A three-axis stabilized optoelectronic platform

Abstract

The present invention discloses a three-axis stabilized optoelectronic platform, which includes an interface assembly, an azimuth axis assembly, a pitch axis assembly, and an optoelectronic roll assembly. The optoelectronic roll assembly includes an optoelectronic mounting assembly, a roll axis assembly, and an optoelectronic module unit. The optoelectronic mounting assembly and the pitch axis assembly are fixedly connected coaxially along the pitch axis, so that the optoelectronic roll assembly as a whole is coaxially rotatably connected to the pitch axis assembly. The roll axis assembly includes a roll housing and a roll main shaft. The optoelectronic module unit includes a lens assembly and a detector arranged in sequence along its optical axis. The invention utilizes the characteristic that the optical axis of each optoelectronic module unit coincides with the corresponding roll axis, and fixedly connects the lens of the optoelectronic module unit to the roll housing of the roll axis assembly, and only performs image stabilization in the roll direction for the detector and imaging hardware circuit. The present invention uses a regular octagon as the overall configuration of the optoelectronic roll assembly to reduce the height of the entire machine and improve the internal space utilization of the optoelectronic roll assembly.

Description

Technical Field

[0001] The present invention relates to the field of optoelectronic technology, and in particular to a three-axis stabilized optoelectronic platform. Background Art

[0002] During normal operation, optoelectronic equipment mounted on vehicles, ships, and aircraft can be affected by adverse weather, road conditions, waves, air currents, vehicle vibration, and non-contact factors. The resulting interfering motion can negatively impact the equipment, limiting imaging quality and target detection. Because stabilized platforms effectively isolate interfering motions from external azimuth, roll, and pitch, they can stabilize optoelectronic equipment and other moving objects mounted on them relative to the geographic coordinate system. Alternatively, they can be controlled by commands to ensure the stabilized object moves according to the desired motion patterns relative to a defined inertial space, enabling the equipment to function better and meet operational requirements. Consequently, stabilized platforms have attracted widespread attention in defense fields such as reconnaissance and weapons.

[0003] Chinese patent publication number CN213777044U discloses a three-axis stabilized optoelectronic reconnaissance platform, consisting of an interface assembly, an azimuth axis assembly, a pitch axis assembly, a roll axis assembly, and an optoelectronic module. The roll axis assembly is spherical, with the roll axis components on the outside and a hollow cylinder on the inside. The optoelectronic module is integrated into the hollow cylinder of the roll axis and runs through the roll axis. The azimuth, pitch, and roll axis stabilization devices, respectively, formed by the azimuth axis assembly, the pitch axis assembly, and the roll axis assembly, are perpendicular to each other and uncoupled. Each axis assembly is mainly composed of a torque motor, a gyroscope, and a circular grating. This utility model can meet the target tracking requirements of an optoelectronic reconnaissance platform. In this utility model, the optoelectronic module, which includes a lens assembly, a detector, and an imaging hardware circuit, is integrated as a whole into the optoelectronic housing of the roll axis assembly. The torque motor of the roll axis assembly needs to drive the entire optoelectronic module to rotate to achieve image stabilization in the roll direction, resulting in a large torque motor in the roll axis assembly, a relatively high overall height of the spherical roll axis assembly, and a relatively low structural integration on the roll axis. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to address the deficiencies of the existing technology and provide a three-axis stabilized optoelectronic platform that can reduce the height of the entire machine and improve the space utilization of the roll axis system components while achieving image stabilization in the roll direction.

[0005] In order to solve the above technical problems, the present invention discloses a three-axis stabilized optoelectronic platform, which includes an interface component, an azimuth axis component, a pitch axis component and an optoelectronic roll component; the interface component is rotatably connected to the azimuth axis component along the azimuth axis; the pitch axis component includes a U-shaped arm, a left pitch axis and a right pitch axis, the U-shaped arm is coaxially fixedly connected to the azimuth axis component along the azimuth axis to achieve a rotatable connection between the pitch axis component and the azimuth axis component along the pitch axis; the left pitch axis and the right pitch axis are respectively rotatably connected to the arm body on the corresponding side of the U-shaped arm around the pitch axis; the optoelectronic roll component includes an optoelectronic mounting component, a roll axis component and an optoelectronic module unit; the The optoelectronic mounting assembly is coaxially fixedly connected to the left pitch axis and the right pitch axis along the pitch axis, so as to realize that the optoelectronic roll assembly is rotatably connected to the U-shaped arm around the pitch axis; the roll axis system assembly includes a roll shell and a roll main axis, and the roll shell is rotatably connected to the roll main axis around the roll axis of the roll main axis; the optoelectronic module unit includes a lens assembly and a detector arranged in sequence along its optical axis, and the optical axis coincides with the roll axis of the roll main axis; the roll axis system assembly is located inside the optoelectronic mounting assembly and is located on the outer side of the rear end of the lens assembly and the circumferential outside of the detector; the lens assembly and the roll shell are respectively fixedly connected to the optoelectronic mounting assembly, and the detector is fixedly connected to the roll main axis.

[0006] Preferably, the optoelectronic mounting assembly is in the shape of a regular octagonal prism.

[0007] By setting the shape of the optoelectronic mounting assembly to be a regular octagonal prism, this configuration can maximize the space utilization inside the optoelectronic housing while taking into account the control of the height of the entire machine. The rotation radius of the optoelectronic roll assembly can be further controlled without affecting the internal layout of the regular octagonal prism, and the height of the entire machine can be effectively controlled. At the same time, due to the trimming of the left and right lower edges of the regular octagonal optoelectronic mounting assembly, the connection between the left and right arms of the U-arm of the pitch axis assembly can no longer be restricted to a right angle. The non-right-angle design maximizes the stiffness of the U-arm, suppresses the low-order modes of the pitch axis assembly, and improves the image stabilization robustness in the pitch direction. The internal space of the regular octagonal prism makes the layout of each optoelectronic module unit unrestricted.

[0008] Specifically, the optoelectronic mounting assembly includes an optoelectronic housing, an optoelectronic front cover, and an optoelectronic rear cover. The optoelectronic housing is shaped like a regular octagonal prism. The optoelectronic mounting assembly is fixedly connected to the left and right pitch axes, respectively, coaxially along the pitch axis, via the optoelectronic housing. The optoelectronic housing, the optoelectronic front cover, and the optoelectronic rear cover together form a mounting cavity for mounting the roll axis assembly and the optoelectronic module unit. The front end of the lens assembly extends through the optoelectronic front cover and is fixedly connected thereto.

[0009] Optionally, the roll housing is fixedly connected to the rear end of the lens assembly. The detector is fixedly installed inside the roll main shaft.

[0010] Specifically, the interface assembly includes a bottom cover. The azimuth axis assembly includes an azimuth housing and an azimuth main shaft, wherein the azimuth main shaft is rotatably connected to the azimuth housing about an azimuth axis. The azimuth housing and the bottom cover are coaxially fixedly connected along the azimuth axis, thereby achieving coaxial fixed connection between the azimuth axis assembly and the azimuth axis assembly along the azimuth axis.

[0011] Specifically, the interface assembly further includes an air socket and an electrical connector, which mechanically connect the three-axis stabilized optoelectronic platform to the outside world under the bottom cover. The electrical connector is used to transmit signals between the three-axis stabilized optoelectronic platform and the outside world.

[0012] Specifically, the azimuth shaft assembly also includes a gear shaft, a bearing pressure ring, a driving gear, a code disc support bearing, a code disc support, an azimuth conductive slip ring, an azimuth torque motor rotor, an azimuth torque motor stator, an azimuth mating bearing, an azimuth main shaft pressure ring, and an azimuth housing pressure ring. The azimuth housing, the azimuth torque motor stator, the azimuth mating bearing, the azimuth housing pressure ring, the gear shaft, the bearing pressure ring, the driving gear, the code disc support bearing, the code disc support, the azimuth conductive slip ring, the azimuth main shaft, and the azimuth torque motor rotor are all coaxially mounted along the azimuth axis. The gear shaft, azimuth conductive slip ring, and azimuth main shaft are sequentially fixedly connected along the azimuth axis. The azimuth conductive slip ring enables signal transmission along the azimuth axis without angular restrictions. The upper end surface of the outer ring of the code disc support is fixedly connected to the azimuth housing positioning step. The inner ring of the code disc support is fixedly connected to the outer ring of the code disc support bearing, so that the code disc support is coaxially rotatably connected to the gear shaft via the code disc support bearing. The driving gear is located below the encoder support bearing and is fixedly connected to the gear shaft via a pin connection. The upper end face of the inner ring of the encoder support bearing is connected to the gear shaft locating shoulder, while the lower end face of the inner ring is fixedly connected to the upper end face of the driving gear. The lower end face of the inner ring of the driving gear is positioned by the bearing pressure ring. The lower end face of the inner ring of the azimuth paired bearing is connected to the azimuth spindle locating shoulder, while the upper end face of the inner ring is positioned by the azimuth spindle pressure ring. The lower end face of the outer ring of the azimuth paired bearing is connected to the azimuth housing locating step, while the upper end face of the outer ring is positioned by the azimuth housing pressure ring. The stator of the azimuth torque motor is located above the encoder support and fixedly connected to the azimuth housing. The rotor of the azimuth torque motor is mounted inside the stator of the azimuth torque motor and fixedly connected to the azimuth spindle. The azimuth angle position encoding assembly of the azimuth shafting assembly is fixedly mounted below the encoder support and adjacent to the azimuth spindle. The azimuth angle position encoding assembly includes the encoder gear shaft, encoder gear, azimuth magnets, and an azimuth encoding plate. The code disc gear of the azimuth position encoding assembly is meshed with the driving gear to form a gear transmission structure.

[0013] Specifically, the pitch axis assembly also includes a left pitch paired bearing, a left pitch bearing pressure plate, a pitch torque motor stator, a pitch torque motor rotor, a pitch conductive slip ring, a conductive slip ring bracket, a right pitch paired bearing, and a right pitch bearing pressure plate. The pitch torque motor stator, pitch torque motor rotor, left pitch paired bearing, left pitch bearing pressure plate, left pitch axis pressure ring, left pitch axis, pitch conductive slip ring, conductive slip ring bracket, right pitch axis, right pitch paired bearing, right pitch bearing pressure plate, pitch magnet, pitch encoder plate, power-off brake, right end cap 46, and pitch encoder plate bracket are all coaxially mounted along the pitch axis. The left pitch axis and the left arm of the U-shaped arm are coaxially connected for rotation via the left pitch paired bearing. The right pitch axis and the right arm of the U-shaped arm are coaxially connected for rotation via the right pitch paired bearing. The left pitch paired bearing is fixedly connected via the left pitch bearing pressure plate. The right pitch bearing pair is fixedly connected via the right pitch bearing pressure plate. The pitch torque motor stator and the left arm of the U-shaped arm are radially and axially limited through shaft hole fit and end face positioning. The pitch conductive slip ring is mounted on the left end of the left pitch shaft. The left end of the pitch conductive slip ring is coaxially mounted with the conductive slip ring bracket to enable the transmission of video and control signals during rotation.

[0014] The pitch axis system assembly also includes a pitch angle position encoding assembly, an azimuth speed measurement assembly, and a power-off brake. The rotor of the pitch torque motor is axially and radially limited to the left pitch axis through shaft hole matching and end face positioning. The pitch angle position encoding assembly is fixedly mounted on the right end of the right pitch bearing pressure plate. The pitch angle position encoding assembly includes a pitch magnet and a pitch encoding plate. The pitch magnet is located at the right end of the right pitch axis. The pitch encoding plate is installed on the right side of the pitch magnet, and the pitch encoding plate is fixed in the right arm of the U-shaped arm. The azimuth speed measurement assembly includes a pitch gyroscope, which is fixed inside the photoelectric housing. The power-off brake is located between the right pitch axis and the right side wall of the U-shaped arm.

[0015] Specifically, the roll axis assembly also includes a roll bearing pair, a torque motor stator, and a torque motor rotor. The roll main shaft, roll bearing pair, torque motor stator, and torque motor rotor are coaxially mounted along their corresponding optical axes. The lens assembly is fixedly connected to the roll housing. The roll bearing pair forms a rotational connection between the roll housing and the roll main shaft through a shaft-hole fit and end-face fit. The torque motor rotor is mounted on the roll main shaft, and the torque motor stator is mounted on the roll housing.

[0016] The roll axis assembly also includes a roll angle position encoding assembly and a roll angular velocity measurement assembly. The roll angle position encoding assembly includes a code disc rotor and a code disc stator, which are coaxially mounted along the corresponding optical axis. The roll angular velocity measurement assembly is a roll gyro, which is mounted on the roll axis.

[0017] Optionally, there are two optoelectronic module units, one of which is an infrared camera device and the other is a visible light camera device. Each optoelectronic module unit is connected to a corresponding roll axis assembly.

[0018] Beneficial effects:

[0019] (1) The present application utilizes the characteristic that the optical axes of various optoelectronic module units, such as infrared thermal imagers and visible light cameras, coincide with their corresponding roll axes, and fixedly connects the lens assembly in each optoelectronic module unit to the corresponding roll housing, and only performs image stabilization in the roll direction for the detector and the imaging hardware circuit. On the one hand, compared with the prior art in which the optoelectronic module unit is entirely located inside the optoelectronic housing of the roll axis assembly, the roll axis assembly of the present application is located inside the optoelectronic housing in a space outside the rear end of the lens assembly and outside the side wall of the detector. This choice of installation position for the roll axis assembly improves the integration on the roll axis and improves the internal space utilization of the optoelectronic housing. On the other hand, compared with the prior art in which the torque motor of the roll axis assembly needs to drive the rotation of the entire optoelectronic module unit, the torque motor of the roll axis assembly of the present application only needs to drive the rotation of the detector, so the torque motor is smaller in size.

[0020] (2) The present application sets the shape of the optoelectronic housing to be a regular octagonal prism. This configuration can maximize the space utilization inside the optoelectronic housing while taking into account the control of the height of the entire machine. The rotation radius of the optoelectronic roll assembly can be further controlled without affecting the internal layout of the regular octagonal prism, and the height of the entire machine can be effectively controlled. At the same time, due to the trimming of the left and right lower edges of the regular octagonal optoelectronic housing, the connection between the left arm and the right arm of the U-arm of the pitch axis assembly can no longer be restricted to a right angle. The non-right-angle design maximizes the stiffness of the U-arm, suppresses the low-order modes of the pitch axis assembly, and improves the image stabilization robustness in the pitch direction. The internal space of the regular octagonal prism makes the layout of each optoelectronic module unit unrestricted. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0022] Figure 1 An axonometric diagram of a three-axis stabilized optoelectronic platform according to an embodiment of the present invention is provided;

[0023] Figure 2 for Figure 1 A front view of a three-axis stabilized optoelectronic platform is shown;

[0024] Figure 3 for Figure 1A full cross-sectional view of a three-axis stabilized optoelectronic platform along the pitch axis is shown;

[0025] Figure 4 A sectional view taken along a vertical plane passing through the optical axis of the laser rangefinder;

[0026] Figure 5 for Figure 1 A partial cross-sectional view of an infrared camera device in a three-axis stabilized optoelectronic platform is shown. DETAILED DESCRIPTION

[0027] The reference numerals of the present application are as follows:

[0028] Bottom cover 1, navigation socket 2, electrical connector 3, gear shaft 5, bearing pressure ring 6, driving gear 7, code disk bracket bearing 8, code disk bracket 9, azimuth conductive slip ring 10, azimuth main shaft 11, azimuth torque motor rotor 12, azimuth torque motor stator 13, azimuth housing 14, azimuth paired bearing 15, azimuth main shaft pressure ring 16, azimuth housing pressure ring 17, U-shaped arm 18, azimuth gyroscope 19, left lower cover 20, stabilization control board assembly 21, left cover 22, left pitch paired Bearing 23, left pitch bearing pressure plate 24, pitch torque motor stator 25, pitch torque motor rotor 26, left pitch axis pressure ring 27, left pitch axis 28, pitch conductive slip ring 29, conductive slip ring bracket 31, main control board group 32, photoelectric housing 33, pitch gyro bracket 35, pitch gyro 36, photoelectric rear cover 37, right pitch axis 40, right pitch paired bearing 41, right pitch bearing pressure plate 42, pitch magnet 43, pitch encoder plate 44, power-off brake 45, Right end cover 46, pitch code disk bracket 47, code disk gear shaft 50, code disk gear 51, code disk gear pressure ring 52, azimuth magnet 53, azimuth encoding plate 54, laser rangefinder 55, rangefinder protective glass 56, protective glass pressure cover 57, photoelectric front cover 58, interface assembly 100, infrared lens 102, focal plane array detector 103, imaging hardware circuit 104, roll housing 105, roll gyroscope 106, roll main shaft 107, roll paired bearing 1 08, bearing outer ring pressure ring 109, bearing inner ring pressure ring 110, torque motor stator 111, torque motor brush 112, torque motor rotor 113, code disc rotor 114, code disc stator 115, through-axis cable 116, roll paired bearing 108, azimuth axis system assembly 200, pitch axis system assembly 300, optoelectronic mounting assembly 400, roll axis system assembly 500, optoelectronic module unit 600, infrared camera device 601, visible light camera device 602.

[0029] The technical solution of this application is described in detail below with reference to the accompanying drawings.

[0030] See also Figure 1 and Figure 2The present invention provides a three-axis stabilized optoelectronic platform, which mainly includes an interface assembly 100, an azimuth axis assembly 200, a pitch axis assembly 300, and an optoelectronic roll assembly. The optoelectronic roll assembly includes an optoelectronic mounting assembly 400, a roll axis assembly 500, and an optoelectronic module unit 600.

[0031] Among them, see Figure 3 The interface assembly 100 includes a bottom cover 1, a navigation socket 2, and an electrical connector 3. The bottom of the bottom cover 1 mechanically connects the three-axis stabilized optoelectronic platform to the outside world. The top of the bottom cover 1 connects to the azimuth axis assembly 200. The electrical connector 3 transmits signals between the three-axis stabilized optoelectronic platform and the outside world.

[0032] See also Figure 3 The azimuth shaft assembly 200 includes an azimuth housing 14 and an azimuth main shaft 11. The lower outer edge of the azimuth housing 14 is coaxially fixedly connected to the bottom cover 1 along the azimuth axis, thereby achieving a coaxial fixed connection between the azimuth shaft assembly 200 and the azimuth shaft assembly 200. The azimuth main shaft 11 is rotatably connected to the azimuth housing 14 about the azimuth axis.

[0033] See also Figure 3 The pitch axis assembly 300 includes a U-shaped arm 18, a left pitch axis 28, and a right pitch axis 40. The lower end of the U-shaped arm 18 is fixedly connected to the azimuth main axis 11 coaxially along the azimuth axis. The left pitch axis 28 and the right pitch axis 40 are respectively connected to the arm body on the corresponding side of the U-shaped arm 18 so as to be rotatable around the pitch axis. Figure 2 The upper end of the U-shaped arm 18 is divided into a left arm and a right arm. The photoelectric roll assembly is located between the left arm and the right arm.

[0034] See also Figure 4 The optoelectronic mounting assembly 400 includes an optoelectronic housing 33, an optoelectronic front cover 58, and an optoelectronic rear cover 37. Figure 3 As shown, the photoelectric housing 33 is coaxially fixedly connected to the left pitch axis 28 and the right pitch axis 40 along the pitch axis, so that the photoelectric housing 33 and the U-shaped arm 18 are rotatably connected around the pitch axis. The photoelectric housing 33, the photoelectric front cover 58 and the photoelectric rear cover 37 enclose a mounting cavity.

[0035] See also Figure 5 The roll axis assembly 500 includes a roll housing 105 and a roll main shaft 107. The roll housing 105 and the roll main shaft 107 are rotatably connected around the roll axis. The optoelectronic module unit 600 includes a lens assembly and a detector arranged in sequence along its optical axis. The optical axis of the optoelectronic module unit 600 is arranged to coincide with the roll axis of the roll main shaft 107. Figure 4 The roll axis assembly 500 is integrally mounted inside the optoelectronic assembly 400 and is located outside the rear end of the lens assembly and outside the circumference of the detector. Figure 4 The front end of the lens assembly passes through the photoelectric front cover 58 and is fixedly connected thereto, and the rear end of the lens assembly is fixedly connected to the roll housing 105. The detector is fixedly mounted inside the roll main shaft 107.

[0036] See also Figure 3 To isolate external interference in each direction, the azimuth axis assembly 200 also includes an azimuth position encoding assembly. The pitch axis assembly 300 also includes a pitch position encoding assembly, an azimuth velocity measurement assembly, and a stabilization control board assembly 21, all mounted on the U-shaped arm 18. The roll axis assembly 500 also includes a roll position encoding assembly and a pitch velocity measurement assembly. The stabilization control board assembly 21 is electrically connected to the azimuth position encoding assembly, azimuth velocity measurement assembly, pitch position encoding assembly, pitch velocity measurement assembly, roll position encoding assembly, and pitch velocity measurement assembly, respectively, to meet the requirements for isolating external interference in each direction.

[0037] The present application arranges the detector's optical axis and roll axis coaxially, integrally mounts the roll axis assembly 500 within the optoelectronic mounting assembly 400, located outside the rear end of the lens assembly and circumferentially outside the detector, securely connects the lens assembly to the optoelectronic mounting assembly 400, and securely mounts the detector within the roll main shaft 107. This ensures that when the roll main shaft 107 of the roll axis assembly 500 and the roll housing 105 rotate relative to each other, the roll main shaft 107 only needs to drive the detector to rotate, while the lens assembly and the optoelectronic housing 33 remain relatively stationary. This means that only the detector is stabilized in the roll direction, thereby significantly reducing the size of the roll axis assembly 500. Furthermore, by integrally mounting the roll axis assembly 500 within the optoelectronic mounting assembly 400, located outside the rear end of the lens assembly and circumferentially outside the detector, the internal space utilization of the optoelectronic roll assembly is improved.

[0038] Furthermore, since the optoelectronic module unit 600 includes a lens assembly, the optoelectronic housing 33 in the present application adopts a regular octagonal prism shape, see Figure 3 Compared with the spherical optoelectronic housing in the prior art, the shape of the regular octagonal prism can effectively reduce the distance from the pitch axis to the bottom of the inner wall of the U-shaped arm 18 while meeting the pitch angle requirements.

[0039] For details, see Figure 3The azimuth shaft assembly 200 includes a gear shaft 5, a bearing pressure ring 6, a driving gear 7, a code disc support bearing 8, a code disc support 9, an azimuth conductive slip ring 10, an azimuth torque motor rotor 12, an azimuth torque motor stator 13, an azimuth matching bearing 15, an azimuth main shaft pressure ring 16, and an azimuth housing pressure ring 17. The bottom cover 1, the azimuth housing 14, the azimuth torque motor stator 13, the azimuth matching bearing 15, the azimuth housing pressure ring 17, the threading tube 4, the gear shaft 5, the bearing pressure ring 6, the driving gear 7, the code disc support bearing 8, the code disc support 9, the azimuth conductive slip ring 10, the azimuth main shaft 11, and the azimuth torque motor rotor 12 are coaxially mounted along the azimuth axis. One end of the threading tube 4 is coaxially fixedly connected to the bottom cover 1, and the other end is fixed to the rotating end of the azimuth conductive slip ring 10 through an axial hole. The wiring harness at the rotating end of the azimuth conductive slip ring 10 passes through the threading tube 4 and is connected to the electrical connector 3. The fixed end of the azimuth conductive slip ring 10 and the gear shaft 5 are both coaxially fixedly connected to the azimuth main shaft 11. The wiring harness of the fixed end of the azimuth conductive slip ring 10 is led to the pitch conductive slip ring 29 or the corresponding imaging hardware circuit. The rotating end of the azimuth conductive slip ring 10 is fixed to the threading tube 4, while the fixed end of the azimuth conductive slip ring 10 rotates with the azimuth main shaft 11, thereby realizing signal transmission without angular restrictions on the azimuth axis. The upper end face of the outer ring of the code disc bracket 9 is fixedly connected to the positioning step of the azimuth housing 14. The inner ring of the code disc bracket 9 is fixedly connected to the outer ring of the code disc bracket bearing 8, so that the code disc bracket 9 can achieve coaxial rotational connection with the gear shaft 5 through the code disc bracket bearing 8. The driving gear 7 is located below the code disc bracket bearing 8 and is fixedly connected to the gear shaft 5 via a pin connection. The upper end face of the inner ring of the code disc bracket bearing 8 is connected to the positioning shoulder of the gear shaft 5, and the lower end face of the inner ring is fixedly connected to the upper end face of the driving gear 7. The lower end face of the inner ring of the driving gear 7 is positioned against the bearing pressure ring 6. The lower end face of the inner ring of the azimuth paired bearing 15 is connected to the positioning shoulder of the azimuth main shaft 11, and the upper end face of the inner ring is positioned against the azimuth main shaft pressure ring 16. The lower end face of the outer ring of the azimuth paired bearing 15 is connected to the positioning step of the azimuth housing 14, and the upper end face of the outer ring is positioned against the azimuth housing pressure ring 17. This achieves a rotatable connection between the azimuth main shaft 11 and the azimuth housing 14 about the azimuth axis.

[0040] See also Figure 3 The azimuth torque motor stator 13 is located above the encoder bracket 9 and is fixedly connected to the azimuth housing 14. The azimuth torque motor rotor 12 is sleeved inside the azimuth torque motor stator 13 and is fixedly connected to the azimuth main shaft 11. The azimuth torque motor stator 13 and the azimuth torque motor rotor 12 form an azimuth torque motor for driving the azimuth main shaft 11 to rotate.

[0041] See also Figure 3The azimuth position encoding assembly in the azimuth axis assembly 200 is fixedly mounted below the code disc bracket 9 and located next to the azimuth main shaft 11. The azimuth position encoding assembly includes a code disc gear shaft 50, a code disc gear 51, a code disc gear pressure ring 52, an azimuth magnet 53, and an azimuth encoding plate 54. The code disc gear 51 of the azimuth position encoding assembly meshes with the driving gear 7 to form a gear transmission structure.

[0042] When the azimuth torque motor rotor 12 is energized, it rotates with the azimuth main shaft 11, and then the driving gear 7 rotates. The encoder gear shaft 50 and the azimuth magnet 53 rotate synchronously through the external meshing of the gears. The azimuth encoding plate 54 senses the change in magnetic pole rotation of the azimuth magnet 53 and converts it into current change, thereby obtaining the angular position of the azimuth magnet 53 relative to the azimuth encoding plate 54, and thus the angular position of the azimuth main shaft 11.

[0043] See also Figure 3 The lower left side wall of the U-shaped arm 18 is provided with a first groove and a lower left cover 20 for covering the first groove. The azimuth gyroscope 19 is installed in the first groove for detecting the azimuth angular velocity.

[0044] See also Figure 3 The left side wall of the U-shaped arm 18 is provided with a second groove and a left cover plate 22 for covering the second groove. The stabilization control board assembly 21 is located in the second groove.

[0045] As can be seen from the above, the azimuth housing 14 is fixed. When the azimuth torque motor rotor 12 is energized, the azimuth torque motor rotor 12 and the azimuth main shaft 11 rotate, and the angular displacement and angular velocity thereof are detected by the azimuth encoding plate 54 and the azimuth gyroscope 19 and fed back to the stabilization control board group 21 in real time, realizing closed-loop control to achieve the requirement of isolating the azimuth axis from external disturbances.

[0046] For details, see Figure 3 The pitch axis system assembly 300 includes a left pitch paired bearing 23, a left pitch bearing pressure plate 24, a pitch torque motor stator 25, a pitch torque motor rotor 26, a left pitch axis pressure ring 27, a pitch conductive slip ring 29, a conductive slip ring bracket 31, a right pitch paired bearing 41, and a right pitch bearing pressure plate 42.

[0047] See also Figure 3In order to realize that the left pitch axis 28 and the right pitch axis 40 are respectively rotatably connected to the arm body on the corresponding side of the U-shaped arm 18 around the pitch axis, the pitch torque motor stator 25, the pitch torque motor rotor 26, the left pitch paired bearing 23, the left pitch bearing pressure plate 24, the left pitch axis pressure ring 27, the left pitch axis 28, the pitch conductive slip ring 29, the conductive slip ring bracket 31, the right pitch axis 40, the right pitch paired bearing 41, the right pitch bearing pressure plate 42, the pitch magnet 43, the pitch encoder plate 44, the power-off brake 45, the right end cover 46, and the pitch code disk bracket 47 are all coaxially installed. The left pitch paired bearing 23 and the right pitch paired bearing 41 are both composed of a pair of angular contact bearings assembled face to face, capable of achieving axial and radial load-bearing and limiting, respectively forming a coaxial rotational connection between the left pitch shaft 28 and the left side arm of the U-shaped arm 18, and the right pitch shaft 40 and the right side arm of the U-shaped arm 18, and achieving respective fixed connections through the left pitch bearing pressure plate 24 and the right pitch bearing pressure plate 42. The pitch torque motor stator 25 and the left side arm of the U-shaped arm 18 are radially and axially limited by shaft hole matching and end face positioning. The pitch torque motor rotor 26 is axially and radially limited by shaft hole matching and end face positioning with the left pitch shaft 28, and the left pitch shaft pressure ring 27 is threaded to achieve a fixed connection between the pitch torque motor rotor 26 and the left pitch shaft 28.

[0048] See also Figure 3 The fixed end of the pitch conductive slip ring 29 is mounted on the left end surface of the left pitch shaft pressure ring 27. The rotating end of the pitch conductive slip ring 29 is coaxially mounted with the conductive slip ring bracket 31 through a shaft hole. The wiring harness of the rotating end of the pitch conductive slip ring 29 is connected to the corresponding wiring harness of the azimuth conductive slip ring 10 and the image stabilization control board assembly 21. The wiring harness of the fixed end of the pitch conductive slip ring 29 is connected to the corresponding imaging hardware circuit of the optoelectronic module 600. The rotating end of the pitch conductive slip ring 29 is fixed to the conductive slip ring bracket 31, while the fixed end of the pitch conductive slip ring 29 rotates with the pitch shaft 28, thereby enabling the transmission of video and control signals under rotation.

[0049] See also Figure 3 The pitch angle position encoding assembly is fixedly mounted on the right end of the right pitch bearing pressure plate 42. The pitch angle position encoding assembly includes a pitch magnet 43, a pitch encoding plate 44, and a pitch code disc bracket 47. The pitch magnet 43 is mounted on the right end of the right pitch shaft 40. The pitch encoding plate 44 is set at a suitable position on the right side of the pitch magnet 43. The pitch encoding plate 44 is fixed to the right arm of the U-shaped arm 18 via the pitch code disc bracket 47. When the pitch magnet 43 moves with the right pitch shaft 40, the current of the magnetic pole detection circuit of the pitch encoding plate 44 changes, thereby detecting the relative rotation angle between the pitch magnet 43 and the pitch encoding plate 44, thereby obtaining the pitch angle position of the right pitch shaft 40.

[0050] See also Figure 3The azimuth velocity measurement assembly in the pitch axis assembly 300 includes a pitch gyro 36 and a pitch gyro bracket 35 . The pitch gyro 36 is fixed to a suitable position inside the photoelectric housing 33 through the pitch gyro bracket 35 .

[0051] From the above, it can be seen that when the U-shaped arm 18 is fixed and the pitch torque motor stator 25 is energized, the pitch torque motor rotor 26 rotates around the pitch axis with the left pitch axis 28, and the right pitch axis 40 obtains the same angular displacement and angular acceleration through the photoelectric housing 33. The pitch encoder plate 44 and the pitch gyro 36 feed back the detected angular displacement and angular velocity to the stabilization control board group 21, thereby achieving the requirement of isolating the pitch axis from external disturbances and achieving the angle limit of the pitch angle through mechanical limit.

[0052] For further information, see Figure 3 The pitch axis assembly 300 also includes a power-off brake 45, which is located between the right pitch axis 40 and the right side wall of the U-shaped arm 18 and is used to achieve locking after power failure.

[0053] Optional, see Figure 3 The right outer circumferential surface and end surface of the left pitch axis 28 and the left outer circumferential surface and end surface of the right pitch axis 40 are fixedly connected to the photoelectric housing 33. The axial and radial position of the photoelectric housing 33 is achieved by the left pitch mating bearing 23 on the left pitch axis 28 and the right pitch mating bearing 41 on the right pitch axis 40. The left cover plate 22, left end cover 30, right end cover 46, and right lower cover 49 are respectively located in corresponding positions on the U-shaped arm 18, isolating the environment from the interior of the U-shaped arm and achieving a waterproof seal.

[0054] Optional, see Figure 2 and Figure 4 The optoelectronic platform of this embodiment includes two optoelectronic module units 600: an infrared camera 601 and a visible light camera 602. These two camera devices are installed in the same manner on the optoelectronic platform. The following uses the infrared camera 601 as an example to describe its installation structure within the optoelectronic roll assembly in detail.

[0055] See also Figure 5 The infrared camera device 601 includes an infrared lens 102, a focal plane array detector 103, and an imaging hardware circuit 104. The infrared lens 102 of the infrared camera device 601 is equivalent to the lens assembly of the optoelectronic module unit 600 of the present application. The focal plane array detector 103 is equivalent to the detector of the optoelectronic module unit 600 of the present application.

[0056] See also Figure 5The roll shaft assembly 500 also includes a roll paired bearing 108, a bearing outer ring pressure ring 109, a bearing inner ring pressure ring 110, a torque motor stator 111, a torque motor rotor 113 and a through-axis cable 116.

[0057] See also Figure 5 To achieve a rotatable connection between the roll housing 105 and the roll spindle 107 about the roll axis, the roll housing 105, roll spindle 107, roll bearing pair 108, bearing outer ring pressure ring 109, bearing inner ring pressure ring 110, torque motor stator 111, torque motor brushes 112, torque motor rotor 113, code disc rotor 114, and code disc stator 115 are coaxially mounted along the optical axis of the infrared camera 601. The infrared lens 102 is fixedly connected to the roll housing 105. The roll bearing pair 108 rotatably connects the roll housing 105 and the roll spindle 107 through a shaft-hole fit and end-face fit. The torque motor rotor 113 is mounted on the roll spindle 107, and the torque motor stator 111 is mounted on the roll housing 105.

[0058] See also Figure 5 The roll spindle 107 includes a through hole, which is arranged on the roll axis of the roll spindle 107. One end of the through-axis cable 116 is electrically connected to the imaging hardware circuit 104, and the other end passes through the through hole and is electrically connected to the stabilization control board assembly 21 to achieve transmission of video and control signals.

[0059] See also Figure 5 The roll angle position encoding assembly includes a code disc rotor 114 and a code disc stator 115. The code disc rotor 114 and the code disc stator 115 are coaxially mounted on the roll axis of the roll main shaft 107. The roll angular velocity measurement assembly is a roll gyro 106. The roll gyro 106 is mounted at a suitable position on the roll main shaft 107.

[0060] When there is external interference in the roll direction, the roll gyro 106 detects the angular velocity and feeds it back to the stabilization control board group 21. The stabilization control board group 21 drives the torque motor rotor 113. The torque motor rotor 113 rotates with the focal plane array detector 103, the imaging hardware circuit 104, the roll spindle 107, the roll gyro 106, and the code disk rotor 114. The roll gyro 106 feeds back the measured roll angular velocity to the stabilization control board group 21 in real time to achieve closed-loop control, thereby meeting the requirement of the focal plane array detector 103 to isolate external interference in the roll direction.

[0061] See also Figure 4The optoelectronic roll assembly also includes a laser rangefinder 55. The laser rangefinder 55 is fixedly mounted within the optoelectronic housing 33. The front end of the laser rangefinder 55 faces the optoelectronic front cover 58. A rangefinder protective glass 56 is disposed outside the front end of the laser rangefinder 55. A protective glass pressure cover 57 is disposed outside the rangefinder protective glass 56. The rangefinder protective glass 56 is positioned against the protective glass pressure cover 57.

[0062] See also Figure 3 The optoelectronic roll assembly also includes a main control board 32, mounted in a suitable position on the upper left side of the optoelectronic housing 33. Video and control signals from the main control board 32 interact with backend equipment via the pitch conductive slip ring 29, azimuth conductive slip ring 10, and electrical connector 3 of the pitch axis assembly 300.

[0063] When the optoelectronic platform of the present application is working in the image stabilization mode, the azimuth gyro 19, the pitch gyro 36, and each roll gyro 106 detect the interference angular velocity in their respective corresponding directions and feed it back to the stabilization control board group 21. The stabilization control board group 21 drives the corresponding motor according to the degree of interference in the azimuth, pitch, and roll directions to perform reverse compensation, and then continuously corrects the driving of the corresponding motor through the angular velocity detected in real time by the azimuth gyro 19, the pitch gyro 36, and each roll gyro 106, so that the azimuth, pitch, and roll directions of each detector meet the requirements of isolating from external interference.

[0064] When the optoelectronic roll assembly operates in target tracking mode, the stabilization control board group 21 drives the azimuth torque motor rotor 12 and the pitch torque motor rotor 26 according to the target direction signal sent by the main control board group 32, and performs real-time correction on the respective angular displacements fed back by the azimuth encoding board 54 and the pitch encoding board 44, thereby meeting the function of tracking the target.

[0065] The present invention provides a novel concept and method for a three-axis stabilized optoelectronic platform. Numerous methods and approaches exist for implementing this technical solution. The foregoing merely represents a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are considered within the scope of protection of the present invention. Components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A three-axis stabilized optoelectronic platform, characterized in that: The invention comprises an interface assembly (100), an azimuth axis assembly (200), a pitch axis assembly (300) and an optoelectronic roll assembly; the interface assembly (100) is rotatably connected to the azimuth axis assembly (200) along the azimuth axis; the pitch axis assembly (300) comprises a U-shaped arm (18), a left pitch axis (28) and a right pitch axis (40); the U-shaped arm (18) is coaxially fixedly connected to the azimuth axis assembly (200) along the azimuth axis to achieve pitch rotation. The elevation axis assembly (300) is rotatably connected to the azimuth axis assembly (200) along the pitch axis; the left pitch axis (28) and the right pitch axis (40) are respectively rotatably connected to the arm bodies on the corresponding sides of the U-shaped arm (18) around the pitch axis; the photoelectric roll assembly includes a photoelectric mounting assembly (400), a roll axis assembly (500) and a photoelectric module unit (600); the photoelectric mounting assembly (400) is respectively connected to the left pitch axis (28 ) is coaxially fixedly connected to the right pitch axis (40) along the pitch axis, so that the optoelectronic roll assembly and the U-shaped arm (18) are rotatably connected around the pitch axis; the roll axis system assembly (500) includes a roll shell (105) and a roll main axis (107), and the roll shell (105) and the roll main axis (107) are rotatably connected around the roll axis of the roll main axis (107); the optoelectronic module unit (600) includes a lens assembly and a detector arranged in sequence along its optical axis, and the optical axis coincides with the roll axis of the roll main axis (107); the roll axis system assembly (500) is located inside the optoelectronic mounting assembly (400) and is located outside the rear end of the lens assembly and outside the circumference of the detector; the lens assembly and the roll shell (105) are fixedly connected to the optoelectronic mounting assembly (400) respectively, and the detector is fixedly connected to the roll main axis (107).

2. The three-axis stabilized optoelectronic platform according to claim 1, characterized in that: The optoelectronic mounting assembly (400) is in the shape of a regular octagonal prism.

3. The three-axis stabilized optoelectronic platform according to claim 2, characterized in that: The optoelectronic mounting assembly (400) comprises an optoelectronic housing (33), an optoelectronic front cover (58) and an optoelectronic rear cover (37), wherein the optoelectronic housing (33) is in the shape of a regular octagonal prism; the optoelectronic mounting assembly (400) is fixedly connected to the left pitch axis (28) and the right pitch axis (40) respectively along the pitch axis through the optoelectronic housing (33); the optoelectronic housing (33), the optoelectronic front cover (58) and the optoelectronic rear cover (37) enclose a mounting cavity for mounting the roll axis assembly (500) and the optoelectronic module unit (600); the front end of the lens assembly passes through the optoelectronic front cover (58) and is fixedly connected thereto.

4. The three-axis stabilized optoelectronic platform according to claim 3, characterized in that: The rolling housing (105) is fixedly connected to the rear end of the lens assembly; and the detector is fixedly installed inside the rolling main shaft (107).

5. The three-axis stabilized optoelectronic platform according to claim 4, characterized in that: The interface assembly (100) includes a bottom cover (1); the azimuth axis assembly (200) includes an azimuth housing (14) and an azimuth main shaft (11), wherein the azimuth main shaft (11) is rotatably connected to the azimuth housing (14) around the azimuth axis; the azimuth housing (14) is coaxially fixedly connected to the bottom cover (1) along the azimuth axis, so as to achieve coaxial fixed connection between the azimuth axis assembly (200) and the interface assembly (100) along the azimuth axis.

6. The three-axis stabilized optoelectronic platform according to claim 5, characterized in that: The interface component (100) comprises an air socket (2) and an electrical connector (3), and the bottom of the bottom cover (1) mechanically connects the three-axis stabilized optoelectronic platform to the outside; the electrical connector (3) is used to transmit signals between the three-axis stabilized optoelectronic platform and the outside.

7. The three-axis stabilized optoelectronic platform according to claim 6, characterized in that: The azimuth shaft system assembly (200) further includes a gear shaft (5), a bearing pressure ring (6), a driving gear (7), a code disc bracket bearing (8), a code disc bracket (9), an azimuth conductive slip ring (10), an azimuth torque motor rotor (12), an azimuth torque motor stator (13), an azimuth paired bearing (15), an azimuth main shaft pressure ring (16), and an azimuth housing pressure ring (17); the azimuth housing (14), the azimuth torque motor stator (13), the azimuth paired bearing (15), the azimuth housing pressure ring (16), and the azimuth housing pressure ring (17). The ring (17), the gear shaft (5), the bearing pressure ring (6), the driving gear (7), the code disk bracket bearing (8), the code disk bracket (9), the azimuth conductive slip ring (10), the azimuth main shaft (11), and the azimuth torque motor rotor (12) are all coaxially installed along the azimuth axis; the gear shaft (5), the azimuth conductive slip ring (10), and the azimuth main shaft (11) are fixedly connected in sequence along the azimuth axis; the azimuth conductive slip ring (10) is used to realize signal transmission without angular restriction of the azimuth axis; the code disk bracket The upper end face of the outer ring of the code disc bracket (9) is fixedly connected to the positioning step of the azimuth housing (14); the inner ring of the code disc bracket (9) is fixedly connected to the outer ring of the code disc bracket bearing (8), so that the code disc bracket (9) is connected to the gear shaft (5) through the code disc bracket bearing (8) in a coaxial rotation manner; the driving gear (7) is located below the code disc bracket bearing (8) and is fixedly connected to the gear shaft (5) by a pin connection; the upper end face of the inner ring of the code disc bracket bearing (8) is connected to the positioning shoulder of the gear shaft (5), and the lower end face of the inner ring is connected to the driving gear (7) ) is fixedly connected to the upper end face of the azimuth main shaft (11); the lower end face of the inner ring of the driving gear (7) is positioned by the bearing pressure ring (6); the lower end face of the inner ring of the azimuth paired bearing (15) is connected to the positioning shoulder of the azimuth main shaft (11), and the upper end face of the inner ring is positioned by the azimuth main shaft pressure ring (16); the lower end face of the outer ring of the azimuth paired bearing (15) is connected to the positioning step of the azimuth housing (14), and the upper end face of the outer ring is positioned by the azimuth housing pressure ring (17); the stator (13) of the azimuth torque motor is located above the code disk bracket (9) and is fixedly connected to the azimuth housing (14); The azimuth torque motor rotor (12) is sleeved on the inner side of the azimuth torque motor stator (13) and fixedly connected to the azimuth main shaft (11); the azimuth position encoding component in the azimuth shaft system component (200) is fixedly installed below the code disc bracket (9) and is located next to the azimuth main shaft (11); the azimuth position encoding component includes a code disc gear shaft (50), a code disc gear (51), an azimuth magnetic steel (53) and an azimuth encoding plate (54); the code disc gear (51) of the azimuth position encoding component is meshed with the driving gear (7) to form a gear transmission structure.

8. The three-axis stabilized optoelectronic platform according to claim 7, characterized in that: The pitch axis assembly (300) further includes a left pitch paired bearing (23), a left pitch bearing pressure plate (24), a pitch torque motor stator (25), a pitch torque motor rotor (26), a pitch conductive slip ring (29), a conductive slip ring bracket (31), a right pitch paired bearing (41), a right pitch bearing pressure plate (42), and a power-off brake (45); a pitch torque motor stator (25), a pitch torque motor rotor (26), a left pitch paired bearing (23), a left pitch bearing pressure plate (24), a left pitch axis pressure ring (27), a left pitch axis (28), a pitch conductive slip ring (29), a conductive slip ring bracket (31), a right pitch axis (40), a right pitch paired bearing (41), a right pitch bearing pressure plate (42), a pitch magnetic steel (43), a pitch encoding plate (44), a power-off brake (45), a right end cover (46), a pitch The code disk bracket (47) is coaxially installed along the pitch axis; the left pitch axis (28) and the left arm of the U-shaped arm (18) form a coaxial rotation connection through the left pitch paired bearing (23); the right pitch axis (40) and the right arm of the U-shaped arm (18) form a coaxial rotation connection through the right pitch paired bearing (41); the left pitch paired bearing (23) is fixedly connected through the left pitch bearing pressure plate (24); the right pitch paired bearing (41) is fixedly connected through the right pitch bearing pressure plate (42); the pitch torque motor stator (25) and the left arm of the U-shaped arm (18) are radially and axially limited through shaft hole matching and end face positioning; the pitch conductive slip ring (29) is installed on the left end of the left pitch axis (28), and the left end of the pitch conductive slip ring (29) is coaxially installed with the conductive slip ring bracket (31) for realizing the transmission of video and control signals in a rotating state; The pitch axis system assembly (300) further includes a pitch angle position encoding assembly and an azimuth speed measurement assembly; the pitch torque motor rotor (26) is axially and radially limited with the left pitch axis (28) by shaft hole matching and end face positioning; the pitch angle position encoding assembly is fixedly mounted on the right end of the right pitch bearing pressure plate (42); the pitch angle position encoding assembly includes a pitch magnet (43) and a pitch encoding plate (44), the pitch magnet (43) is located at the right end of the right pitch axis (40), the pitch encoding plate (44) is mounted on the right side of the pitch magnet (43), and the pitch encoding plate (44) is fixed in the right arm of the U-shaped arm (18); the azimuth speed measurement assembly includes a pitch gyro (36), the pitch gyro (36) is fixed in the inside of the photoelectric housing (33); the power-off brake (45) is located between the right pitch axis (40) and the right side wall of the U-shaped arm (18).

9. The three-axis stabilized optoelectronic platform according to claim 8, characterized in that: The roll axis assembly (500) further includes a roll pair bearing (108), a torque motor stator (111), and a torque motor rotor (113); the roll main shaft (107), the roll pair bearing (108), the torque motor stator (111), and the torque motor rotor (113) are coaxially mounted along corresponding optical axes in sequence; the lens assembly is fixedly connected to the roll housing (105); the roll pair bearing (108) forms a rotational connection between the roll housing (105) and the roll main shaft (107) through shaft hole matching and end face matching; the torque motor rotor (113) is mounted on the roll main shaft (107), and the torque motor stator (111) is mounted on the roll housing (105); The roll axis system component (500) further includes a roll angle position encoding component and a roll angular velocity measurement component; the roll angle position encoding component includes a code disc rotor (114) and a code disc stator (115), and the code disc rotor (114) and the code disc stator (115) are coaxially installed along the corresponding optical axis; the roll angular velocity measurement component is a roll gyroscope (106); the roll gyroscope (106) is installed on the roll main axis (107).

10. The three-axis stabilized optoelectronic platform according to claim 1, characterized in that: There are two optoelectronic module units, one of which is an infrared camera device and the other is a visible light camera device.

Images