of the rolling motor module, and the compensating roll information is generated according to the roll information. The second output end is connected to the input end of the pitch motor module, and the compensating pitch information is generated according to the pitch information.

4. The two-axis inertial stabilizer device according to claim 1, characterized in that: The mounting support comprises: a horizontal plate, which is detachably fixed horizontally on the moving carrier; A support ear, a first end of which is connected to the transverse plate, and a second end of which is connected to the bottom end of the two-axis inertial stabilization device, is used to support and fix the two-axis inertial stabilization device.

5. A two-axis inertial stabilization method, characterized in that: The two-axis inertial stabilization method is implemented based on the two-axis inertial stabilization device according to any one of claims 3-4, and comprises the following steps: Step 1: Install the load device on a stable platform, and place the stable platform on a moving carrier; Step 2: The inertial unit collects the shaking information of the stable platform in real time and transmits it to the control module; the shaking information includes: the rolling information of the stable platform in the horizontal axis direction and the pitching information of the stable platform in the vertical axis direction; Step 3: The control module generates control information according to the shaking information of the stable platform; the control information includes: compensation roll information and compensation pitch information; Step 4: Transmitting the compensation roll information to the rolling motor module, the rolling motor module rolls and rotates in the opposite direction of the swaying of the lateral axis of the stable platform to compensate for the swaying of the load device in the lateral axis direction; Step 5: Transmitting the compensated pitch information to the pitch motor module, and the pitch motor module performs pitch rotation in the opposite direction of the shaking of the longitudinal axis of the stable platform to compensate for the shaking of the load device in the longitudinal axis direction; Step 6: Based on the combined effect of step 4 and step 5, the load device on the moving carrier is stabilized in two-axis directions; The control module generating the control information further comprises the following steps: Step 3.1: The control module generates the compensating roll information for compensating the roll of the stable platform in the lateral direction according to the roll shake information; Step 3.2: The control module generates the compensation pitch information for compensating the shaking of the stable platform in the longitudinal axis direction according to the pitch shaking information.

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