Miniature aspherical biaxial downward-looking self-stabilized landscape navigation detection system

Abstract

The application discloses a miniature aspherical biaxial downward-looking self-stabilizing landscape navigation detection system, which comprises a downward-looking self-stabilizing landscape navigation detection system, and is combined with a system power-on horizontal self-alignment, realizes a landscape navigation detection photoelectric system with a downward-looking self-stabilizing capability in a compact space through functional components such as a navigation computer, a drive controller, a photoelectric sensor, a microcomputer sensor and a brushless motor; the miniature aspherical biaxial self-stabilizing holder mechanism takes the front end of the photoelectric lens as a self-stabilizing adjustment shaft, eliminates the spherical movement of a cascaded self-stabilizing holder through design of a compact pitch shaft and roll shaft synchronous direct drive structure, and combines real-time sampling of a microelectromechanical sensor to control a brushless motor, thereby forming a miniature, aspherical biaxial self-stabilizing mechanism. Through the miniature aspherical biaxial downward-looking self-stabilizing landscape navigation detection system, the precision and reliability of a landscape navigation detection equipment can be effectively improved without a lifting device and on the basis of basically not changing the aerodynamic shape of a flight vehicle.

Description

Technical Field

[0001] This invention belongs to the field of scene matching navigation technology, and relates to a miniature aspherical dual-axis downward-looking self-stabilizing landscape navigation and detection system. Background Technology

[0002] Highly reliable downward-looking self-stabilization of optoelectronic systems is crucial for ensuring the positioning accuracy and reliability of terrain-matching navigation and detection systems. Existing self-stabilizing gimbals mostly employ cascaded yaw, roll, and pitch movements. This cascaded spherical motion results in a large movement space, and to ensure unobstructed image detection optical paths, the cascaded gimbal requires a spherical dome protruding from the aircraft's aerodynamic structure during installation. This protruding dome significantly impacts the aircraft's aerodynamics and stealth performance. Therefore, given the increasing prevalence of GNSS-deficient environments, there is an urgent need for a miniature terrain navigation and detection system that minimizes the impact on aircraft operation, addressing the problems of large movement spaces and significant impacts on aerodynamics and stealth performance inherent in existing self-stabilizing gimbals. Summary of the Invention

[0003] To address the problems existing in the prior art, the problem to be solved by this invention is: for the downward-looking self-stabilization requirement of landscape navigation and detection, this system uses the front end of the photoelectric lens as the self-stabilization adjustment axis and designs an aspherical dual-axis self-stabilization mechanism. By integrating functional components such as navigation computer, drive controller, photoelectric sensor, microcomputer sensor, and brushless motor in a high density, a miniaturized, aspherical dual-axis downward-looking self-stabilized landscape navigation and detection system is realized, which can be used for scene matching navigation in GNSS-deficient environments without significantly affecting the operation of the aircraft.

[0004] This invention is achieved through the following technical solution:

[0005] A miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system includes:

[0006] Downward-looking self-stabilized terrain navigation and detection system and miniature aspherical dual-axis self-stabilized gimbal mechanism;

[0007] The downward-looking self-stabilized landscape navigation and detection system includes a navigation computer, a drive controller, photoelectric sensors, microelectromechanical sensors, and a brushless motor. The drive controller acquires the pose information of the microelectromechanical sensors via an IC and controls the movement of the brushless motor, which in turn drives a miniature aspherical dual-axis self-stabilized gimbal mechanism to achieve downward-looking self-stabilization. The navigation computer acquires image information from the photoelectric sensors on the miniature aspherical dual-axis self-stabilized gimbal mechanism via MIPI for scene matching navigation and positioning. Simultaneously, it communicates with the drive controller to obtain the self-stabilization status of the miniature aspherical dual-axis self-stabilized gimbal mechanism and sends gimbal control commands. Both the photoelectric sensors and the microelectromechanical sensors are mounted on the miniature aspherical dual-axis self-stabilized gimbal mechanism. The brushless motor is connected to the miniature aspherical dual-axis self-stabilized gimbal mechanism.

[0008] Preferably, the system also includes a system top cover and a system main housing. The navigation computer, drive controller, and brushless motor are all mounted on the inner side wall of the system main housing. The side wall of the system main housing is provided with countersunk mounting holes. The navigation computer, drive controller, and brushless motor are all fixedly mounted to the side wall of the system main housing through the cooperation of countersunk mounting holes and countersunk screws. The system top cover is mounted on the top of the system main housing.

[0009] Preferably, the miniature aspherical dual-axis self-stabilizing gimbal mechanism includes a gimbal roll direct drive mechanism, a gimbal pitch direct drive adapted to roll mechanism, and a gimbal pitch direct drive mechanism; the gimbal pitch direct drive mechanism and the gimbal pitch direct drive adapted to roll mechanism are connected by a half-threaded bolt shaft; the gimbal pitch direct drive mechanism and the gimbal roll direct drive mechanism are connected by a gimbal attitude direct drive bearing.

[0010] Preferably, the brushless motor includes a roll brushless motor and a pitch brushless motor; both the roll brushless motor and the pitch brushless motor are mounted on the inner wall of the main housing of the system. The roll brushless motor is fixedly connected to the gimbal roll direct drive mechanism by flange bolts, and the pitch brushless motor is fixedly connected to the gimbal pitch direct drive mechanism by flange bolts.

[0011] Preferably, the microelectromechanical sensor is mounted on a microelectromechanical sensor mounting plate, and the photoelectric sensor is mounted on a photoelectric sensor mounting base. The microelectromechanical sensor mounting plate is connected to the gimbal pitch direct drive adapter roll mechanism and the gimbal pitch direct drive mechanism via a half-threaded bolt shaft. The photoelectric sensor mounting base is connected to the gimbal roll direct drive mechanism and the gimbal pitch direct drive adapter roll mechanism respectively via gimbal attitude direct drive bearings.

[0012] Preferably, the miniature aspherical biaxial self-stabilizing gimbal mechanism is installed inside the main housing of the system and located directly above the aspherical lens.

[0013] Preferably, the aspherical lens is mounted on the bottom of the system main housing via an aspherical lens mounting block.

[0014] Preferably, a photoelectric camera lens is mounted on the photoelectric sensor; the photoelectric camera lens is located directly above the aspherical lens.

[0015] Preferably, the photoelectric sensor is interconnected with the MIPI interface of the navigation computer via a camera sensor MIPI line, and the brushless motor and microelectromechanical sensor are interconnected with the corresponding interfaces of the drive controller via cables.

[0016] Preferably, the microelectromechanical sensor includes a MEMS gyroscope and an accelerometer.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects:

[0018] This invention provides a miniature aspherical dual-axis downward-looking self-stabilized terrain navigation and detection system, comprising a downward-looking self-stabilized terrain navigation and detection system and a miniature aspherical dual-axis self-stabilized gimbal mechanism. The downward-looking self-stabilized terrain navigation and detection system integrates a navigation computer, drive controller, photoelectric sensor, microprocessor sensor, brushless motor, and other functional components in a high-density manner. Combined with power-on horizontal self-alignment, it achieves a terrain navigation and detection photoelectric system with downward-looking self-stabilization capability within a compact space. The miniature aspherical dual-axis self-stabilized gimbal mechanism uses the front end of the photoelectric lens as the self-stabilization adjustment axis. Through a compact pitch and roll axis synchronous direct-drive structure, it eliminates the spherical motion of cascaded self-stabilizing gimbals. Combined with real-time sampling by the microelectromechanical sensor for brushless motor control, it forms a miniature, aspherical dual-axis self-stabilizing mechanism. This miniature aspherical dual-axis downward-looking self-stabilized terrain navigation and detection system effectively improves the accuracy and reliability of terrain navigation and detection equipment without the need for a lifting device and without significantly altering the aerodynamic shape of the aircraft.

[0019] Furthermore, the miniature aspherical dual-axis downward-looking self-stabilized terrain navigation and detection system is a non-protruding, near-planar device installation form, which can greatly reduce the limitations of terrain navigation and detection equipment. It can be widely used in autonomous navigation and positioning scenarios for civilian / military unmanned aerial vehicles in environments lacking GNSS, and can achieve continuous, uninterrupted long-endurance terrain navigation and detection.

[0020] Furthermore, after the prototype of the miniature aspherical dual-axis downward-looking self-stabilized landscape navigation and detection system is powered on and self-aligned, it is in a horizontal state, a pitch state, a roll state, and a superposition state of pitch + roll in sequence. The photoelectric sensor can automatically maintain downward-looking stability in all these states. Attached Figure Description

[0021] Figure 1 An overall perspective view of a miniature aspherical dual-axis downward-looking self-stabilizing landscape navigation and detection system;

[0022] Figure 2Internal view of the structure of a miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system;

[0023] Figure 3 This is a top side view of the structure of a miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system.

[0024] Figure 4 This is a bottom view of the structure of a miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system.

[0025] Figure 5 View of a miniature aspherical biaxial self-stabilizing gimbal mechanism;

[0026] Figure 6 Design view of a miniature aspherical dual-axis self-stabilizing gimbal mechanism and photoelectric sensor;

[0027] Figure 7 A flowchart illustrating the architecture of a miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system;

[0028] Figure 8 A flowchart of the workflow of a miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system;

[0029] In the diagram: 1 is the system top cover; 2 is the system main housing; 3 is the aspherical lens; 4 is the navigation computer; 5 is the drive controller; 6 is the miniature aspherical dual-axis self-stabilizing gimbal mechanism; 7 is the pitch brushless motor; 8 is the roll brushless motor; 9 is the gimbal roll direct drive mechanism; 10 is the gimbal pitch direct drive adapted to the roll mechanism; 11 is the gimbal pitch direct drive mechanism; 12 is the MEMS sensor mounting plate; 13 is the photoelectric sensor mounting base; 14 is the MEMS sensor; 15 is the photoelectric sensor; 16 is the photoelectric camera lens; 17 is the countersunk mounting hole on the system top cover; 18 is the countersunk mounting hole on the pitch brushless motor; 19 is the countersunk mounting hole on the roll brushless motor; 20 is the countersunk mounting hole on the drive controller; 21 is the aspherical lens mounting block; 22 is the gimbal attitude direct drive bearing; 23 is the flange bolt; 24 is the half-threaded bolt shaft. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] This invention relates to a miniature aspherical dual-axis downward-looking self-stabilized landscape navigation and detection system, which provides a downward-looking self-stabilized landscape navigation and detection system and a miniature aspherical dual-axis self-stabilized gimbal mechanism.

[0033] The architecture of the miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system proposed in this invention is as follows: Figure 7 As shown. The miniature aspherical dual-axis downward-looking self-stabilized terrain navigation and detection system includes functional components such as a navigation computer, drive controller, photoelectric sensors, microelectromechanical sensors, and brushless motors; among them, the photoelectric sensors are starlight-level global shutter photoelectric sensors; the microelectromechanical sensors include MEMS gyroscopes and accelerometers; the brushless motors include pitch brushless motors and roll brushless motors; the navigation computer is a terrain navigation and detection computer, and the drive controller is a downward-looking self-stabilized drive controller;

[0034] Drive controller via I 2 C acquires pose information from the microelectromechanical sensor and controls the movement of the pitch brushless motor and roll brushless motor. The pitch and roll brushless motors synchronously drive the self-stabilizing optoelectronic gimbal to achieve downward self-stabilization.

[0035] The navigation computer acquires image information from the star-level global shutter photoelectric sensor on the self-stabilizing gimbal via MIPI, performs scene matching for navigation and positioning, and communicates with the drive controller to obtain the gimbal's self-stabilization status and send gimbal control commands.

[0036] The workflow of the miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system proposed in this invention is as follows: Figure 8 As shown.

[0037] After the miniature aspherical dual-axis downward-looking self-stabilized landscape navigation and detection system is started, the navigation computer and drive controller are first powered on. The navigation computer powers on and initializes the photoelectric sensor through MIPI. The drive controller initializes the brushless motor and microelectromechanical sensor. The drive controller performs downward-looking attitude self-alignment based on the attitude feedback from the MEMS gyroscope, maintains the downward-looking self-stabilized state, and then acquires landscape images. The stabilized downward-looking image is used for landscape matching navigation and detection until the mission ends.

[0038] like Figures 1-6 This is the specific design component of the miniature aspherical dual-axis downward-looking self-stabilizing landscape navigation and detection system proposed in this invention.

[0039] Figure 1 This is an overall perspective view of the miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system proposed in this invention. Figure 3 This is a top side view of the structure of the miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system proposed in this invention. Figure 4 This is a bottom view of the structure of the miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system proposed in this invention.Figure 2 This is an internal structural view of the micro aspherical dual-axis downward-looking self-stabilizing landscape navigation and detection system proposed in this invention;

[0040] Downward-looking self-stabilized landscape navigation and detection system and miniature aspherical dual-axis self-stabilized gimbal mechanism 6;

[0041] All functional components are enclosed internally by the system top cover 1, the system main housing 2, and the aspherical lens 3;

[0042] The downward-looking self-stabilized landscape navigation and detection system includes a navigation computer 4, a drive controller 5, photoelectric sensors 15, microelectromechanical sensors 14, and a brushless motor. The drive controller acquires the pose information of the microelectromechanical sensors via I2C and controls the movement of the brushless motor. The brushless motor drives the miniature aspherical dual-axis self-stabilized gimbal mechanism 6 to achieve downward-looking self-stabilization. The navigation computer 4 acquires the image information of the photoelectric sensors 15 on the miniature aspherical dual-axis self-stabilized gimbal mechanism 6 via MIPI, performs scene matching navigation and positioning, and communicates with the drive controller to obtain the self-stabilization status of the miniature aspherical dual-axis self-stabilized gimbal mechanism 6 and send gimbal control commands. The photoelectric sensors 15 and microelectromechanical sensors 14 are both mounted on the miniature aspherical dual-axis self-stabilized gimbal mechanism 6. The brushless motor is connected to the miniature aspherical dual-axis self-stabilized gimbal mechanism 6.

[0043] The brushless motors include a roll brushless motor 8 and a pitch brushless motor 7; both the roll brushless motor 8 and the pitch brushless motor 7 are mounted on the inner side wall of the main housing 2 of the system. The roll brushless motor 8 is fixedly connected to the gimbal roll direct drive mechanism 9 by flange bolts 23, and the pitch brushless motor 7 is fixedly connected to the gimbal pitch direct drive mechanism 11 by flange bolts 23.

[0044] It also includes a system top cover plate 1 and a system main housing 2. The navigation computer 14, drive controller 5 and brushless motor are all installed on the inner side wall of the system main housing 2. The side wall of the system main housing 2 is provided with a pitch brushless motor countersunk mounting hole 18, a roll brushless motor countersunk mounting hole 19 and a downward self-stabilizing drive controller countersunk mounting hole 20. The navigation computer 14, drive controller 5 and brushless motor are all fixedly installed with the side wall of the system main housing 2 through the cooperation of countersunk mounting holes and countersunk screws.

[0045] Among them, the pitch brushless motor 7 is fixedly installed to the side wall of the main housing 2 of the system through the cooperation of the pitch brushless motor countersunk mounting hole 18 and the countersunk screw; the roll brushless motor 8 is fixedly installed to the side wall of the main housing 2 of the system through the cooperation of the roll brushless motor countersunk mounting hole 19 and the countersunk screw; the drive controller 5 is fixedly installed to the side wall of the main housing 2 of the system through the cooperation of the downward self-stabilizing drive controller countersunk mounting hole 20 and the countersunk screw.

[0046] The system top cover 1 is installed on the top of the system main housing 2. The system top cover 1 is externally mounted through the countersunk mounting holes 17. The navigation computer 4, drive controller 5, pitch brushless motor 6, and roll brushless motor 7 are located on the four sides of the system main housing 2. The navigation computer 4, drive controller 5, pitch brushless motor 6, and roll brushless motor 7 can be quickly assembled by external mounting through the countersunk mounting holes of the system main housing 2.

[0047] The miniature aspherical dual-axis self-stabilizing gimbal mechanism 6 includes a gimbal roll direct drive mechanism 9, a gimbal pitch direct drive adapted to roll mechanism 10, and a gimbal pitch direct drive mechanism 11; the gimbal pitch direct drive mechanism 11 and the gimbal pitch direct drive adapted to roll mechanism 10 are connected by a half-threaded bolt shaft 24; the gimbal pitch direct drive mechanism 11 and the gimbal roll direct drive mechanism 9 are connected by a gimbal attitude direct drive bearing 22.

[0048] The microelectromechanical sensor 14 is mounted on the microelectromechanical sensor mounting plate 12, and the photoelectric sensor 15 is mounted on the photoelectric sensor mounting base 13. The microelectromechanical sensor mounting plate 12 is connected to the gimbal pitch direct drive adapter roll mechanism 10 and the gimbal pitch direct drive mechanism 11 via a half-threaded bolt shaft 24. The photoelectric sensor mounting base 13 is connected to the gimbal roll direct drive mechanism 9 and the gimbal pitch direct drive adapter roll mechanism 10 via a gimbal attitude direct drive bearing 22.

[0049] The miniature aspherical dual-axis self-stabilizing gimbal mechanism 6 is installed inside the main housing 2 of the system and is located directly above the aspherical lens 3.

[0050] The aspherical lens 3 is mounted on the bottom of the system main housing 2 via the aspherical lens mounting block 21.

[0051] The photoelectric sensor 15 is equipped with a photoelectric camera lens 16; the photoelectric camera lens 16 is located directly above the aspherical lens 3.

[0052] The photoelectric sensor 15 is interconnected with the MIPI interface of the navigation computer 4 via the camera sensor MIPI line, and the brushless motor and microelectromechanical sensor 14 are interconnected with the corresponding interfaces of the drive controller 5 via cables.

[0053] Figure 5 This is a view of the dual-axis self-stabilizing mechanism of the miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system proposed in this invention. Figure 6 This is a design view of the photoelectric sensor for the miniature aspherical dual-axis downward-looking self-stabilizing landscape navigation and detection system proposed in this invention;

[0054] The miniature aspherical dual-axis downward-looking self-stabilizing landscape navigation and detection system is fixed to the gimbal roll direct drive mechanism 9 by a flange bolt through a rolling brushless motor 8. The gimbal roll direct drive mechanism 9, the gimbal attitude direct drive bearing 22 and the photoelectric sensor mounting base 13 are connected in sequence through a half-threaded bolt shaft 24, which directly drives the roll degree of freedom of the gimbal.

[0055] The miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system is fixed to the gimbal pitch direct drive mechanism 11 by flange bolts through the pitch brushless motor 7. The gimbal pitch direct drive mechanism 11, the gimbal attitude direct drive bearing 22 and the gimbal pitch direct drive adapter roll mechanism 10 are connected in sequence through the half-threaded bolt shaft 24. The gimbal pitch direct drive adapter roll mechanism 10, the gimbal attitude direct drive bearing 22 and the photoelectric sensor mounting base 13 are connected in sequence through the half-threaded bolt shaft 24, directly driving the pitch freedom of the gimbal.

[0056] A photoelectric sensor 15 and a microelectromechanical sensor mounting plate 12 are sequentially mounted on the photoelectric sensor mounting base 13.

[0057] A photoelectric camera lens 16 is mounted on the photoelectric sensor 15 through the photoelectric sensor mounting base 13;

[0058] Microelectromechanical sensor mounting plate 12 centers to mount microelectromechanical sensor 14;

[0059] Among them, the pitch brushless motor 6 and the roll brushless motor 7 are interconnected with the corresponding interfaces of the drive controller 5 through the pitch brushless motor drive cable and the roll brushless motor drive cable, respectively. The I2C and power supply cables of the microelectromechanical sensor are interconnected with the corresponding interfaces of the drive controller 5. The photoelectric sensor MIPI cable of the photoelectric sensor 15 is interconnected with the MIPI interface of the navigation computer 4.

[0060] After the prototype of the miniature aspherical dual-axis downward-looking self-stabilized landscape navigation and detection system is powered on and self-aligned, it is in a horizontal state, a pitch state, a roll state, and a superposition state of pitch + roll in sequence. The photoelectric sensor can automatically maintain downward-looking stability in all these states.

[0061] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be in a centered component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may also be in a centered component. When a component is said to be "set to" another component, it can be directly set on the other component or it may also be in a centered component.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system, characterized in that, include, Downward-looking self-stabilized landscape navigation and detection system and miniature aspherical dual-axis self-stabilized gimbal mechanism (6). The downward-looking self-stabilizing terrain navigation and detection system includes a navigation computer (4), a drive controller (5), a photoelectric sensor (15), a microelectromechanical sensor (15), and a brushless motor; the drive controller is connected via I... 2 C acquires the pose information of the microelectromechanical sensor, controls the movement of the brushless motor, and drives the micro aspherical dual-axis self-stabilizing gimbal mechanism (6) to achieve downward self-stabilization; the navigation computer (4) acquires the image information of the photoelectric sensor (15) on the micro aspherical dual-axis self-stabilizing gimbal mechanism (6) through MIPI, performs scene matching navigation positioning, and communicates with the drive controller to acquire the self-stabilization state of the micro aspherical dual-axis self-stabilizing gimbal mechanism (6) and send gimbal control commands; the photoelectric sensor (15) and the microelectromechanical sensor (14) are both installed on the micro aspherical dual-axis self-stabilizing gimbal mechanism (6); the brushless motor is connected to the micro aspherical dual-axis self-stabilizing gimbal mechanism (6); The miniature aspherical dual-axis self-stabilizing gimbal mechanism (6) includes a gimbal roll direct drive mechanism (9), a gimbal pitch direct drive adapter roll mechanism (10), and a gimbal pitch direct drive mechanism (11); the gimbal pitch direct drive mechanism (11) and the gimbal pitch direct drive adapter roll mechanism (10) are connected by a half-tooth bolt shaft (24); the gimbal pitch direct drive mechanism (11) and the gimbal roll direct drive mechanism (9) are connected by a gimbal attitude direct drive bearing (22); The microelectromechanical sensor (14) is mounted on the microelectromechanical sensor mounting plate (12), and the photoelectric sensor (15) is mounted on the photoelectric sensor mounting base (13). The microelectromechanical sensor mounting plate (12) is connected to the gimbal pitch direct drive adapter roll mechanism (10) and the gimbal pitch direct drive mechanism (11) through a half-tooth bolt shaft (24). The photoelectric sensor mounting base (13) is connected to the gimbal roll direct drive mechanism (9) and the gimbal pitch direct drive adapter roll mechanism (10) through the gimbal attitude direct drive bearing (22).

2. The miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 1, characterized in that, It also includes a system top cover (1) and a system main housing (2). The navigation computer (14), drive controller (5) and brushless motor are all installed on the inner side wall of the system main housing (2). The side wall of the system main housing (2) is provided with countersunk mounting holes. The navigation computer (14), drive controller (5) and brushless motor are all fixedly installed with the side wall of the system main housing (2) through the cooperation of countersunk mounting holes and countersunk screws. The system top cover (1) is installed on the top of the system main housing (2).

3. The miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 1, characterized in that, The brushless motors include a roll brushless motor (8) and a pitch brushless motor (7); both the roll brushless motor (8) and the pitch brushless motor (7) are mounted on the inner side wall of the main housing (2) of the system. The roll brushless motor (8) is fixedly connected to the gimbal roll direct drive mechanism (9) by flange bolts (23), and the pitch brushless motor (7) is fixedly connected to the gimbal pitch direct drive mechanism (11) by flange bolts (23).

4. The miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 1, characterized in that, The micro aspherical dual-axis self-stabilizing gimbal mechanism (6) is installed inside the main housing (2) of the system and is located directly above the aspherical lens (3).

5. A miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 4, characterized in that, The aspherical lens (3) is mounted on the bottom of the main housing (2) of the system via an aspherical lens mounting block (21).

6. A miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 5, characterized in that, The photoelectric sensor (15) is equipped with a photoelectric camera lens (16); the photoelectric camera lens (16) is located directly above the aspherical lens (3).

7. A miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 1, characterized in that, The photoelectric sensor (15) is interconnected with the MIPI interface of the navigation computer (4) via the camera sensor MIPI line, and the brushless motor and the microelectromechanical sensor (14) are interconnected with the corresponding interface of the drive controller (5) via cables.

8. A miniature aspherical dual-axis downward-looking self-stabilizing terrain navigation and detection system according to claim 1, characterized in that, The microelectromechanical sensor (14) includes a MEMS gyroscope and an accelerometer.

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