A two-axis two-frame roll-pitch configuration photoelectric detection device control system and method

Abstract

The application discloses a two-axis two-frame roll-pitch configuration photoelectric detection equipment control system and method, and belongs to the field of photoelectric detection equipment. The system comprises a power supply, an image controller, a servo controller, an outer frame, an outer frame roll motor, a first code disc, an outer frame slip ring, an inner frame, an inner frame pitch motor, a second code disc, a first gyroscope, a second gyroscope and a camera. An angle instruction is sent from a display control console to the servo controller and the image controller. The servo controller performs angle conversion, position loop control, roll rotation direction judgment and speed loop control, and outputs a signal to drive the motor. The code disc measures real-time angle information of the motor and sends the information to the servo controller. The gyroscope measures real-time angular velocity information of the camera and sends the information to the servo controller. The image controller receives a roll angle to perform electronic image stabilization, outputs an image to the display control console, and sends an image deviation to the servo controller when tracking a target. The image motion direction is consistent with the azimuth and pitch direction in the base coordinate system, and the human-computer interaction comfort is improved.

Description

Technical Field

[0001] This invention belongs to the field of photoelectric detection equipment, specifically relating to a control system and method for a two-axis, two-frame roll-up configuration photoelectric detection equipment. Background Technology

[0002] To achieve target detection and tracking, roll-up / tilt-down electro-optical detection equipment must maintain image stability under disturbance conditions. When the base coordinate system Ox... b y b z b Axis Oy b There is a disturbance in the azimuth angular velocity of the base coordinate system. Axis Oz b There is a pitch angular velocity disturbance in the base coordinate system. Axis Ox b There is a pitch angular velocity disturbance in the base coordinate system. Forced camera movement causes image jitter, affecting detection or tracking. Therefore, angular velocity compensation is needed to compensate for camera platform disturbance speed to keep the camera's orientation constant in inertial space. Furthermore, when the roll motor rotates, the image rotates accordingly, which is detrimental to human visual observation. Maintaining image upright and improving human-computer interaction comfort are crucial.

[0003] When detecting and tracking targets in images, the video output from the display and control console needs to eliminate image jitter and keep the image always upright for easy human observation. Current two-axis two-frame roll-up photoelectric detection equipment adopts a semi-stripper scheme based on the Kuder optical path, which can isolate the disturbance of the base coordinate system and keep the image stable. However, this requires the design of an optical path structure, which increases costs. Summary of the Invention

[0004] The technical problem to be solved:

[0005] To overcome the shortcomings of existing technologies, this invention provides a control system and method for a two-axis, two-frame roll-and-tilt optoelectronic detection device. A gyroscope is used to measure the angular velocity of the camera, and an encoder disk measures the angle of the motor. A servo controller and an image controller are used to achieve position and speed control of the two-axis, two-frame roll-and-tilt optoelectronic detection device. Furthermore, without designing an optical path structure, motor speed control and electronic image stabilization are used to achieve stable image observation when the optoelectronic detection device is tracking a target. The combined motion of the outer frame roll motor and the inner frame pitch motor is equivalent to angle control in the lower and upper coordinate axes of the base coordinate system. After activating electronic image stabilization, the image remains upright, and the image movement direction is consistent with the lower and upper coordinate axes of the base coordinate system, improving human-computer interaction comfort and conforming to human operating habits regarding the direction of the line of sight.

[0006] The technical solution of the present invention is: a control system for a two-axis, two-frame roll-and-tilt photoelectric detection device, comprising an inner frame and an outer frame housing a camera, and a power supply; the outer frame is driven by an outer frame roll motor, and a first code disk is mounted on the shaft of the outer frame roll motor; the inner frame is driven by an inner frame pitch motor, and a second code disk is mounted on the shaft of the inner frame pitch motor; the outer frame roll motor and the inner frame pitch motor are controlled by a servo controller;

[0007] The camera is connected to a first gyroscope and a second gyroscope, which are used to measure the angular velocity in the left-right direction and the angular velocity in the up-down direction relative to the camera image, respectively; the camera processes the photos and images through the image controller and outputs the images to the display console for display.

[0008] The display console sends angle commands to the servo controller and image controller; the servo controller performs angle transformation, position loop control, roll direction determination, and speed loop control, and outputs PWM signals to drive the motor to rotate; the encoder measures the real-time angle information of the motor and sends it to the servo controller; the gyroscope measures the real-time angular velocity information of the camera and sends it to the servo controller; the image controller receives the roll angle, performs electronic image stabilization, and outputs image information to the display console, and sends the image deviation to the servo controller when tracking the target.

[0009] A further technical solution of the present invention is: the servo controller includes a frame angle forward transformation module, a motor position control module, a roll rotation minimum angle direction determination module, a motor speed control module, and a frame angle inverse transformation module.

[0010] The frame angle positive transformation module transforms the virtual motor azimuth angle in the base coordinate system. And virtual motor pitch angle Convert these into the corresponding desired motor roll angle θ1 and desired motor pitch angle θ2.

[0011] The motor position control module completes the position loop control of the outer frame roll motor and the inner frame pitch motor. The inputs are the desired motor roll angle θ1, the desired motor pitch angle θ2, and the real-time motor roll angle θ. 1t Real-time pitch angle θ of the motor 2t Image azimuth deviation angle ε fw and image pitch deviation angle ε fy The output is the motor's desired roll rate ω1 and the motor's desired pitch rate ω2;

[0012] The roll rotation minimum angle direction determination module causes the outer frame roll motor to rotate in the direction of minimum error angle. The outer frame roll motor rotates towards the desired roll angle θ1 of the desired outer frame roll motor according to the principle of minimum roll rotation angle. The roll rotation minimum angle direction determination module inputs the desired roll angle θ1 of the motor and the real-time roll angle θ of the motor. 1t1. The desired roll rate of the motor is ω1, and the output desired roll rate of the motor is ±ω1;

[0013] The motor speed control module completes the speed loop control of the outer frame roll motor and the inner frame pitch motor. The inputs are the desired roll angular velocity ω1, the desired pitch angular velocity ω2, and the image azimuth disturbance angular velocity. Image pitch disturbance angular velocity The output is the drive signal PWM1 for the outer frame roll motor 1 and the drive signal PWM2 for the inner frame pitch motor 2.

[0014] The frame angle inverse transformation module converts the motor's real-time roll angle θ 1t Real-time pitch angle θ of the motor 2t Convert to the real-time azimuth angle of the virtual motor in the corresponding base coordinate system Real-time pitch angle of virtual motor

[0015] A further technical solution of the present invention is: it also includes an outer frame slip ring, one end of which is connected to the power supply, the image controller, the power line and signal line of the servo controller, and the other end is connected to the power line and signal line of the inner frame pitch motor, the first code disk, the second code disk, the first gyroscope, the second gyroscope, and the camera, which enables the outer frame roll motor to drive the inner frame, the inner frame pitch motor, the second code disk, the first gyroscope, the second gyroscope, and the camera to rotate continuously in 360°.

[0016] A further technical solution of the present invention is that the gyroscope is selected from single-axis gyroscopes, dual-axis gyroscopes, tri-axis gyroscopes, or inertial measurement instruments.

[0017] A control method for a two-axis, two-frame roll-up / tilt-down configuration photoelectric detection device:

[0018] The display console sends the desired virtual motor azimuth angle in the base coordinate system to the servo controller. And the expected virtual motor pitch angle

[0019] The servo controller will display the virtual motor azimuth angle in the base coordinate system. And virtual motor pitch angle Convert these into the corresponding desired motor roll angle θ1 and desired motor pitch angle θ2.

[0020] The image controller sends the image azimuth deviation angle ε to the servo controller based on the target to be tracked in the image. fw and image pitch deviation angle ε fy ;

[0021] When the servo controller is operating in preset mode, the servo controller responds to the desired virtual motor azimuth angle. And the expected virtual motor pitch angle Real-time roll angle θ of the motor 1t Real-time pitch angle θ of the motor 2t Position control is performed, driving the outer frame roll motor for roll rotation and the inner frame pitch motor for pitch rotation, thereby achieving azimuth and pitch axis direction control of the line-of-sight coordinate system in the base coordinate system; responding to image azimuth disturbance angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter;

[0022] When the servo controller is operating in tracking mode, the servo controller responds to the image orientation deviation angle ε. fw and image pitch deviation angle ε fy Position control is performed, driving the outer frame roll motor to roll and the inner frame pitch motor to pitch, thus achieving the Ox axis of the line-of-sight coordinate system. s Pointing to the target; simultaneously responding to image orientation perturbation angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter;

[0023] The display and control console receives the de-rotated image and the real-time azimuth angle of the virtual motor. Real-time pitch angle of virtual motor

[0024] A further technical solution of the present invention is: the image orientation perturbation angular velocity The image orientation disturbance angular velocity feedback value is obtained by the first gyroscope through real-time measurement of the camera. The sum is then calculated with the desired angular velocity ω1 of the outer frame roll motor to control the outer frame roll motor to complete the speed loop closed loop. The desired angular velocity ω1 of the outer frame roll motor is the desired roll angular velocity of the motor.

[0025] A further technical solution of the present invention is: the outer frame roll motor has a roll minimum angle direction determination function, based on the motor's desired roll angle θ1 and the motor's real-time roll angle θ. 1t The desired roll velocity ω1 of the motor causes the outer frame roll motor to rotate in the direction with the smaller error angle.

[0026] A further technical solution of the present invention is: the image pitch perturbation angular velocity The second gyroscope measures the image pitch disturbance angular velocity in real time from the camera, and the servo controller receives the image pitch disturbance angular velocity feedback value from the second gyroscope. The sum is then calculated with the desired angular velocity ω2 of the inner frame pitch motor to control the inner frame pitch motor and complete the speed loop closure. The desired angular velocity ω2 of the inner frame pitch motor is the desired pitch angular velocity of the motor.

[0027] A further technical solution of the present invention is: the real-time roll angle θ of the motor is...1t The real-time roll angle feedback value θ of the motor from the first code disk is obtained through real-time measurement. 1t And summed with the desired position θ1 of the outer frame roll motor, the outer frame roll motor is controlled to complete the position loop closure. The desired position θ1 of the outer frame roll motor is the desired roll angle of the motor.

[0028] A further technical solution of the present invention is: the real-time pitch angle feedback value θ of the motor obtained by the second code disk is received by the servo controller. 2t The sum of the sum with the desired position θ2 of the inner frame pitch motor is used to control the inner frame pitch motor to complete the position loop closure. The desired position θ2 of the inner frame pitch motor is the desired pitch angle of the motor.

[0029] Beneficial effects

[0030] The beneficial effects of this invention are as follows: This invention designs a control method for a two-axis, two-frame roll-up configuration photoelectric detection device. It uses a gyroscope to measure the angular velocity of the camera and an encoder to measure the angle of the motor. The position and speed control of the two-axis, two-frame roll-up configuration photoelectric detection device are realized through a servo controller and an image controller.

[0031] This method, without designing an optical path structure, achieves the isolation of the azimuth and pitch axes of the base coordinate system by motor speed control and electronic image stabilization when the photoelectric detection device is tracking the target. This keeps the camera pointing in inertial space constant, eliminates image jitter, and maintains a stable image observation effect, which is beneficial for human eyes to observe the image content.

[0032] This method achieves angular control of the lower and upper axes in the base coordinate system through the combined motion of the outer frame roll motor and the inner frame pitch motor. After the electronic image stabilization is turned on, the image remains upright, and the direction of image movement is consistent with the lower and upper axes in the base coordinate system. Compared with rotating images, this method is more in line with the human eye axis pointing operation habit, which is beneficial to the control of the display console operator and the human eye to observe the image content.

[0033] This method has a function to determine the direction of the minimum roll angle, which makes the outer frame roll motor rotate in the direction with the smaller error angle. When controlling the angle, the distance to reach the desired angle is smaller and the time to reach the desired angle is shorter.

[0034] Experiments have verified that this method has strong practicality. Attached Figure Description

[0035] Figure 1 System composition and signal flow diagram;

[0036] Figure 2 Coordinate system transformation diagram;

[0037] Figure 3 Comparison of the line of sight of the roll-pitch motor configuration and the azimuth-pitch motor configuration in the coordinate system;

[0038] Figure 4 The effect of base coordinate system disturbance on the line of sight. Detailed Implementation

[0039] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0040] Based on the requirement that the video output from the display console needs to eliminate image jitter and maintain an upright image for easy human observation during image detection and target tracking, this invention provides a control system and method for a two-axis, two-frame roll-and-tilt optoelectronic detection device. The system includes an inner frame and an outer frame housing a camera, and a power supply. The outer frame is driven by an outer frame roll motor, and a first encoder is mounted on the axis of the outer frame roll motor. The inner frame is driven by an inner frame pitch motor, and a second encoder is mounted on the axis of the inner frame pitch motor. The outer frame roll motor and the inner frame pitch motor are controlled by a servo controller. The camera is connected to a first gyroscope and a second gyroscope, used to measure the angular velocity in the left-right direction and the vertical direction relative to the camera image, respectively. The camera processes photos and images through an image controller and outputs the images to the display console. The images have electronic image stabilization, ensuring they are always upright for easy human observation.

[0041] It also includes an outer frame slip ring, one end of which is connected to the power supply, image controller, and servo controller power lines and signal lines, and the other end is connected to the inner frame pitch motor, first code disk, second code disk, first gyroscope, second gyroscope, and camera power lines and signal lines, enabling the outer frame roll motor to drive the inner frame, inner frame pitch motor, second code disk, first gyroscope, second gyroscope, and camera to rotate continuously 360°.

[0042] Specifically, the display console sends angle commands to the servo controller and image controller; the servo controller performs angle transformation, position loop control, roll direction determination, and speed loop control, and outputs PWM signals to drive the motor to rotate; the encoder measures the real-time angle information of the motor and sends it to the servo controller; the gyroscope measures the real-time angular velocity information of the camera and sends it to the servo controller; the image controller receives the roll angle, performs electronic image stabilization, and outputs image information to the display console, and sends the image deviation to the servo controller when tracking the target.

[0043] The outer frame roll motor has a minimum roll angle direction determination function, based on the motor's desired roll angle θ1 and the motor's real-time roll angle θ. 1t The desired roll velocity ω1 of the motor causes the outer frame roll motor 1 to rotate in the direction with the smaller error angle.

[0044] This system achieves angular control of the lower azimuth axis and pitch axis in the base coordinate system through the compound motion of two-axis roll and pitch motors. The realization of the compound motion requires the establishment of a virtual azimuth coordinate system and a virtual pitch coordinate system that are equivalent to the roll outer frame coordinate system and the pitch inner frame coordinate system, and controls the rotation of the outer frame roll motor and the inner frame pitch motor.

[0045] The control method for the above system is as follows:

[0046] The display console sends the desired virtual motor azimuth angle in the base coordinate system to the servo controller. And the expected virtual motor pitch angle

[0047] The servo controller will display the virtual motor azimuth angle in the base coordinate system. And virtual motor pitch angle Convert these into the corresponding desired motor roll angle θ1 and desired motor pitch angle θ2.

[0048] The image controller sends the image azimuth deviation angle ε to the servo controller based on the target to be tracked in the image. fw and image pitch deviation angle ε fy ;

[0049] When the servo controller is operating in preset mode, the servo controller responds to the desired virtual motor azimuth angle. And the expected virtual motor pitch angle Real-time roll angle θ of the motor 1t Real-time pitch angle θ of the motor 2t Position control is performed, driving the outer frame roll motor for roll rotation and the inner frame pitch motor for pitch rotation, thereby achieving azimuth and pitch axis direction control of the line-of-sight coordinate system in the base coordinate system; responding to image azimuth disturbance angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter;

[0050] When the servo controller is operating in tracking mode, the servo controller responds to the image orientation deviation angle ε. fw and image pitch deviation angle ε fy Position control is performed, driving the outer frame roll motor to roll and the inner frame pitch motor to pitch, thus achieving the Ox axis of the line-of-sight coordinate system. s Pointing to the target; simultaneously responding to image orientation perturbation angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter;

[0051] The display and control console receives the de-rotated image and the real-time azimuth angle of the virtual motor. Real-time pitch angle of virtual motor

[0052] This method, without designing an optical path structure, achieves the isolation of disturbances in the azimuth and pitch axes of the base coordinate system during target tracking by photoelectric detection equipment through motor speed control and electronic image stabilization. This ensures the camera maintains a constant pointing direction in inertial space, eliminates image jitter, and maintains a stable image for better human observation. Isolating the velocity disturbances of the azimuth and pitch axes requires measuring the camera's real-time velocity using a first and second gyroscope fixed to the camera, establishing a velocity feedback loop. The velocity disturbances in the body coordinate system are counteracted by the opposite rotation of the outer frame roll motor and the inner frame pitch motor. The first and second gyroscopes can directly measure camera image disturbances and can also be extended to strapdown photoelectric detection equipment.

[0053] The combined motor control and electronic image stabilization functions enable the same observation effect as the azimuth and pitch configuration to be achieved in the display and control console.

[0054] The above technical solution will be further explained below with reference to the accompanying drawings:

[0055] Reference Figure 1 The system and signal flow diagram shown indicates that the two-axis, two-frame roll-tilt optoelectronic detection device includes a power supply, an image controller, a servo controller, an outer frame, an outer frame roll motor, a first encoder, an outer frame slip ring, an inner frame, an inner frame pitch motor, a second encoder, a first gyroscope, a second gyroscope, and a camera.

[0056] The power supply is used to supply power to the display console, image controller, servo controller, outer frame roll motor, inner frame pitch motor, first gyroscope, second gyroscope, and camera.

[0057] The image controller is used to process the photos and images from the camera and can output the images to the display console for display.

[0058] The image controller sends the image orientation deviation angle ε to the servo controller based on the target to be tracked in the image. fw and image pitch deviation angle ε fy .

[0059] The servo controller has two operating modes: preset mode and tracking mode.

[0060] The servo controller operates in a preset mode, responding to the motor's desired roll angle θ1, desired pitch angle θ2, and real-time roll angle θ. 1t Real-time pitch angle θ of the motor 2t It performs angle conversion, position control, and speed control to drive the outer frame roll motor and the inner frame pitch motor to rotate.

[0061] The servo controller operates at the azimuth deviation angle ε of the tracking mode response image. fw and image pitch deviation angle ε fy Position and speed control are performed to drive the outer frame roll motor and the inner frame pitch motor to rotate.

[0062] The outer frame roll motor receives the PWM1 signal from the servo controller and drives the outer frame to rotate, which in turn drives the outer frame, inner frame, inner frame pitch motor, second code disk, first gyroscope, second gyroscope, and camera.

[0063] One end of the outer frame slip ring is connected to the power supply, image controller, servo controller power lines and signal lines, and the other end is connected to the power supply and signal lines of the motor, first code disk, second code disk, first gyroscope, second gyroscope, and camera. The outer frame slip ring can enable the outer frame roll motor to drive the inner frame, inner frame pitch motor, second code disk, first gyroscope, second gyroscope, and camera to rotate continuously in 360°.

[0064] The inner frame pitch motor receives the PWM2 signal from the servo controller and drives the inner frame to rotate the first gyroscope, the second gyroscope, and the camera.

[0065] The first gyroscope is fixedly connected to the camera, and its signal line is connected to the servo controller. It is used to measure the angular velocity in the left-right direction relative to the camera image, and to convert the measured angular velocity caused by disturbances into the measured angular velocity. The speed loop feedback value of the outer frame roll motor is also known as the image orientation disturbance angular velocity.

[0066] The second gyroscope is fixedly connected to the camera, and its signal line is connected to the servo controller. It is used to measure the angular velocity in the vertical direction relative to the camera image, and to convert the measured angular velocity caused by disturbances into the signal. The speed loop feedback value of the inner frame pitch motor is also known as the image pitch disturbance angular velocity.

[0067] The first encoder is fixedly connected to the shaft of the outer frame roll motor 1, and the signal line is connected to the servo controller for measuring the real-time angle θ of the outer frame roll motor 1. 1t Also known as the motor's real-time roll angle.

[0068] The second encoder is fixedly connected to the inner frame pitch motor shaft, and its signal line is connected to the servo controller to measure the real-time angle θ of the inner frame pitch motor. 2t Also known as the motor's real-time pitch angle.

[0069] The camera can take pictures or record videos. The signal line is connected to the image controller to transmit the detected image information to the image controller.

[0070] The servo controller receives the image orientation disturbance angular velocity feedback value from the first gyroscope. The summation with the desired angular velocity ω1 of the outer frame roll motor controls the outer frame roll motor to complete the speed loop closed loop. The desired angular velocity ω1 of the outer frame roll motor is also called the desired roll angular velocity of the motor.

[0071] The servo controller receives the image pitch disturbance angular velocity feedback value from the second gyroscope. The desired angular velocity ω2 of the inner frame pitch motor is summed with the desired angular velocity ω2 of the inner frame pitch motor to control the inner frame pitch motor and complete the speed loop closed loop. The desired angular velocity ω2 of the inner frame pitch motor is also called the desired pitch angular velocity of the motor.

[0072] The servo controller receives the real-time roll angle feedback value θ of the motor from the first code disk. 1t The summation with the desired position θ1 of the outer frame roll motor controls the outer frame roll motor to complete the position loop closure. The desired position θ1 of the outer frame roll motor is also called the desired roll angle of the motor.

[0073] The servo controller receives the real-time pitch angle feedback value θ from the motor on the second encoder. 2t The desired position θ2 of the inner frame pitch motor is summed with the desired position θ2 of the inner frame pitch motor to control the inner frame pitch motor and complete the position loop closure. The desired position θ2 of the inner frame pitch motor is also called the desired pitch angle of the motor.

[0074] Reference Figure 2 The diagram shows the coordinate system relationship of the roll-up configuration photoelectric detection device, and the base coordinate system Ox of the roll-up configuration photoelectric detection device. b y b z b The origin is taken at the missile's center of mass, and the axis is Ox. b Aligned with the longitudinal axis of the projectile, pointing towards the projectile's nose is positive; the base coordinate system axis Oy of the roll-up configuration photoelectric detection equipment. b Within the longitudinal symmetry plane of the projectile, and Ox b Vertical, pointing upwards is positive, Oz b According to Ox b With Oy b The right-hand screw rule applies.

[0075] The roll-outline coordinate system Ox of the roll-up configuration photoelectric detection equipment w y w z w It is based on the base coordinate system Ox b y b z b Orbital Ox b The angle θ1 is obtained by rotation, where θ1 is the angle of the outer frame of the photoelectric detection device, that is, the angle of the outer frame roll motor, also known as the motor roll angle.

[0076] The pitch coordinate system Ox of the roll-up configuration photoelectric detection equipment n y n z n It is based on the roll outer frame coordinate system Oxw y w z w Orbital Oy w The angle θ2 is obtained by rotation, where θ2 is the inner frame angle of the photoelectric detection device, that is, the angle of the inner frame pitch motor, also known as the motor pitch angle.

[0077] Virtual azimuth coordinate system of roll-up configuration photoelectric detection equipment It is based on the base coordinate system Ox b y b z b Orbital Oy b Rotation angle Received, among which This refers to the virtual outer frame orientation angle, also known as the virtual motor orientation angle.

[0078] Virtual pitch coordinate system of roll-up configuration photoelectric detection equipment It is a virtual orientation coordinate system Around the axis Rotation angle Received, among which This is the virtual inner frame pitch angle, also known as the virtual motor pitch angle.

[0079] The base coordinate system Ox of the roll-up configuration photoelectric detection equipment b y b z b Orbital Ox b Rotate by an angle θ1, then roll around the outer frame coordinate system Ox w y w z w Orbital Oy w The pitch inner frame coordinate system Ox obtained by rotating the angle θ2 n y n z n With the base coordinate system Ox of the roll-up configuration photoelectric detection equipment b y b z b Orbital Oy b Rotation angle Then orbit around the virtual orientation coordinate system Around the axis Rotation angle The coordinate systems coincide, as shown in the coordinate system relationship diagram.

[0080] The line-of-sight coordinate system Ox of the roll-up configuration photoelectric detection equipment s y s z s It is based on the pitch inner frame coordinate system Ox n y n z n First around Oy n The axis rotates through the image orientation deviation angle εfw Then rotate the image pitch deviation angle ε around the z-axis of the current coordinate system. fy get.

[0081] The servo controller will control the roll angle θ of the outer frame roll motor in real time. 1t The output is sent to the image controller, which then sets the camera image according to θ. 1t Perform reverse rotation and send the derotated image to the display console.

[0082] To improve human-computer interaction comfort and conform to human visual axis pointing operation habits, the display console sends the desired virtual motor azimuth angle in the base coordinate system to the servo controller. And the expected virtual motor pitch angle The servo controller controls the outer frame roll motor 1 to rotate at the desired roll angle θ1, and the inner frame pitch motor 2 to rotate at the desired pitch angle θ2, pointing to the desired position; the display console receives the de-rotated image and the real-time azimuth angle of the virtual motors. Real-time pitch angle of virtual motor

[0083] Reference Figure 1 As shown, the software calculation modules in the servo controller include a frame angle forward transformation module, a motor position control module, a roll rotation minimum angle direction determination module, a motor speed control module, and a frame angle inverse transformation module.

[0084] The frame angle positive transformation module transforms the virtual motor azimuth angle in the base coordinate system. And virtual motor pitch angle Convert these to the corresponding desired motor roll angle θ1 and desired motor pitch angle θ2.

[0085] The motor position control module completes the position loop control of the outer frame roll motor 1 and the inner frame pitch motor. The inputs are the desired roll angle θ1, the desired pitch angle θ2, and the real-time roll angle θ. 1t Real-time pitch angle θ of the motor 2t Image azimuth deviation angle ε fw and image pitch deviation angle ε fy The outputs are the motor's desired roll rate ω1 and the motor's desired pitch rate ω2.

[0086] The outer frame roll motor rotates towards the desired roll angle θ1 of the desired outer frame roll motor, based on the principle of minimizing the roll rotation angle. The minimum roll rotation angle direction determination module is input with the desired roll angle θ1 and the real-time roll angle θ. 1t The desired roll rate of the motor is ω1, and the output desired roll rate of the motor is ±ω1.

[0087] The motor speed control module performs speed loop control of the outer frame roll motor and the inner frame pitch motor. The inputs are the desired roll angular velocity ω1, the desired pitch angular velocity ω2, and the image azimuth disturbance angular velocity. Image pitch disturbance angular velocity The output is the drive signal PWM1 for the outer frame roll motor 1 and the drive signal PWM2 for the inner frame pitch motor.

[0088] The frame angle inverse transformation module converts the motor's real-time roll angle θ 1t Real-time pitch angle θ of the motor 2t Convert to the real-time azimuth angle of the virtual motor in the corresponding base coordinate system Real-time pitch angle of virtual motor

[0089] Reference Figure 4 As shown, the base coordinate system Ox of the roll-up configuration photoelectric detection device. b y b z b Axis Oy b There is a disturbance in the azimuth angular velocity of the base coordinate system. Axis Oz b There is a pitch angular velocity disturbance in the base coordinate system. Axis Ox b There is a pitch angular velocity disturbance in the base coordinate system. The first gyroscope then became sensitive to the angular velocity of the camera image's orientation disturbance. The second gyroscope 1 then becomes sensitive to the pitch disturbance angular velocity of the camera image.

[0090] When the servo controller is operating in tracking mode, the servo controller responds to the image orientation deviation angle ε. fw and image pitch deviation angle ε fy Position control is performed, driving the outer frame roll motor to roll and the inner frame pitch motor to pitch, thus achieving the Ox axis of the line-of-sight coordinate system. s Pointing to the target while responding to image orientation perturbation angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter.

[0091] When the servo controller is operating in preset mode, the servo controller responds to the desired virtual motor azimuth angle. And the expected virtual motor pitch angle Real-time roll angle θ of the motor 1t Real-time pitch angle θ of the motor 2t Position control is performed, driving the outer frame roll motor 1 to roll and the inner frame motor 1 to pitch, thereby controlling the azimuth and pitch axes of the line-of-sight coordinate system in the base coordinate system, and responding to image azimuth disturbance angular velocity. and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter.

[0092] When the servo controller is operating in preset mode or tracking mode, the image controller activates electronic image stabilization and responds to the motor's real-time roll angle θ. 1t Image despinning is performed to ensure the image remains upright, making it easier for the human eye to observe image information.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A control system for a two-axis, two-frame roll-up / tilt-down photoelectric detection device, comprising an inner frame and an outer frame housing a camera, and a power supply; characterized in that: The outer frame is driven by an outer frame roll motor, and a first encoder is mounted on the shaft of the outer frame roll motor; the inner frame is driven by an inner frame pitch motor, and a second encoder is mounted on the shaft of the inner frame pitch motor; the outer frame roll motor and the inner frame pitch motor are controlled by a servo controller. The camera is connected to a first gyroscope and a second gyroscope, which are used to measure the angular velocity in the left-right direction and the angular velocity in the up-down direction relative to the camera image, respectively; the camera processes the photos and images through the image controller and outputs the images to the display console for display. The display console sends angle commands to the servo controller and image controller; the servo controller performs angle transformation, position loop control, roll direction determination, and speed loop control, and outputs... The signal drives the motor to rotate; the encoder measures the motor's real-time angle information and sends it to the servo controller; the gyroscope measures the camera's real-time angular velocity information and sends it to the servo controller; the image controller receives the roll angle, performs electronic image stabilization, and outputs image information to the display console, and sends the image deviation to the servo controller when tracking the target; The servo controller includes a frame angle forward transformation module, a motor position control module, a roll rotation minimum angle direction determination module, a motor speed control module, and a frame angle inverse transformation module. The frame angle positive transformation module transforms the virtual motor azimuth angle in the base coordinate system. And virtual motor pitch angle Converted to the corresponding desired motor roll angle motor desired pitch angle ; The motor position control module completes the position loop control of the outer frame roll motor and the inner frame pitch motor, with the input being the desired roll angle of the motor. Desired pitch angle of the motor Real-time roll angle of the motor Real-time pitch angle of the motor Image azimuth deviation angle and image pitch deviation angle The output is the desired roll rate of the motor. The motor's desired pitch angular velocity ; The roll rotation minimum angle direction determination module causes the outer frame roll motor to rotate in the direction of minimum error angle. The outer frame roll motor rotates towards the desired roll angle based on the principle of minimum roll rotation angle. The minimum roll angle direction determination module inputs the desired roll angle of the motor. Real-time roll angle of the motor Desired roll rate of the motor The desired roll rate of the output motor ; The motor speed control module completes the speed loop control of the outer frame roll motor and the inner frame pitch motor, with the input being the desired roll angular velocity of the motor. Desired pitch rate of the motor Image orientation perturbation angular velocity Image pitch perturbation angular velocity The output is the drive signal for the outer frame roll motor. Drive signal of the inner frame pitch motor ; The frame angle inverse transformation module converts the motor's real-time roll angle. Real-time pitch angle of the motor Convert to the real-time azimuth angle of the virtual motor in the corresponding base coordinate system Real-time pitch angle of virtual motor .

2. The control system for a two-axis, two-frame roll-up / tilt configuration photoelectric detection device according to claim 1, characterized in that: It also includes an outer frame slip ring, one end of which is connected to the power supply, image controller, and servo controller power lines and signal lines, and the other end is connected to the inner frame pitch motor, first code disk, second code disk, first gyroscope, second gyroscope, and camera power lines and signal lines, enabling the outer frame roll motor to drive the inner frame, inner frame pitch motor, second code disk, first gyroscope, second gyroscope, and camera to rotate continuously 360°.

3. The control system for a two-axis, two-frame roll-up / tilt configuration photoelectric detection device according to claim 1, characterized in that: The gyroscope may be a single-axis gyroscope, a dual-axis gyroscope, a tri-axis gyroscope, or an inertial measurement instrument.

4. A control method for a control system of a two-axis, two-frame roll-up / tilt-down configuration photoelectric detection device as described in any one of claims 1-3, characterized in that: The display console sends the desired virtual motor azimuth angle in the base coordinate system to the servo controller. And the expected virtual motor pitch angle ; The servo controller will display the virtual motor azimuth angle in the base coordinate system. And virtual motor pitch angle Converted to the corresponding desired motor roll angle motor desired pitch angle ; The image controller sends the image azimuth deviation angle to the servo controller based on the target to be tracked in the image. and image pitch deviation angle ; When the servo controller is operating in preset mode, the servo controller responds to the desired virtual motor azimuth angle. And the expected virtual motor pitch angle Real-time roll angle of the motor Real-time pitch angle of the motor Position control is performed, driving the outer frame roll motor for roll rotation and the inner frame pitch motor for pitch rotation, thereby achieving azimuth and pitch axis direction control of the line-of-sight coordinate system in the base coordinate system; responding to image azimuth disturbance angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter; When the servo controller is operating in tracking mode, the servo controller responds to the image orientation deviation angle. and image pitch deviation angle Position control is performed, driving the outer frame roll motor to roll and the inner frame pitch motor to pitch, thus achieving the alignment of the line-of-sight coordinate system. Pointing to the target; simultaneously responding to image orientation perturbation angular velocity and image pitch perturbation angular velocity Speed ​​control is used to eliminate image jitter; The display and control console receives the de-rotated image and the real-time azimuth angle of the virtual motor. Real-time pitch angle of virtual motor .

5. The control method according to claim 4, characterized in that: The image orientation perturbation angular velocity The image orientation disturbance angular velocity feedback value is obtained by the first gyroscope through real-time measurement of the camera. and the desired angular velocity of the outer frame roll motor. Summation is performed to control the outer frame roll motor to complete the speed loop closed loop, and the desired angular velocity of the outer frame roll motor is obtained. That is, the expected roll rate of the motor.

6. The control method according to claim 5, characterized in that: The outer frame roll motor has a minimum roll angle direction determination function, based on the motor's desired roll angle. Real-time roll angle of the motor Desired roll rate of the motor The outer frame roll motor rotates in the direction with the smallest error angle.

7. The control method according to claim 6, characterized in that: The image pitch perturbation angular velocity The second gyroscope measures the image pitch disturbance angular velocity in real time from the camera, and the servo controller receives the image pitch disturbance angular velocity feedback value from the second gyroscope. and the desired angular velocity of the inner frame pitch motor Summation is performed to control the inner frame pitch motor to complete the speed loop closed loop, and the desired angular velocity of the inner frame pitch motor is obtained. That is, the motor's desired pitch angular velocity.

8. The control method according to claim 7, characterized in that: The motor's real-time roll angle The real-time roll angle feedback value of the motor is obtained by the first code disk and received by the servo controller. and the desired position of the outer frame roll motor. Summation, controlling the outer frame roll motor to complete the position loop closure, the desired position of the outer frame roll motor. That is, the expected roll angle of the motor.

9. The control method according to claim 8, characterized in that: The motor's real-time pitch angle The servo controller receives the real-time pitch angle feedback value of the motor from the second code disk, which is measured in real time by the second code disk. and the desired position of the inner frame pitch motor. Summation, controlling the inner frame pitch motor to complete the position loop closure, the inner frame pitch motor desired position That is, the desired pitch angle of the motor.

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