A stable platform for optical imaging equipment

Abstract

The present invention discloses a stable platform for optical imaging equipment, wherein the pitch motor side shaft system and the pitch encoder side shaft system are fixed on the stable platform frame, and cooperate to complete the adjustment of the pitch angle of the optical imaging equipment on the stable platform; the pitch motor side shaft system receives the pitch angle compensation instruction sent by the host computer, and changes the pitch angle by rotating; the pitch encoder side shaft system rotates with the pitch motor side shaft system, and measures the pitch angle value of the pitch motor side shaft system rotation and feeds it back to the host computer; the host computer continues to transmit the pitch motor side shaft system to energize according to the received pitch angle value, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging equipment. The stable platform has a simple structure, small size, strong versatility and high stability, and can realize the attitude stability, attitude pointing locking and swing scanning imaging of the optical imaging equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation equipment, and in particular to a stable platform for optical imaging equipment. Background Art

[0002] With the rapid development of aviation, aviation optical imaging payloads have been widely used in military and civilian fields, such as military target patrol and reconnaissance, atmospheric environment sampling and monitoring, vegetation and ecological environment mapping, etc. With a large number of optical imaging devices such as visible light cameras, infrared cameras, and hyperspectral cameras installed on aircraft, when the aircraft is in high speed, vibration, turbulence and other environments, the optical imaging devices carried cannot obtain clear and high-quality image information.

[0003] The existing stable platform structure uses an optical imaging device and a rotating axis system to be fixedly connected, the pitch axis system frame is nested in the roll axis system frame, the rotating axis system uses an incremental encoder, and the parts of each axis system are standardized and have poor versatility. The main problems include: the optical imaging device and the rotating axis system are fixedly connected, which will result in high assembly difficulty, high assembly precision, difficult maintenance and disassembly, complex axis system frame structure and installation, resulting in a high failure rate of the stable platform axis system, low precision of the incremental encoder, large workload for zeroing and debugging, large differences in parts required for each axis system, high processing precision requirements, and poor economy, etc. The above shortcomings will affect the control of the production cost of the stable platform structure and the stability, reliability and service life of the stable platform structure. Summary of the invention

[0004] The object of the present invention is to provide a stable platform for an optical imaging device, which has a simple structure, small size, strong versatility and high stability, and can achieve posture stabilization, posture pointing locking and swing scanning imaging of the optical imaging device, thereby ensuring safe and reliable completion of the detection task of the optical imaging device.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A stable platform for an optical imaging device, the stable platform comprising a stable platform frame, a pitch motor side shaft system, a roll motor side shaft system, a pitch encoder side shaft system, a roll encoder side shaft system and a shaft system counterweight, wherein:

[0007] The pitch motor side shaft system and the pitch encoder side shaft system are fixed on the stable platform frame, and cooperate to complete the adjustment of the pitch angle of the optical imaging device on the stable platform. Specifically:

[0008] The pitch motor side axis system receives the pitch angle compensation instruction sent by the host computer, and changes the pitch angle by rotating; the pitch encoder side axis system rotates with the pitch motor side axis system, and measures the pitch angle value of the pitch motor side axis system rotation and feeds it back to the host computer; the host computer continues to transmit the received pitch angle value to the pitch motor side axis system to energize, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging device;

[0009] The roll motor side shaft system and the roll encoder side shaft system are fixed on the stable platform frame to cooperate with each other to adjust the roll angle of the optical imaging device on the stable platform. Specifically:

[0010] The roll motor side shaft system receives the roll angle compensation instruction sent by the host computer, and changes the roll angle by rotating; the roll encoder side shaft system rotates with the roll motor side shaft system, and measures the roll angle value and feeds it back to the host computer; the host computer continues to transmit the received roll angle value to the roll motor side shaft system to energize, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the roll shaft system of the optoelectronic imaging device;

[0011] The axis system counterweight (5-6-0) is used to adjust the pitch axis system and the center of gravity of the frame to be located at the axis center of the roll axis, thereby ensuring the rotational dynamic balance of the roll motor.

[0012] It can be seen from the technical solution provided by the present invention that the above-mentioned stabilizing platform has a simple structure, small size, strong versatility and high stability, and can achieve posture stabilization, posture pointing locking and swing scanning imaging of the optical imaging device, thereby ensuring the safe and reliable completion of the detection task of the optical imaging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0014] Figure 1 A schematic diagram of the structure of a stabilizing platform for an optical imaging device provided in an embodiment of the present invention;

[0015] Figure 2 It is a further decomposed schematic diagram of the stabilizing platform according to the embodiment of the present invention;

[0016] Figure 3 It is a schematic diagram of the application of the stable platform described in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, which does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0019] like Figure 1 The structure diagram of the stabilizing platform of the optical imaging device provided by the embodiment of the present invention is shown, and the stabilizing platform mainly includes a stabilizing platform frame (5-1-0), a pitch motor side axis system (5-2-0), a roll motor side axis system (5-3-0), a pitch encoder side axis system (5-4-0), a roll encoder side axis system (5-5-0) and an axis system counterweight (5-6-0), wherein:

[0020] The pitch motor side shaft system (5-2-0) and the pitch encoder side shaft system (5-4-0) are fixed on the stable platform frame (5-1-0) to cooperate to complete the adjustment of the pitch angle of the optical imaging device on the stable platform. Specifically:

[0021] The pitch motor side axis system (5-2-0) receives a pitch angle compensation instruction sent by a host computer, and changes the pitch angle by rotating; the pitch encoder side axis system (5-4-0) rotates along with the pitch motor side axis system (5-2-0), and measures the pitch angle value of the pitch motor side axis system (5-2-0) and feeds it back to the host computer; the host computer transmits the received pitch angle value to the pitch motor side axis system (5-2-0) to energize, thereby forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging device;

[0022] The roll motor side shaft system (5-3-0) and the roll encoder side shaft system (5-5-0) are fixed on the stable platform frame (5-1-0) to cooperate to complete the adjustment of the roll angle of the optical imaging device on the stable platform. Specifically:

[0023] The roll motor side axis system (5-3-0) receives the roll angle compensation instruction sent by the host computer, and changes the roll angle by rotating; the roll encoder side axis system (5-5-0) rotates with the roll motor side axis system (5-3-0), and measures the roll angle value and feeds it back to the host computer; the host computer continues to transmit the received roll angle value to the roll motor side axis system (5-3-0) to energize, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the roll axis system of the optoelectronic imaging device;

[0024] The axis system counterweight (5-6-0) is used to adjust the pitch axis system and the center of gravity of the frame to be located at the axis center of the roll axis, thereby ensuring the rotational dynamic balance of the roll motor.

[0025] In the specific implementation, Figure 2 The figure shows a further decomposed schematic diagram of the stabilizing platform described in the embodiment of the present invention, wherein the stabilizing platform specifically includes a stabilizing platform frame (5-1-0), a pitch motor side bearing cover (5-2-1), a bearing (5-2-2), a pitch motor housing (5-2-3), a pitch motor (5-2-4), a pitch motor side bearing inner seat (5-2-5), a fixing screw (5-2-6), a motor cable (5-2-7), a roll motor (5-3-1), and a roll motor. Side bearing inner seat (5-3-2), roll motor housing (5-3-3), bearing (5-3-4), roll motor side bearing cover (5-3-5), fixing screws (5-3-6), motor cable (5-3-7), pitch absolute encoder (5-4-1), pitch encoder fixing seat (5-4-2), pitch encoder inner seat (5-4-3), pitch encoder side bearing cover (5-4-4), pitch encoder side bearing outer seat (5-4 -5), pitch encoder side bearing inner seat (5-4-6), bearing (5-4-7), fixing screw (5-4-8), encoder cable (5-4-9), roll encoder side bearing inner seat (5-5-1), roll encoder side bearing outer seat (5-5-2), bearing (5-5-3), roll motor side bearing cover (5-5-4), roll encoder fixing seat (5-5-5), encoder cable (5-5-6), roll absolute encoder (5-5-7), roll encoder inner seat (5-5-8), fixing screw (5-5-9), shaft system counterweight (5-6-0); Based on the structure of the stabilizing platform, when the optical imaging device performs image acquisition, the stabilizing platform is used in conjunction with the optoelectronic imaging device to complete attitude stabilization, attitude pointing locking and swing scanning requirements, compensate for and eliminate conditions such as high speed, vibration, and turbulence of the aircraft, so that the optoelectronic imaging device can obtain clear and high-quality images, wherein:

[0026] According to the pitch and roll angle requirements of the optical imaging device, the host computer transmits instructions to the stabilizing platform. When the pitch axis system performs angle compensation, the host computer energizes the pitch motor (5-2-4) in the pitch motor side axis system (5-2-0) through the motor cable (5-2-7); the pitch motor (5-2-4) rotates to change the pitch angle; the pitch encoder side axis system (5-4-0) rotates along with the pitch motor side axis system (5-2-0), and the pitch absolute value encoder (5-4-1) in the pitch encoder side axis system (5-4-0) measures the pitch angle value of the axis system rotation and feeds it back to the host computer; the host computer continues to transmit instructions to the pitch motor (5-2-4) to energize, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging device;

[0027] When the roll axis system performs angle compensation, the host computer energizes the roll motor (5-3-1) in the roll motor side axis system (5-3-0) through the motor cable (5-3-7); the roll motor (5-3-1) rotates to change the roll angle; the roll encoder side axis system (5-5-0) rotates along with the roll motor side axis system (5-3-0), and the roll absolute value encoder (5-5-7) in the roll encoder side axis system (5-5-0) measures the roll angle value of the axis system rotation and feeds it back to the host computer; the host computer continues to transmit power to the roll motor (5-3-1), forming a closed-loop compensation correction cycle, thereby achieving the attitude stability, attitude pointing locking and swing scanning requirements of the roll axis system of the optoelectronic imaging device;

[0028] Through the joint compensation and correction of the pitch axis system and the roll axis system of the stable platform, the attitude stabilization, attitude pointing locking and swing scanning functions of the optical imaging equipment can be achieved.

[0029] In the specific implementation, Figure 3 The figure shows an application schematic diagram of the stabilizing platform of the present invention, which includes a load frame (1), an optical window glass (2), a shock absorber (3), a stabilizing platform support beam (4), a stabilizing platform (5) and an optical imaging device (6), wherein:

[0030] The optical imaging device (6) is installed in the stable platform (5) and constrains the stable platform (5) according to the design requirements of the optical imaging device (6);

[0031] The stabilizing platform (5) is fixedly connected to the four shock absorbers (3) via a stabilizing platform support beam (4), thus supporting and fixing the stabilizing platform (5);

[0032] The four shock absorbers (3) are fixed on the lining plate of the load frame (1) to achieve the vibration reduction and vibration filtering effects of the high-frequency vibration of the aircraft itself;

[0033] The load frame (1) forms a suitable sealed cabin for supporting and fixing the equipment and components in the entire system;

[0034] An optical window glass (2) is fixed on the shell bottom plate of the load frame (1), and the optical window glass (2) is used for transmitting light and forming images when the optical imaging device (6) is working.

[0035] It is worth noting that the contents not described in detail in the embodiments of the present invention belong to the prior art known to professionals in the field. For example, different types or sizes of parts, motors, encoders and bearings of different materials and models are selected, and these changes and variations do not deviate from the essential scope of the present invention.

[0036] In summary, the stable platform described in the embodiment of the present invention has the following advantages:

[0037] 1. The stabilizing platform adopts modular design, which is easy to assemble and has strong maintainability;

[0038] 2. Most of the mechanical design parts in the pitch motor side shaft system and the roll motor side shaft system, the pitch encoder side shaft system and the roll encoder side shaft system are the same. Standard parts such as bearings, motors, encoders and screws are the same for each shaft system. The parts and standard parts used in the stable platform are highly standardized, highly reusable, highly consistent and low cost.

[0039] 3. The components use absolute encoders, which are more accurate than incremental encoders, simple to assemble and debug, and have higher reliability and stability;

[0040] 4. The overall size is small and the weight is light, which can meet the needs of photoelectric imaging payloads of different sizes and shapes. The stable platform structure can meet the needs of various photoelectric balls, photoelectric pods and stable compensation equipment, and has strong versatility.

[0041] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any form that the information constitutes prior art known to those skilled in the art.

Claims

1. A stable platform for an optical imaging device, characterized in that: The stable platform includes a stable platform frame, a pitch motor side shaft system, a roll motor side shaft system, a pitch encoder side shaft system, a roll encoder side shaft system and a shaft system counterweight, wherein: The pitch motor side shaft system and the pitch encoder side shaft system are fixed on the stable platform frame, and cooperate to complete the adjustment of the pitch angle of the optical imaging device on the stable platform. Specifically: The pitch motor side axis system receives the pitch angle compensation instruction sent by the host computer, and changes the pitch angle by rotating; the pitch encoder side axis system rotates with the pitch motor side axis system, and measures the pitch angle value of the pitch motor side axis system rotation and feeds it back to the host computer; the host computer continues to transmit the received pitch angle value to the pitch motor side axis system to energize, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging device; The roll motor side shaft system and the roll encoder side shaft system are fixed on the stable platform frame to cooperate with each other to adjust the roll angle of the optical imaging device on the stable platform. Specifically: The roll motor side shaft system receives the roll angle compensation instruction sent by the host computer, and changes the roll angle by rotating; the roll encoder side shaft system rotates with the roll motor side shaft system, and measures the roll angle value and feeds it back to the host computer; the host computer continues to transmit the received roll angle value to the roll motor side shaft system to energize, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the roll shaft system of the optoelectronic imaging device; The axis system counterweight (5-6-0) is used to adjust the pitch axis system and the center of gravity of the frame to be located at the axis center of the roll axis, thereby ensuring the rotational dynamic balance of the roll motor; Based on the structure of the stabilizing platform, when the optical imaging device performs image acquisition, the stabilizing platform is used in conjunction with the optoelectronic imaging device to complete the requirements of posture stabilization, posture pointing locking and swing scanning, wherein: According to the pitch and roll angle requirements of the optical imaging device, the host computer transmits instructions to the stable platform. When the pitch axis system performs angle compensation, the host computer energizes the pitch motor in the pitch motor side axis system through the motor cable; the pitch motor rotates to change the pitch angle; the pitch encoder side axis system rotates with the pitch motor side axis system, and the pitch absolute value encoder in the pitch encoder side axis system measures the pitch angle value of the axis system rotation and feeds it back to the host computer; the host computer continues to transmit instructions to the pitch motor to energize, forming a closed-loop compensation and correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging device; When the roll axis system performs angle compensation, the host computer energizes the roll motor in the roll motor side axis system through the motor cable; the roll motor rotates to change the roll angle; the roll encoder side axis system rotates with the roll motor side axis system, and the roll absolute encoder in the roll encoder side axis system measures the roll angle value of the axis system rotation and feeds it back to the host computer; the host computer continues to transmit to energize the roll motor, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the roll axis system of the optoelectronic imaging device; Through the joint compensation and correction of the pitch axis system and the roll axis system of the stable platform, the attitude stabilization, attitude pointing locking and swing scanning functions of the optical imaging equipment can be achieved.

2. The stable platform of the optical imaging device according to claim 1, characterized in that: The optical imaging device is installed in the stable platform, and constrains the stable platform according to the design requirements of the optical imaging device itself; The stabilizing platform is fixedly connected to four shock absorbers via a stabilizing platform support beam, which plays a supporting and fixing role for the stabilizing platform; The four shock absorbers are fixed on the lining plate of the load frame to achieve the vibration reduction and vibration filtering effect of the high-frequency vibration of the aircraft itself; The load frame forms a suitable closed cabin for supporting and fixing the equipment and components in the entire system; An optical window glass is fixed on the shell bottom plate of the load frame, and the optical window glass is used for transmitting light and imaging when the optical imaging device is working.

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