A method for adjusting a self-adaptive photoelectric sensor vibration reduction device

Abstract

The present invention discloses an adjustment method for an adaptively adjustable photoelectric sensor vibration reduction device, which relates to the field of photoelectric platforms and includes a sensor mounting platform, a photoelectric imaging sensor fixedly mounted on the upper end of the sensor mounting platform, a vibration sensor fixedly mounted on one side of the photoelectric imaging sensor on the upper end of the sensor mounting platform, shock absorbers fixedly connected to the four corners of the lower end of the sensor mounting platform, shock absorber springs disposed within the shock absorbers, an adaptively adjustable bracket fixedly connected to the lower end of the shock absorber, an angle measuring motor assembly disposed on one side of the adjustment bracket, the angle measuring motor assembly comprising a servo motor and an angle measuring sensor connected in a transmission manner, and an adjustment method including vibration measurement, rotation control, and rotation adjustment. The present invention has the advantage of being able to adaptively adjust the stiffness of the shock absorber according to the vibration state of different carriers or motion platforms of ships and vehicles, thereby adjusting the vibration reduction performance of the shock absorber and improving the stability of the sensor image.

Description

Technical Field

[0001] The present invention relates to the field of photoelectric platforms, and in particular to a method for adjusting a self-adaptive photoelectric sensor vibration reduction device. Background Art

[0002] The optoelectronic tracking and observation equipment integrates multiple sensors such as visible light and infrared, and can perform visible light and infrared imaging of surrounding targets and the environment. It is an important equipment for sea and land search, discovery, tracking and observation. It has the characteristics of intuitive and clear imaging, all-day operation, long effective distance and large search range.

[0003] To improve the target detection and observation range of optoelectronic tracking and observation equipment, the focal length of the optoelectronic imaging sensor lens needs to be increased. However, this increased focal length brings new problems, such as a reduced field of view and increased magnification. In particular, when the vessel vibrates violently, the optoelectronic device's optical axis generates high-frequency vibrations, resulting in image blur, which affects target detection and human visual perception. Furthermore, after a period of use, the lens's zoom and focusing components may malfunction, causing problems.

[0004] To address this problem, the current common solution is to add a shock absorber under the sensor mounting platform. Existing shock absorbers are usually spring-damped shock absorbers. When vibration occurs, the spring first undergoes elastic deformation to absorb the vibration, and then the damper slowly releases this absorbed elastic deformation, thereby preventing the spring from rebounding to achieve the shock absorption effect. However, a platform with such shock absorbers can only solve the problem of sensor image stabilization when the carrier vibration frequency is within a certain range. When the boat or vehicle is stationary and vibration-free, the shock absorber will reduce the stability of the optical axis due to the use of a spring flexible connection; when the vibration of the boat or vehicle intensifies, the shock absorber is difficult to adjust due to its vibration damping performance, and cannot be changed in real time according to the change in vibration frequency to achieve the best vibration reduction effect. Summary of the Invention

[0005] In order to solve the above technical problems, a method for adjusting an adaptively adjustable photoelectric sensor vibration reduction device is provided. This technical solution solves the above-mentioned current common solution of adding a shock absorber under the sensor mounting platform. The existing shock absorber is usually a spring-damped shock absorber. When vibration occurs, the spring first undergoes elastic deformation to absorb the vibration, and then the damper slowly releases the absorbed part of the elastic deformation, thereby preventing the spring from rebounding to achieve the shock absorption effect. However, a platform with such a shock absorber can only solve the problem of sensor image stabilization when the carrier vibration frequency is within a certain range. When the boat or vehicle is stationary and vibration-free, the shock absorber will reduce the stability of the optical axis due to the use of a spring flexible connection; when the vibration of the boat or vehicle intensifies, the shock absorber is difficult to adjust due to its vibration damping performance, and cannot be changed in real time according to the change in vibration frequency to achieve the best vibration reduction effect.

[0006] In order to achieve the above objects, the technical solution adopted by the present invention is:

[0007] A method for adjusting a self-adaptive photoelectric sensor vibration reduction device includes a sensor mounting platform, a photoelectric imaging sensor is fixedly mounted on the upper end of the sensor mounting platform, a vibration sensor is fixedly mounted on one side of the photoelectric imaging sensor on the upper end of the sensor mounting platform, shock absorbers are fixedly connected to the four corners of the lower end of the sensor mounting platform, shock-absorbing springs are provided inside the shock absorbers, an self-adaptive adjustment bracket is fixedly connected to the lower end of the shock absorber, an angle measuring motor assembly is provided on one side of the adjustment bracket, and the angle measuring motor assembly consists of a servo motor and an angle measuring sensor connected in a transmission manner.

[0008] Preferably, the adaptive adjustment bracket includes two symmetrically arranged support plates, the upper ends of the support plates are fixedly connected to the shock absorber mounting plates, and the middle portion between the two support plates is fixedly connected to the worm gear mounting plate.

[0009] Preferably, the output end of the angle measuring motor assembly is fixedly connected to an adjusting worm, the adjusting worm extends into the interior of the adaptive adjustment bracket, the upper end of the worm gear mounting plate is rotatably connected to an adjusting worm gear, and the adjusting worm and the adjusting worm gear are meshed.

[0010] Preferably, a threaded hole is provided in the middle of the adjusting worm gear, a shock absorber adjusting stud is threadedly connected inside the threaded hole, and the upper end of the shock absorber adjusting stud passes through the shock absorber mounting plate and extends into the interior of the shock absorber to be connected to the shock absorber spring.

[0011] Furthermore, it also includes an adjustment control unit, the vibration sensor and the angle sensor are electrically connected to the signal input port of the adjustment control unit, and the signal output port of the adjustment control unit is electrically connected to the servo motor.

[0012] Preferably, the adjustment method comprises the following steps:

[0013] Vibration measurement: The vibration sensor measures the vibration state parameters caused by the moving carriers of ships and vehicles on the sensor installation platform in real time, and transmits the vibration state parameters to the adjustment control unit;

[0014] Rotation control: The adjustment control unit calculates the target stiffness adjustment displacement of the current shock absorber in real time based on the vibration state parameters, and solves the target deflection angle of the servo motor in the current state based on the target stiffness adjustment displacement. At the same time, it outputs a control signal to the servo drive unit, which controls the motor movement. At the same time, the adjustment control unit receives the motor rotation angle feedback from the angle sensor to achieve closed-loop control.

[0015] Rotation adjustment: drive the servo motor to rotate, the rotation of the servo motor drives the adjusting worm to rotate, and then drives the adjusting worm wheel to rotate. By adjusting the rotation of the worm wheel, the shock absorber adjusting stud is raised and lowered, thereby adjusting the stiffness of the shock absorber.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] The present invention is provided with an adaptive adjustment bracket at the bottom of the shock absorber and a vibration sensor is installed on the sensor mounting platform. The vibration sensor can detect the vibration amplitude and frequency on the mounting platform in real time. According to the vibration amplitude and frequency, the angle measuring motor assembly drives the adjustment worm to rotate, and then drives the adjustment worm wheel to rotate. By adjusting the rotation of the worm wheel, the shock absorber adjustment stud is raised and lowered, and then the stiffness of the shock absorber spring connected to the shock absorber adjustment stud is changed to adjust the vibration reduction performance of the shock absorber, so that the shock absorber can be changed in real time according to the frequency and amplitude of the vibration to play the best vibration reduction effect, increase the stiffness of the shock absorber during micro-vibration to maintain stable support, and reduce the stiffness of the shock absorber during large vibration to maintain a good shock reduction effect, which can effectively improve the stability of the sensor image.

[0018] The present invention uses a vibration sensor to detect changes in the vibration state of the sensor installation platform. The frequency value and amplitude value are transmitted to the adjustment control unit in real time. The vibration control program module in the adjustment control unit calculates the servo motor control amount required to restrain the platform vibration in real time, and sends the control amount to the servo driver after D / A conversion. The servo driver outputs it to the motor. At the same time, the vibration sensor detects the deflection angle of the servo motor in real time and feeds it back to the adjustment control unit to realize closed-loop control. This feedback closed loop realized by the vibration sensor is located outside the servo driver loop. The two control loops work together to precisely control the sensor installation platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 Schematic diagram of the three-dimensional structure of the shock absorber adjustment assembly in the present invention;

[0021] Figure 3 is a schematic diagram of the three-dimensional structure of the shock absorber adjustment assembly in the present invention from another perspective;

[0022] Figure 4 is a control signal flow chart of the present invention;

[0023] Figure 5 This is a block diagram of the control system of the present invention.

[0024] The numbers in the figure are:

[0025] 1. Sensor mounting platform; 2. Angle measurement motor assembly; 3. Vibration sensor; 4. Photoelectric imaging sensor; 5. Adaptive adjustment bracket; 501. Support plate; 502. Shock absorber mounting plate; 503. Worm gear mounting plate; 6. Shock absorber; 7. Adjustment worm; 8. Adjustment worm gear; 9. Shock absorber adjustment stud. DETAILED DESCRIPTION

[0026] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0027] Reference Figure 1-3 As shown, a self-adaptive adjustment photoelectric sensor vibration reduction device includes a sensor mounting platform 1, a photoelectric imaging sensor 4 is fixedly mounted on the upper end of the sensor mounting platform 1, a vibration sensor 3 is fixedly mounted on one side of the photoelectric imaging sensor 4 on the upper end of the sensor mounting platform 1, shock absorbers 6 are fixedly connected to the four corners of the lower end of the sensor mounting platform 1, a shock absorbing spring is arranged inside the shock absorber 6, an self-adaptive adjustment bracket 5 is fixedly connected to the lower end of the shock absorber 6, an angle measuring motor assembly 2 is arranged on one side of the self-adaptive adjustment bracket 5, the angle measuring motor assembly 2 consists of a servo motor and an angle measuring sensor connected by a transmission, an self-adaptive adjustment bracket 5 is added to the bottom of the shock absorber and a vibration sensor 3 is installed on the sensor mounting platform, the vibration sensor 3 can detect the vibration amplitude and frequency on the mounting platform 1 in real time, and adjust the vibration reduction performance of the shock absorber in real time according to the changes in the frequency and amplitude of the vibration.

[0028] The adaptive adjustment bracket 5 includes two symmetrically arranged support plates 501, the upper ends of the support plates 501 are fixedly connected to the shock absorber mounting plates 502, and the middle part between the two support plates 501 is fixedly connected to the worm gear mounting plate 503. The output end of the angle measuring motor assembly 2 is fixedly connected to the adjusting worm 7, and the adjusting worm 7 extends to the inside of the adaptive adjustment bracket 5. The upper end of the worm gear mounting plate 503 is rotatably connected to the adjusting worm wheel 8. The adjusting worm 7 and the adjusting worm wheel 8 are engaged with each other. The angle measuring motor assembly 2 drives the adjusting worm 7 to rotate, and the rotating adjusting worm 7 transmits its own rotation to the engaged adjusting worm wheel 8, thereby driving the adjusting worm wheel 8 to rotate on the horizontal plane.

[0029] A threaded hole is provided in the middle of the adjusting worm gear 8, and a shock absorber adjusting stud 9 is threadedly connected to the inside of the threaded hole. The upper end of the shock absorber adjusting stud 9 passes through the shock absorber mounting plate 502 and extends to the inside of the shock absorber to be connected to the shock absorber spring. When the adjusting worm gear 8 rotates horizontally under the drive of the adjusting worm 7, the shock absorber adjusting stud 9 threadedly connected to it can be raised and lowered under the action of the connecting thread.

[0030] The adjustment principle of the above-mentioned vibration damping device is as follows: when the present invention adjusts the stiffness of the shock absorber, the vibration sensor 3 detects the vibration amplitude and frequency on the mounting platform 2 in real time, and the angle measuring motor assembly 2 drives the adjusting worm 7 to rotate according to the vibration amplitude and frequency, and then drives the adjusting worm wheel 7 to rotate. By adjusting the rotation of the worm wheel 7, the shock absorber adjusting stud 8 is raised and lowered, and then the stiffness of the shock absorber spring connected to the shock absorber adjusting stud 8 is changed. The stiffness of the shock absorber is increased during micro-vibration to maintain stable support, and the stiffness of the shock absorber is reduced when the vibration is large to maintain a good shock absorption effect. The vibration absorption performance of the shock absorber can be adjusted in real time.

[0031] Furthermore, the present invention proposes an adjustment method for an adaptively adjustable photoelectric sensor vibration reduction device, which includes an adjustment control unit and a servo drive unit. The adjustment control unit can detect the vibration state parameters sent by the vibration sensor and the servo motor rotation angle transmitted by the angle sensor in real time to calculate the servo motor rotation angle in real time, and send a control signal to the servo drive unit to drive the servo motor to rotate.

[0032] The specific control steps are as follows:

[0033] Vibration measurement: The vibration sensor 3 measures the vibration state parameters caused by the moving carriers of boats and vehicles on the sensor installation platform 1 in real time, and transmits the vibration state parameters to the adjustment control unit;

[0034] Rotation control: The adjustment control unit calculates the target stiffness adjustment displacement of the current shock absorber in real time based on the vibration state parameters, and solves the target deflection angle of the servo motor in the current state based on the target stiffness adjustment displacement. At the same time, it outputs a control signal to the servo drive unit, which controls the motor movement. At the same time, the adjustment control unit receives the motor rotation angle feedback from the angle sensor to achieve closed-loop control.

[0035] Rotation adjustment: The angle sensor outputs a control signal to the servo drive unit according to the rotation angle of the servo motor, driving the servo motor to rotate. The rotation of the servo motor drives the adjusting worm 7 to rotate, and then drives the adjusting worm wheel 8 to rotate. By adjusting the rotation of the worm wheel 8, the shock absorber adjusting stud 9 is raised and lowered, thereby adjusting the stiffness of the shock absorber.

[0036] The present invention uses a vibration sensor to detect changes in the vibration state of the sensor installation platform. The frequency value and amplitude value are transmitted to the adjustment control unit in real time. The vibration control program module in the adjustment control unit calculates the servo motor control amount required to restrain the platform vibration in real time, and sends the control amount to the servo driver after D / A conversion. The servo driver outputs it to the motor. At the same time, the vibration sensor detects the deflection angle of the servo motor in real time and feeds it back to the adjustment control unit to realize closed-loop control. This feedback closed loop realized by the vibration sensor is located outside the servo driver loop. The two control loops work together to precisely control the sensor installation platform.

[0037] The present invention adopts an improved PID control algorithm in the vibration suppression control program. The PID control strategy is the most widely used control method in the world. Its advantages are:

[0038] The principle is simple and easy to use; it has strong adaptability and strong robustness, that is, the control quality is not very sensitive to changes in the characteristics of the controlled object.

[0039] The relationship between the input e(t) and output u(t) of the PID controller is:

[0040]

[0041] The proportional control parameter KP proportionally reflects the system deviation. Once a deviation occurs, the proportional control immediately takes effect to reduce the deviation. A large proportional parameter speeds up control and reduces error, but excessive proportional action can reduce system stability and even cause instability. The integral control parameter KI eliminates steady-state error and improves the system's invariance. As long as there is a deviation, the integral action continues until there is no deviation. Including the integral action can reduce system stability and slow dynamic response. The integral action is often combined with the other two control principles to form a PI or PID controller. The differential control parameter KD reflects the rate of change of the system's deviation signal. It has predictive properties, foreseeing the trend of deviation changes and thus providing proactive control. Deviations are eliminated before they develop, improving the system's dynamic performance. The differential action amplifies noise interference, so an excessively strong differential action can negatively impact the system's interference tolerance. The differential controller cannot be used alone and must be combined with the other two controllers to form a PD or PID controller.

[0042] Since the data frequency of the vibration sensor used in the present invention is relatively high, measurement errors are inevitable. Therefore, an improved PID controller is used in the control software design, as shown in the following formula.

[0043]

[0044] Where,

[0045] k——sampling cycle number, k=0, 1, 2...;

[0046] e(k) ——speed deviation at the kth sampling moment;

[0047] α——weight.

[0048] The improved algorithm takes a weighted average of the current control variable and the previous control variable u(k-1). This effectively smooths the vibration suppression control variable, effectively suppressing vibration sensor noise and avoiding oscillation during sudden speed changes. The device was installed on a vibration table for testing and appropriate KP, KI, KD, and α were selected.

[0049] In summary, the advantages of the present invention are that the stiffness of the shock absorber can be adaptively adjusted according to the vibration state of different carriers or motion platforms such as boats, vehicles, and towers, thereby adjusting the vibration reduction performance of the shock absorber and improving the stability of the sensor image.

[0050] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for adjusting a self-adaptive photoelectric sensor vibration reduction device, characterized in that: A self-adaptive photoelectric sensor vibration reduction device comprises a sensor mounting platform (1), a photoelectric imaging sensor (4) is fixedly mounted on the upper end of the sensor mounting platform (1), a vibration sensor (3) is fixedly mounted on one side of the photoelectric imaging sensor (4) on the upper end of the sensor mounting platform (1), shock absorbers (6) are fixedly connected to the four corners of the lower end of the sensor mounting platform (1), a shock absorbing spring is arranged inside the shock absorber (6), an self-adaptive adjustment bracket (5) is fixedly connected to the lower end of the shock absorber (6), an angle measuring motor assembly (2) is arranged on one side of the self-adaptive adjustment bracket (5), and the angle measuring motor assembly (2) It is composed of a servo motor and an angle measuring sensor connected in a transmission manner, the output end of the angle measuring motor assembly (2) is fixedly connected to an adjusting worm (7), the adjusting worm (7) extends into the interior of the adaptive adjustment bracket (5), the adaptive adjustment bracket (5) comprises two symmetrically arranged support plates (501), the upper ends of the support plates (501) are fixedly connected to a shock absorber mounting plate (502), a worm gear mounting plate (503) is fixedly connected in the middle between the two support plates (501), the upper end of the worm gear mounting plate (503) is rotatably connected to an adjusting worm gear (8), and the adjusting worm (7) and the adjusting worm gear (8) are meshed; The vibration sensor (3) and the angle sensor are both electrically connected to the signal input port of the adjustment control unit, the signal output port of the adjustment control unit is electrically connected to the servo drive unit, and the servo drive unit is electrically connected to the servo motor; The adjustment method specifically includes: Vibration measurement: The vibration sensor (3) measures in real time the vibration state parameters caused by the moving carrier of the boat or vehicle to the sensor installation platform (1), and transmits the vibration state parameters to the regulation control unit; Rotation control: The adjustment control unit calculates the target stiffness adjustment displacement of the current shock absorber in real time based on the vibration state parameters, and solves the target deflection angle of the servo motor in the current state based on the target stiffness adjustment displacement. At the same time, it outputs a control signal to the servo drive unit, which controls the motor movement. At the same time, the adjustment control unit receives the motor rotation angle feedback from the angle sensor to achieve closed-loop control. Rotation adjustment: The angle sensor outputs a control signal to the servo drive unit according to the angle of rotation of the servo motor, driving the servo motor to rotate. The rotation of the servo motor drives the adjusting worm (7) to rotate, and then drives the adjusting worm wheel (8) to rotate. The rotation of the adjusting worm wheel (8) causes the shock absorber adjusting stud (9) to rise and fall, thereby adjusting the stiffness of the shock absorber.

2. The method for adjusting the self-adaptive photoelectric sensor vibration reduction device according to claim 1, characterized in that: A threaded hole is provided in the middle of the adjusting worm wheel (8), and a shock absorber adjusting stud (9) is threadedly connected inside the threaded hole. The upper end of the shock absorber adjusting stud (9) passes through the shock absorber mounting plate (502) and extends into the interior of the shock absorber to connect with the shock absorber spring.

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