Weak target detection and tracking optical pod and tracking device

Abstract

The present application relates to the field of vehicle-mounted photoelectric technology, and discloses a weak target detection and tracking sighting photoelectric cabin and a tracking sighting device. The photoelectric cabin comprises a front shell and a rear shell which are oppositely arranged and sealingly installed and form a hollow photoelectric cabin body. The front shell is of a special-shaped structure, the middle part of the end face of one end thereof extends outward to form a convex surface, and the middle part of the end face of the opposite end thereof is recessed inward to form a concave surface. The rear side face of the front shell is open and sealingly installed with the open end of the rear shell. A laser lens group and a unit detection mechanism are arranged on the front side face of the front shell for reliably detecting and identifying targets. Under the premise of ensuring that the installation space of the overall structure is sufficient, the overall structure is compact, a filter and a pitch gyro are arranged, the reliable weak target detection is realized, the pointing accuracy and the stability accuracy of the whole are ensured, the tracking sighting device can reliably drive the photoelectric cabin to perform pitch and azimuth rotation movements, and the reliability of the photoelectric cabin in weak target detection and tracking is further ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted optoelectronic technology, and more specifically, to a weak target detection and tracking optoelectronic cabin and tracking device. Background Technology

[0002] Vehicle-mounted optoelectronic equipment requires optoelectronic bays for target detection, especially for weak targets. However, due to the large number of vehicle-mounted devices needed, equipment with lightweight, high pointing accuracy, and high stability is required. Existing optoelectronic bays are large and heavy, making installation inconvenient and affecting overall accuracy. Furthermore, the poor stability of optoelectronic bays mounted on vehicles also impacts measurement accuracy. Summary of the Invention

[0003] The purpose of this invention is to address the technical problems existing in the prior art by providing a weak target detection and tracking electro-optical cabin and tracking device, which has a compact overall structure, small size, and is easy to install.

[0004] To address the problems mentioned above, the technical solution adopted by this invention is as follows:

[0005] This invention provides a weak target detection and tracking optoelectronic cabin, comprising a front shell and a rear shell arranged opposite to each other and sealed together, forming a hollow optoelectronic cabin body; the front shell has an irregular structure, with the middle of the end face of one end extending outward to form a convex surface, and the middle of the end face of the opposite end recessed inward to form a concave surface; the rear side of the front shell is open and sealed to the corresponding opening end of the rear shell; a laser lens group and a unit detection mechanism are respectively arranged on the front side of the front shell, the laser lens group is used to detect and identify targets; the unit detection mechanism is used to assist the laser lens group in detecting and identifying targets.

[0006] Furthermore, the laser lens assembly includes a large-aperture laser lens and a wide-field-of-view laser lens, which are arranged side by side on the front side of the front housing. Both are sealed to the mounting surface of the front housing by a co-extruded conductive rubber rope. The wide-field-of-view laser lens is used to detect and identify target information. The large-aperture laser lens is used to receive target energy.

[0007] Furthermore, the unit detection mechanism includes a detection unit compartment disposed on the front shell, a filter circuit board disposed in the detection unit compartment, and a detection module mounting bracket. The detection module mounting bracket has a fan-shaped structure and is provided with a group of detection modules corresponding to the position of the interface filter circuit board. A side plate of the detection unit compartment is provided with an aperture filter group corresponding to the group of detection modules.

[0008] Furthermore, the side panel of the detection unit compartment is also a fan-shaped structure, and the side panel of the unit compartment is arranged opposite to and parallel to the detection module mounting frame; the upright plate of the detection unit compartment is also provided with mounting holes for connecting external connectors; the side panel of the detection unit compartment is provided with U-shaped grooves, and the U-shaped grooves are respectively provided with aperture filter groups corresponding to the positions of the detection modules.

[0009] Furthermore, the optoelectronic cabin is also equipped with a filter and a pitch gyroscope. The filter is disposed in the optoelectronic cabin and located between the unit detection mechanism and the convex surface. The pitch gyroscope is disposed in the optoelectronic cabin via a gyroscope bracket and is located on both sides of the axis of the large-aperture laser lens along with the filter.

[0010] Furthermore, a first boss and a second boss are formed on the outer edge of the mounting surface where the front and rear shells mate, respectively, and co-extruded conductive rubber ropes are respectively provided on the first and second bosses for sealing; the front side of the rear shell is open and seals with the front shell, and the rear side of the rear shell is set as an arc surface.

[0011] The present invention also provides a weak target detection and tracking device, including the aforementioned weak target detection and tracking optoelectronic cabin, pitch mechanism and azimuth mechanism. The pitch mechanism includes a U-shaped bracket, a pitch motor shaft, a pitch encoder shaft, a control board, a power amplifier board and a pitch torque motor. The optoelectronic cabin is installed between the opposite side brackets of the U-shaped bracket and connected to the azimuth mechanism.

[0012] One side of the U-shaped bracket has a pitch motor shaft connected to the optoelectronic cabin, a pitch torque motor mounted on the pitch motor shaft, and a control board connected to the pitch torque motor. The other side of the U-shaped bracket has a pitch encoder shaft connected to the optoelectronic cabin, a pitch encoder mounted on the pitch encoder shaft, and a power amplifier board connected to the pitch encoder.

[0013] Furthermore, an azimuth gyroscope is also provided on the inner side of the other side of the U-shaped bracket, located on one side of the power amplifier board.

[0014] Furthermore, the orientation mechanism includes an orientation torque motor, an orientation encoder, an orientation shaft, an orientation seat, an orientation flange, and a slip ring. The end face of the orientation seat is fixedly connected to the U-shaped bracket via the orientation flange, and the orientation encoder is coaxially mounted on the orientation flange. A slip ring is provided inside the orientation seat, and the surface of the slip ring is coaxially fitted with the orientation torque motor and the orientation shaft.

[0015] Furthermore, both the pitch motor shaft and the pitch encoder shaft are connected to the U-shaped bracket using stepped seals, and the azimuth flange is connected to the azimuth seat using a labyrinth seal.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] (1) The optoelectronic cabin of the present invention is based on the height and mass requirements of the vehicle-mounted laser optoelectronic turntable. The front shell and the rear shell adopt irregular structures respectively, which makes the overall structure compact while ensuring sufficient installation space. Laser lens groups are set on the front shell respectively, and filters and pitch gyroscopes are set in the optoelectronic cabin. While realizing reliable weak target detection, it also ensures the overall pointing accuracy and stability accuracy. The overall structure is simple, the function is reliable, the load is light, and the space layout is reasonable.

[0018] (2) The present invention uses a large field-of-view laser lens to detect and identify target information and a large-aperture laser lens to receive target energy. A co-extruded conductive rubber rope is set between the two and the front shell to ensure the reliability of the installation and operation of the laser lens assembly.

[0019] (3) The unit detection mechanism of the present invention is equipped with a detection module mounting bracket to install the detection module. The side plate of the detection unit compartment and the detection module mounting bracket adopt a fan-shaped structure, which facilitates installation and ensures that the overall structure is compact and does not affect the overall volume of the tracking and aiming system. At the same time, it can ensure that the detection mechanism covers a certain angle of field of view.

[0020] (4) The front shell and the rear shell of the present invention are reliably connected by corresponding bosses and are also sealed with co-extruded conductive rubber ropes to ensure the reliability of the photoelectric cabin; the rear side of the rear shell is set as an arc surface, which ensures that there is enough installation space in the photoelectric cabin and also makes the overall structure compact.

[0021] (5) In the tracking and aiming device of the present invention, the pitch mechanism drives the pitch motor shaft to move through the pitch torque motor, and the azimuth mechanism drives the azimuth shaft to rotate through the azimuth torque motor, thereby reliably driving the optoelectronic cabin to perform pitch and azimuth rotation. The structure is simple and easy to install, and it can also reliably ensure the reliability of the optoelectronic cabin in detecting and tracking weak targets. At the same time, an azimuth gyroscope is set in the pitch mechanism and realizes speed loop control with the pitch gyroscope in the optoelectronic cabin to improve working accuracy.

[0022] (6) The pitch motor shaft and the pitch encoder shaft of the present invention are respectively connected to the U-shaped bracket by stepped seals, and the azimuth flange and the azimuth seat are connected by labyrinth seals, which can improve the sealing performance of the tracking and aiming equipment, thereby ensuring the reliability of the tracking and aiming equipment. Attached Figure Description

[0023] To more clearly illustrate the solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort. Wherein:

[0024] Figure 1 This is a schematic diagram of the weak target detection and aiming electro-optical cabin in this invention.

[0025] Figure 2 This is a front view of the weak target detection and aiming electro-optical cabin in this invention.

[0026] Figure 3 This is a left view of the weak target detection and aiming electro-optical cabin in this invention.

[0027] Figure 4 This is a rear view of the weak target detection and aiming electro-optical cabin in this invention.

[0028] Figure 5 This is a front view of the unit detection mechanism in this invention.

[0029] Figure 6 This is a schematic diagram of the unit detection cabin in this invention.

[0030] Figure 7 This is a schematic diagram of the weak target detection and aiming device in this invention.

[0031] Figure 8 This is a partial cross-sectional view of the main view of the weak target detection and aiming device in this invention.

[0032] Figure 9 This is a partial schematic diagram of the weak target detection and aiming device in this invention.

[0033] Figure 10 This is another partial schematic diagram of the weak target detection and aiming device in this invention.

[0034] Among them, 100-optoelectronic cabin, 200-pitch mechanism, 300-azimuth mechanism, 1-large aperture laser lens, 2-wide field-of-view laser lens, 3-unit detection mechanism, 31-unit detection cabin, 301-unit cabin side plate, 32-interface filter circuit board, 35-detection module mounting bracket, 36, 34, 33-detection module, 38, 312, 315-B aperture, 37, 311, 317-A aperture, 39, 313, 316-filter, 310, 314, 318-aperture spacers, 4-front shell, 41-convex surface, 42-concave surface, 43-first boss, 5-front shell mounting hole. 6-Rear shell, 61-Second boss, 7-Filter, 8-Pitch gyroscope, 9-Gyroscope bracket, 201-Left side bracket, 202-Right side bracket, 203-U-shaped bracket, 204-Pitch torque motor, 205-Pitch motor shaft, 206-Control board, 207-Pitch encoder, 208-Pitch encoder shaft, 209-Power amplifier board, 210-Azimuth gyroscope, 211-Azimuth encoder, 212-Azimuth flange, 213-Seal, 214-Crossed roller bearing, 215-Azimuth shaft, 216-Azimuth torque motor, 217-Azimuth bearing, 218-Azimuth seat, 219-Slip ring. Detailed Implementation

[0035] 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. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.

[0036] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order. In the specification, claims, and accompanying drawings of this invention, when an element is referred to as "fixed to," "mounted to," "disposed of," or "connected to" another element, it may be directly or indirectly located on that other element. For example, when an element is referred to as "connected to" another element, it may be directly or indirectly connected to that other element.

[0037] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] See Figures 1 to 4 As shown, this invention provides a weak target detection and tracking optoelectronic cabin. The optoelectronic cabin 100 includes a front shell 4 and a rear shell 6 that are disposed opposite to each other and sealed together, forming a hollow optoelectronic cabin body. The front shell 4 has an irregular structure, with a convex surface 41 extending outward from the center of one end face, and a concave surface 42 recessed inward from the center of the opposite end face. The rear side of the front shell 4 is open and sealed to the corresponding opening end of the rear shell 6. A laser lens group and a unit detection mechanism 3 are respectively provided on the front side of the front shell 4. The laser lens group is used to detect and identify targets; the unit detection mechanism 3 is used to assist the laser lens group in detecting and identifying targets.

[0039] Specifically, Figure 2 As shown in the diagram, the top surface of the front shell 4 extends in a direction away from the center to form a convex surface 41 in an arrow shape, and the bottom surface of the front shell 4 is recessed in a direction towards the center to form a concave surface 42, which is also arrow-shaped. The axes of the convex surface 41 and the concave surface 42 coincide. Chamfers are formed at the center of the convex surface 41, the center of the concave surface 42, and between both and the adjacent side surfaces, making the overall structure more compact.

[0040] In this embodiment, due to the strict limitations on the height and mass of the peripheral vehicle-mounted laser optoelectronic turntable, which must be controlled within a certain height and mass range, the optoelectronic cabin was designed with an irregular shape and a compact design. Specifically, the front shell 4 adopts an irregular structure, and the top, bottom, and front sides of the rear shell 6, which mate with the front shell 4, are identical in structure to the front shell 4. The front side of the front shell 4 has three mounting slots for fixing the large-aperture laser lens 1, the large-field-of-view laser lens 2, and the unit detection mechanism 3, respectively. The side of the front shell 4 also has front shell mounting holes 5 to facilitate the installation of equipment within the optoelectronic cabin.

[0041] Furthermore, a first boss 43 and a second boss 61 are respectively formed on the outer edges of the mounting surfaces of the front shell 4 and the rear shell 6 for sealing and fitting together. This not only strengthens the structural strength of the front shell 4 and the rear shell 61, but also facilitates their sealing installation. Sealing grooves are provided on the sealing surfaces of the front shell 4 and the rear shell 6, that is, sealing grooves are respectively provided on the first boss 43 and the second boss 61, and co-extruded conductive rubber ropes are installed thereon.

[0042] Furthermore, the laser lens assembly includes a large-aperture laser lens 1 and a wide-field-of-view laser lens 2, which are arranged side by side on the front side of the front housing 4. The wide-field-of-view laser lens 2 is used to detect and identify target information; the large-aperture laser lens 1 is used to receive target energy.

[0043] Specifically, the large-aperture laser lens 1 is installed on the front side of the front shell 4, connected to the optoelectronic cabin via a flange, and fixed with screws. The large-field-of-view laser lens 2 is installed inside the optoelectronic cabin and fixed by a flange mounted on the external front shell 4. Because the large-field-of-view laser lens 2 has a large optical field of view, it can identify a wider range of information in space, covering a larger target area and preventing the target from being lost during movement; while the large-aperture laser lens 1 has a smaller field of view and a larger focal length, resulting in a more concentrated collection of target energy and a smaller coverage area, but the received laser energy is more concentrated. The turntable control system receives the target information and target energy, and analyzes the amount of target energy missing into azimuth and pitch angle deviations based on the amount of target energy missed, then controls the azimuth and pitch movements of the optoelectronic cabin to achieve target tracking and surveillance.

[0044] For further details, please refer to [link / reference]. Figure 5 and Figure 6 As shown, the unit detection mechanism 3 assists the large field-of-view laser lens 2 in detecting and identifying targets. The unit detection mechanism 3 includes a detection unit compartment 31 disposed on the front shell 4, a filter circuit board 32 disposed within the detection unit compartment 31, and a detection module mounting bracket 35. The detection module mounting bracket 35 has a fan-shaped structure and is provided with a group of detection modules corresponding to the position of the interface filter circuit board 32. One side plate of the detection unit compartment 31 is provided with an aperture filter group corresponding to the detection module group.

[0045] Specifically, the unit detection mechanism 3 and the large field-of-view laser lens 2 are located on the same side of the axis of the large-aperture laser lens 1, with the unit detection mechanism 3 close to the convex surface 41 and the large field-of-view laser lens 2 close to the concave surface 42.

[0046] Furthermore, the surface of the detection module mounting bracket 35 is uniformly provided with three square slots along the circumference, and A apertures (37, 311, 317) are respectively provided therein; each square slot is provided with a mounting hole coaxially, and a detection module (36, 34, 33) is respectively provided therein, and each detection module is respectively positioned corresponding to the interface filter circuit board 32.

[0047] Specifically, the number of detection modules and apertures can be increased or decreased according to actual needs. In this embodiment, three sets are preferably provided to ensure both compact overall structure and reliable function and operation. The two adjacent sets of detection modules are at a 60° angle to ensure that the detection module group can cover a certain angle of the field of view, thereby improving the overall working efficiency of the detection unit.

[0048] Furthermore, the side panel 301 of the detection unit compartment 31 is also a fan-shaped structure, and the side panel 301 is arranged opposite to and parallel to the detection module mounting frame 5. The upright plate 302 of the detection unit compartment 31 is also provided with mounting holes for connecting external connectors. The side panel 301 of the detection unit compartment 31 is provided with U-shaped grooves, and each U-shaped groove contains an aperture filter group corresponding to the position of the detection module.

[0049] Furthermore, the aperture filter group includes a B aperture, an aperture spacer, and a filter. The B aperture and the filter are coaxially arranged in the U-shaped groove, with an aperture spacer between them. The B aperture corresponds to the A aperture in position and uses square holes of different sizes.

[0050] Specifically, B-type apertures (38, 312, 315) are sequentially arranged on the side panel 301 of the unit compartment, and corresponding filters (39, 313, 316) and aperture spacers (310, 314) are also arranged.

[0051] 318); The B aperture (38, 312, 315) corresponds to the A aperture (7, 11, 17) respectively. Both aperture A and aperture B are square holes with different sizes. Their function is to constrain different light beams entering the optical system and prevent stray light from causing interference.

[0052] Furthermore, a filter 7 and a pitch gyroscope 8 are provided inside the optoelectronic cabin. The filter 7 is located inside the optoelectronic cabin and between the unit detection mechanism 3 and the convex surface 41. The pitch gyroscope 8 is provided inside the optoelectronic cabin via a gyroscope bracket 9, close to the concave surface 42, and located on both sides of the axis of the large-aperture laser lens 1 with the filter 7.

[0053] Specifically, Figure 4 As shown in the diagram, the filter 7 is located in the upper left corner of the optoelectronic cabin to ensure stable signal transmission free from interference. The pitch gyroscope 8 is fixed to the gyroscope bracket 9, which is fixed to the lower right corner of the optoelectronic cabin. The pitch gyroscope 8 is used to ensure the stability and accuracy of the optoelectronic cabin.

[0054] Furthermore, the large-aperture laser lens 1, the large-field-of-view laser lens 2, and the unit detection mechanism 3 are provided with sealing grooves on the mounting surface of the front shell 4. Co-extruded conductive rubber ropes are provided in the sealing grooves to ensure the airtightness and electromagnetic shielding effect inside the optoelectronic cabin 100.

[0055] Furthermore, further as Figure 3 As shown, the front side of the rear shell 6 is open and sealed to the front shell 4. The rear side of the rear shell 6 is set as an arc surface, which ensures sufficient installation space inside the optoelectronic cabin and also makes the overall structure compact.

[0056] In this embodiment, the optoelectronic cabin is mounted on a two-axis turntable. The turntable can rotate the entire optoelectronic cabin 360° in azimuth and -20° to 80° in pitch. Target identification is achieved through a large-field-of-view laser lens 2, and the large-aperture laser lens 1 improves energy acquisition. The unit detection mechanism 3 assists the large-field-of-view lens 1 in acquiring target data, ensuring the light reflection path passes through the field of view formed by apertures A and B, preventing stray light from entering the optical signal detection mechanism and affecting the target laser imaging quality. After target analysis, as the target object moves, the large-aperture laser lens 1 generates a miss distance. The turntable control system resolves this miss distance into a two-axis angle, and then controls the optoelectronic cabin to move at the corresponding resolved angle, thereby achieving target tracking. The pitch gyroscope 8 primarily ensures stable pointing of the load during vehicle movement, improving the optoelectronic cabin's target tracking accuracy.

[0057] See Figures 7-10 As shown, the present invention also provides a weak target detection and tracking device, including an optoelectronic cabin 100, a pitch mechanism 200, and an azimuth mechanism 300. The pitch mechanism 200 is disposed on the azimuth axis of the azimuth mechanism 300, and the optoelectronic cabin 100 is disposed on the pitch axis of the pitch mechanism 200.

[0058] Specifically, the optoelectronic cabin 100 is used to achieve tracking and detection of weak targets. The pitch mechanism 200 and the azimuth mechanism 300 drive the optoelectronic cabin 100 to perform azimuth and pitch movements. The azimuth rotation angle is 360° and the pitch angle is -15° to 85°, which can ensure the working efficiency and accuracy of the tracking and aiming equipment.

[0059] Furthermore, the pitch mechanism 200 includes a U-shaped bracket 203, a pitch motor shaft 205, a pitch encoder shaft 208, a control board 206, a power amplifier board 209, an azimuth gyroscope 210, and a pitch torque motor 204.

[0060] The U-shaped bracket 203 has coaxial mounting holes on its opposing side brackets (i.e., left bracket 201 and right bracket 202) for mounting the optoelectronic cabin 100, meaning the optoelectronic cabin 100 is located between the opposing side brackets. One side of the U-shaped bracket 203 has a pitch motor shaft 205, a pitch torque motor 204, and a control board 206 connected to the optoelectronic cabin 100. The pitch torque motor 204 is mounted on the pitch motor shaft 205 and connected to the control board 206. The other side of the U-shaped bracket 203 has a pitch encoder shaft 208, a pitch encoder 207, and a power amplifier board 209 connected to the optoelectronic cabin 100. The pitch encoder 207 is mounted on the pitch encoder shaft 208 and connected to the power amplifier board 209.

[0061] Specifically, the inner side of the housing of the left bracket 201 is respectively provided with a pitch motor shaft 205, a pitch torque motor 204, and a control board 206. The inner side of the housing of the right bracket 202 is respectively provided with a pitch encoder shaft 208, a pitch encoder 207, and a power amplifier board 209. The pitch motor shaft 205 and the pitch encoder shaft 208 are respectively connected to the front shell 4 of the optoelectronic cabin 100. The control board 206 drives the pitch torque motor 204 to work, and the pitch motor shaft 205 drives the optoelectronic cabin 100 to perform pitch movement. The pitch encoder 207 and the power amplifier board 209 control the pitch angle of the optoelectronic cabin 100.

[0062] Furthermore, the mounting holes of the pitch motor shaft 205 and the pitch encoder shaft 208 corresponding to the U-shaped bracket 203 are sealed by a stepped seal.

[0063] Furthermore, an azimuth gyroscope 210 is also provided on the inner side of the other side of the U-shaped bracket 203 and on one side of the power amplifier board 209 to ensure the control accuracy of the pitch angle.

[0064] For further information, please refer to [link / reference]. Figure 8 As shown, the orientation mechanism 300 includes an orientation torque motor 216, an orientation encoder 211, an orientation shaft 215, an orientation seat 218, an orientation flange 212, and a slip ring 219. The end face of the orientation seat 218 is fixedly connected to the orientation mounting surface of the U-shaped bracket 203 through the orientation flange 212. The orientation encoder 211 is coaxially arranged on the orientation flange 21. The slip ring 219 is arranged inside the orientation seat 218. The orientation torque motor 216 and the orientation shaft 215 are coaxially arranged on the surface of the slip ring 219. The orientation shaft 215 is connected to the orientation flange 212.

[0065] Specifically, to ensure reliable installation and connection, a crossed roller bearing 214 is provided between the azimuth torque motor 216 and the azimuth shaft 215. A crossed roller bearing 214 is also provided between the azimuth shaft 215 and the azimuth torque motor 216. An azimuth bearing 217 is provided between the azimuth torque motor 216 and the slip ring 219.

[0066] Furthermore, a labyrinth seal structure is used between the azimuth flange 21 and the azimuth seat 218, that is, a labyrinth mounting groove is provided on the end face of the azimuth flange 21 and the azimuth seat 218, and a labyrinth seal 213 is provided to achieve a labyrinth seal, thereby improving the waterproof performance of the azimuth mechanism 300.

[0067] In this embodiment, the pitch mechanism 200 and azimuth mechanism 300 drive the optoelectronic cabin 100 to perform azimuth and pitch movements. The pitch mechanism 200 drives the pitch motor shaft 205 to move via the pitch torque motor 204, and the azimuth mechanism 300 drives the azimuth shaft 215 to rotate via the azimuth torque motor 216, thereby driving the optoelectronic cabin 100 to perform azimuth and pitch movements. This ensures the reliability of the optoelectronic cabin 100 in detecting and tracking weak targets. The stability of the optoelectronic cabin 100's imaging and tracking is further ensured by compensating for the movement of the two-axis turntable. In addition, an azimuth gyroscope 210 is installed in the pitch mechanism 200, and a pitch gyroscope 8 is installed in the optoelectronic cabin 100. The two gyroscopes collect the motion speed of the two rotation axes to achieve speed loop control and improve the working accuracy of the tracking device.

[0068] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A weak target detection and targeting electro-optical cabin, characterized in that: The device includes a front shell and a rear shell that are positioned opposite each other and sealed together, forming a hollow optoelectronic cabin. The front shell has an irregular shape, with one end face extending outward to form a convex surface and the opposite end face concave inward to form a concave surface. The rear side of the front shell is open and sealed to the corresponding opening of the rear shell. A laser lens assembly and a unit detection mechanism are respectively provided on the front side of the front shell. The laser lens assembly is used to detect and identify targets, and the unit detection mechanism is used to assist the laser lens assembly in detecting and identifying targets. The laser lens assembly includes a large-aperture laser lens and a wide-field-of-view laser lens, which are arranged side by side on the front side of the front housing. Both are sealed to the mounting surface of the front housing by a co-extruded conductive rubber rope. The wide-field-of-view laser lens is used to detect and identify target information. The large-aperture laser lens is used to receive target energy. The unit detection mechanism includes a detection unit compartment disposed on the front shell, a filter circuit board disposed in the detection unit compartment, and a detection module mounting bracket. The detection module mounting bracket has a fan-shaped structure and is provided with a group of detection modules corresponding to the position of the interface filter circuit board. A side panel of the detection unit compartment is provided with an aperture filter group corresponding to the group of detection modules. The optoelectronic cabin also houses a filter and a pitch gyroscope. The filter is located within the optoelectronic cabin and between the unit detection mechanism and the convex surface. The pitch gyroscope is mounted within the optoelectronic cabin via a gyroscope bracket and is positioned on either side of the axis of the large-aperture laser lens, along with the filter.

2. The weak target detection and targeting electro-optical cabin according to claim 1, characterized in that: The side panel of the detection unit compartment is also a fan-shaped structure. The side panel of the unit compartment is opposite to and parallel to the detection module mounting frame. The upright plate of the detection unit compartment is also provided with mounting holes for connecting external connectors. The side panel of the detection unit compartment is provided with U-shaped grooves, and the U-shaped grooves are respectively provided with aperture filter groups corresponding to the positions of the detection modules.

3. The weak target detection and targeting electro-optical cabin according to claim 1, characterized in that: The front and rear shells have a first protrusion and a second protrusion formed on the outer edge of their mating mounting surfaces, and co-extruded conductive rubber ropes are respectively provided on the first and second protrusions for sealing. The front side of the rear shell is open and seals with the front shell, and the rear side of the rear shell is set as an arc surface.

4. A weak target detection and aiming device, characterized in that: The system includes a weak target detection and tracking electro-optical cabin, a pitch mechanism, and an azimuth mechanism as described in any one of claims 1 to 3. The pitch mechanism includes a U-shaped bracket, a pitch motor shaft, a pitch encoder shaft, a control board, a power amplifier board, and a pitch torque motor. The electro-optical cabin is installed between the opposite side brackets of the U-shaped bracket and connected to the azimuth mechanism. One side of the U-shaped bracket has a pitch motor shaft connected to the optoelectronic cabin, a pitch torque motor mounted on the pitch motor shaft, and a control board connected to the pitch torque motor. The other side of the U-shaped bracket has a pitch encoder shaft connected to the optoelectronic cabin, a pitch encoder mounted on the pitch encoder shaft, and a power amplifier board connected to the pitch encoder.

5. The weak target detection and aiming device according to claim 4, characterized in that: An azimuth gyroscope is also provided on the inner side of the other side of the U-shaped bracket and on one side of the power amplifier board.

6. The weak target detection and tracking device according to claim 4 or 5, characterized in that: The orientation mechanism includes an orientation torque motor, an orientation encoder, an orientation shaft, an orientation seat, an orientation flange, and a slip ring. The end face of the orientation seat is fixed to the U-shaped bracket via the orientation flange, and the orientation encoder is coaxially mounted on the orientation flange. A slip ring is provided inside the orientation seat, and the surface of the slip ring is coaxially mounted with the orientation torque motor and the orientation shaft.

7. The weak target detection and tracking device according to claim 6, characterized in that: Both the pitch motor shaft and the pitch encoder shaft are connected to the U-shaped bracket using stepped seals, and the azimuth flange is connected to the azimuth seat using a labyrinth seal.

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