Active stabilization method and active stabilization system

Abstract

The present application provides an active stabilization method and an active stabilization system. The active stabilization method is suitable for reducing the impact of vibration on a three-dimensional printing device, wherein at least one sensor and at least one compensator are installed on the three-dimensional printing device, and the active stabilization method comprises: collecting a vibration signal of the sensor in a first time period, transforming the vibration signal into a frequency domain to obtain a first signal, wherein the first signal comprises n frequencies, and n is a positive integer; obtaining the signal strength corresponding to each frequency in the first signal, and obtaining a plurality of second signals with higher signal strengths in all frequencies, wherein the energy proportion of the plurality of second signals compared to the first signal is between 80% and 95%; outputting a compensation signal through the compensator, wherein the total energy of the compensation signal is the same as the total energy of the second signal, and the phase of the compensation signal differs from the phase of the second signal by 180°.

Description

Technical Field

[0001] The present application mainly relates to the field of three-dimensional printing, and in particular to an active stabilization method and an active stabilization system. Background Art

[0002] At present, the molding methods of 3D printing technology are still evolving, and the materials used are also diverse. Among various molding methods, photocuring is a relatively mature method. Photocuring uses the principle that photocurable resin is cured after being irradiated with ultraviolet light to perform material cumulative molding. It has the characteristics of high molding accuracy, good surface finish, and high material utilization rate. Compared with ordinary 3D printing technology, sub-pixel micro-scanning technology can obtain a light spot with a minimum diameter of up to 500nm. The printing accuracy is improved by controlling the position and brightness of the light spot, and no splicing is required. However, at the same time, tiny vibrations will have a greater impact on the accuracy of sub-pixel micro-scanning. However, in the process of 3D printing, vibrations inside the equipment and the environment are often difficult to avoid. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide an active stabilization method and an active stabilization system capable of reducing the influence of internal device and environmental vibration on sub-pixel micro-scanning three-dimensional printing.

[0004] In order to solve the above technical problems, the present application provides an active stabilization method, which is suitable for reducing the influence of vibration on a three-dimensional printing device. The three-dimensional printing device is equipped with at least one sensor and at least one compensator. The active stabilization method comprises the following steps:

[0005] Collecting a vibration signal of the sensor in a first time period, and transforming the vibration signal into a frequency domain to obtain a first signal, wherein the first signal includes n frequencies, where n is a positive integer;

[0006] Obtaining the signal strength of each frequency corresponding to the first signal, and obtaining a plurality of second signals having higher signal strengths in all frequencies, wherein the energy proportion of the plurality of second signals is between 80% and 95% of that of the first signal;

[0007] The compensator outputs a compensation signal, the total energy of the compensation signal is the same as the total energy of the second signal, and the phase of the compensation signal differs from the phase of the second signal by 180°.

[0008] In one embodiment of the present application, the frequency response range of the sensor is 10~22KHz.

[0009] In one embodiment of the present application, the sampling rate of the sensor is greater than or equal to 44KHz.

[0010] In an embodiment of the present application, the dynamic range of the sensor is greater than or equal to 90 dB.

[0011] In an embodiment of the present application, the length of the first time period is 500-1500 ms.

[0012] In order to solve the above technical problems, the present application also proposes an active stabilization system, which is suitable for reducing the impact of vibration on three-dimensional printing equipment and suitable for executing the active stabilization method as described above. The active stabilization system includes: a light source, suitable for emitting parallel light; a lens, mounted on the light source through a lens base; a vibration plate, arranged between the lens and the light source; a window glass, through which the parallel light emitted by the light source is suitable for passing through the window glass to solidify the printing material; and at least one sensor and at least one compensator.

[0013] In one embodiment of the present application, the sensor and the compensator are respectively mounted on the vibration plate, the lens base and the window glass.

[0014] In an embodiment of the present application, the at least one sensor and the at least one compensator are located adjacent to each other.

[0015] In one embodiment of the present application, the at least one sensor and the at least one compensator are integrated.

[0016] In one embodiment of the present application, an air-floating vibration isolation platform is further included, and the light source and the window glass are located on the air-floating vibration isolation platform.

[0017] The active stabilization method and active stabilization system provided in the present application set sensors and compensators in the three-dimensional printing equipment. The sensors are used to collect vibration signals in real time, and the compensators are used to output compensation signals in real time. The three-dimensional printing equipment can be compensated for in real time, reducing or even eliminating the impact of internal and environmental vibrations of the equipment on three-dimensional printing, so that the sub-pixel micro-scanning spot and the imaging plane remain relatively still, thereby improving the resolution and accuracy of high-precision micro-nano three-dimensional printing imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:

[0019] Figure 1 is a flow chart of an active stabilization method according to an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of an active stabilization system according to an embodiment of the present application;

[0021] Figure 3is a schematic diagram of an active stabilization system according to another embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0023] As shown in this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0024] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0025] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0026] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0027] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0028] It should be understood that when a component is referred to as being "on another component," "connected to another component," "coupled to another component," or "contacting another component," it may be directly on, connected to, coupled to, or contacting the other component, or there may be intervening components. In contrast, when a component is referred to as being "directly on another component," "directly connected to," "directly coupled to," or "directly contacting" another component, there are no intervening components. Similarly, when a first component is referred to as being "electrically in contact with" or "electrically coupled to" a second component, there is an electrical path between the first component and the second component that allows current to flow. The electrical path may include capacitors, coupled inductors, and / or other components that allow current to flow, even without direct contact between conductive components.

[0029] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0030] Figure 1 is a flow chart of an active stabilization method according to an embodiment of the present application. Figure 1 As shown, the present application provides an active stabilization method, which is suitable for reducing the influence of vibration on a three-dimensional printing device. The three-dimensional printing device is equipped with at least one sensor and at least one compensator. The active stabilization method includes the following steps:

[0031] Step S11: collecting a vibration signal of the sensor in a first time period, and transforming the vibration signal into a frequency domain to obtain a first signal, wherein the first signal includes n frequencies, and n is a positive integer;

[0032] Step S12: obtaining the signal strength corresponding to each frequency in the first signal, and obtaining a plurality of second signals with higher signal strength in all frequencies, wherein the energy proportion of the plurality of second signals is 80% to 95% of that of the first signal;

[0033] Step S13: outputting a compensation signal through the compensator, the total energy of the compensation signal is the same as the total energy of the second signal, and the phase of the compensation signal is 180° different from the phase of the second signal.

[0034] Figure 2 Schematic diagram of an active stabilization system according to an embodiment of the present application. Figure 2 As shown, the active stabilization system 20 includes a light source 21, a vibration plate 22, a lens 23, a lens base 24 and a window glass 25. The light source 21 is suitable for emitting parallel light, and the parallel light is suitable for passing through the window glass 25 to solidify the printing material placed under the window glass 25 to form a model. The printing material can be a light-curing material, such as a liquid photosensitive resin. The vibration plate 22 is mounted on the light source 21 through the lens 23, and the lens base 24 is arranged between the vibration plate 22 and the light source 21. A sensor 26 and a compensator 27 are arranged on the vibration plate 22. Figure 2 The figure is only an example, and the specific number and location of the sensor 26 and the compensator 27 are not limited. Figure 2 The active stabilization system 20 shown in the figure is used to perform the active stabilization method of the present application, but is not limited thereto. Figure 2 The above-mentioned steps S11 to S13 are explained.

[0035] In some embodiments, the active stabilization method of the present application is applicable to a three-dimensional printing device that uses sub-pixel micro-scanning technology. Compared with ordinary three-dimensional printing technology, sub-pixel micro-scanning technology can obtain a light spot with a minimum diameter of up to 500nm, and improve the printing accuracy by controlling the position and brightness of the light spot, and no splicing is required. Sub-pixel micro-scanning technology uses liquid crystal projection technology and involves a surface array image source. The liquid crystal panel contains many pixels, and each pixel can individually control the polarization direction of polarized light. In conjunction with the polarizers on both sides of the liquid crystal panel, it can control whether the light of a certain pixel passes through. For sub-pixel micro-scanning technology, please refer to the Chinese patent with publication number CN104669619A. All the contents of this patent can be used to illustrate the sub-pixel micro-scanning technology in this application. Figure 2 In the embodiment, the vibrating disk 22 is used for sub-pixel micro scanning technology.

[0036] During the 3D printing process, vibrations inside the device and in the environment are often difficult to avoid. Sub-pixel micro-scanning technology is highly sensitive, and tiny vibrations will have a significant impact on the accuracy of sub-pixel micro-scanning. To address this issue, the active stabilization method provided in this application is provided with at least one sensor 26 and at least one compensator 27 installed on the device, wherein a plurality of sensors 26 are suitable for collecting vibration signals from various parts of the device, and the compensator 27 is suitable for outputting compensation signals, which are used to offset the vibrations caused by the vibration signals, thereby compensating for the vibrations inside the device and in the environment, thereby reducing or even offsetting the effects of vibrations.

[0037] In some embodiments, the sensor 26 is a sensor capable of detecting vibration, such as but not limited to a piezoelectric acceleration sensor, etc. The compensator 27 may be a vibration generator for generating physical vibrations. For example, the compensator 27 is a vibration generator composed of a coil and an electromagnet.

[0038] In some embodiments, the sensors 26 and the compensators 27 are arranged in a one-to-one correspondence. Figure 2 As shown, the sensor 26 and the compensator 27 are arranged adjacent to each other, and the two are in contact with each other. The vibration signal generated by the compensator 27 can act on the sensor 26 and the vibration plate 22 at the same time, and then act on the entire three-dimensional printing device. In other embodiments, the sensor 26 and the compensator 27 are independent of each other and do not contact each other. However, the corresponding positions of the sensor 26 and the compensator 27 are adjacent and as close as possible to ensure the accuracy of compensation.

[0039] In step S11, the vibration signal V1 of the sensor 26 in the first time period T1 is first collected. The vibration signal V1 is suitable for indicating the vibration condition of the position where the sensor 26 is located in the first time period T1, that is, the object to be compensated. It should be noted that the vibration can come from the external environment or from the device itself.

[0040] After the vibration signal V1 of each sensor 26 is collected in step S11, it is necessary to perform time-frequency transformation on the vibration signal V1 to obtain its corresponding frequency domain signal, that is, the first signal S1. In some embodiments, the method of time-frequency transformation is fast Fourier transform (FFT). In other embodiments, other commonly used time-frequency transformation methods can also be used. It can be understood that the vibration signal V1 is a time domain signal, the first signal S1 is a frequency domain signal, and the first signal S1 includes n frequencies, where n is a positive integer. In some embodiments, n is 1 / 2 of the sampling frequency of FFT.

[0041] In one embodiment of the present application, the length of the first time period T1 is 500~1500ms, preferably 1000ms. It is understandable that in the actual three-dimensional printing process, environmental vibrations usually come from other surrounding devices, so they are usually in a steady state and do not change frequently. Even if the compensation of the active stabilization method has a certain lag, it can achieve an effect close to real-time compensation. However, when the acquisition time is too long, the effect of compensating for vibrations may be weakened. The inventors of the present application have found through experiments that the length of the first time period T1 is within 500~1500ms, which can avoid the problem of weakening the effect of compensating for vibrations due to excessive time.

[0042] Further, in step S12, the signal strength corresponding to each frequency in the first signal S1 is obtained, and a plurality of second signals S2 with higher signal strength in all frequencies are obtained, wherein the energy proportion of the plurality of second signals S2 compared to the first signal S1 is 80% to 95%. It should be noted that in the frequency domain, the signal strength of each frequency corresponds to a point on the spectrum curve. If the main frequency of the first signal S1 is f1, the signal strength corresponding to f1 should have the largest peak value.

[0043] For example, suppose that on the spectrum curve of the first signal S1, the horizontal axis is frequency and the vertical axis is signal strength. Each of the n frequencies corresponds to a signal strength. If some signal strengths are strong, the curve has obvious peaks, and if some signal strengths are weak, the curve is relatively flat. In order to obtain multiple (assuming there are m) second signals S2 with higher signal strengths among all frequencies, you can first sort the signal strengths corresponding to each frequency from large to small, and then extract the first m signal strengths. Assuming that the sum of the signal strengths of n frequencies is S1, and the sum of the m higher signal strengths is S2, then S2 / S1=0.8~0.95, that is, the energy share of the second signal S2 compared to the first signal S1 is 80%~95%.

[0044] In other embodiments, the sorting method may also be from small to large, and then the last m signal strengths are taken.

[0045] In some embodiments, the energy proportion is taken as 95%, the sum of the first m signal strengths is greater than or equal to 0.95 times S1, and the sum of the 1st to m-1th signal strengths is less than 0.95 times S1.

[0046] Through step S12, the frequencies that mainly contribute to the vibration are screened out, and multiple second signals corresponding to these frequencies are obtained. Compared with using all the first signals S1 for compensation, screening out the second signals S2 can not only meet the compensation needs, but also save computing power and reduce costs.

[0047] In step S13, the compensation signal C1 is outputted by the compensator 27. The total energy of the compensation signal C1 is the same as the total energy of the second signal S2, and the phase of the compensation signal C1 is 180° different from the phase of the second signal S2. Due to the same energy and opposite phase, the compensation signal C1 can effectively compensate for the main vibration component represented by the second signal S2, thereby achieving the technical effect of reducing or even canceling the vibration inside the device and the environment.

[0048] In some embodiments, the method for obtaining the compensation signal C1 includes: processing the first signal S1, setting the signal strengths corresponding to the frequencies other than the frequency of the second signal S2 screened out in step S12 to 0, and transforming the processed first signal S1 from the frequency domain to the time domain, for example, performing an inverse Fourier transform (IFFT), to obtain the compensation signal C1.

[0049] According to the above steps S11 to S13, the vibration effect of the 3D printing device can be effectively weakened or even offset, thereby ensuring the accuracy of the 3D printing.

[0050] In one embodiment of the present application, the frequency response range of the sensor 26 is 10-22KHz, the sampling rate of the sensor 26 is greater than or equal to 44KHz, and the dynamic range of the sensor 26 is greater than or equal to 90dB. The larger the frequency response range and the sampling rate of the sensor 26, the more accurate the compensation result, which can be set by the staff according to actual needs, and the present application does not make any specific restrictions here.

[0051] Figure 3 FIG. 2 is a schematic diagram of an active stabilization system 20 according to another embodiment of the present invention. Figure 2 and Figure 3 , the same number is used to represent the same structure, so Figure 3 For other structures in Figure 2 The relevant description content will not be repeated here. Figure 3 As shown, in this embodiment, the sensor and the compensator are integrated into a component 31. The component 31 is suitable for being placed on a device or part that is sensitive to vibration.

[0052] exist Figure 3 In the illustrated embodiment, components 31 are respectively mounted on the vibration plate 22, the lens base 24 and the window glass 25, and each component 31 includes a sensor and a compensator. In actual production operations, the positions of the vibration plate 22, the lens base 24 and the window glass 25 may be affected by the vibration inside the device and the environment, and the vibration signals may be different at different positions, so they need to be compensated separately.

[0053] In one embodiment of the present application, the active stabilization system further includes an air-floating isolation platform, which has the function of isolating vibrations. The light source 21 and the window glass 25 are both located on the air-floating isolation platform, thereby playing a certain role in isolating vibrations.

[0054] The active stabilization method and active stabilization system provided in the present application can compensate for the vibration of the three-dimensional printing device in real time by setting sensors and compensators in the three-dimensional printing device, reduce or even eliminate the impact of internal and environmental vibrations of the device on three-dimensional printing, keep the sub-pixel micro-scanning spot and the imaging plane relatively still, and improve the resolution and accuracy of high-precision micro-nano three-dimensional printing imaging.

[0055] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0056] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present application may be represented as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).

[0057] A computer-readable medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on the computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.

[0058] Similarly, it should be noted that in order to simplify the description disclosed in this application and thus facilitate the understanding of one or more embodiments, in the above description of the embodiments of this application, multiple features are sometimes combined into one embodiment, figure or description thereof. However, in fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0059] In some embodiments, the numbers describing the number of components and attributes are used. It should be understood that such numbers used for the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers allow a change of ±20%. Accordingly, in some embodiments, the numerical parameters used in the present application are all approximate values, which can be changed according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of general digit retention. Although the numerical domains and parameters used to confirm the breadth of the range in some embodiments of the present application are approximate values, in a specific embodiment, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0060] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions may be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the essential spirit of the present application, they will fall within the scope of the present application.

Claims

1. An active stabilization method suitable for reducing the impact of vibration on a three-dimensional printing device, characterized in that: The three-dimensional printing device is equipped with at least one sensor and at least one compensator, and the active stabilization method comprises the following steps: Collecting a vibration signal of the sensor in a first time period, and transforming the vibration signal into a frequency domain to obtain a first signal, wherein the first signal includes n frequencies, where n is a positive integer; Obtaining the signal strength of each frequency corresponding to the first signal, and obtaining a plurality of second signals having higher signal strengths in all frequencies, wherein the energy proportion of the plurality of second signals is between 80% and 95% of that of the first signal; The compensator outputs a compensation signal, wherein the total energy of the compensation signal is the same as the total energy of the second signal, and the phase of the compensation signal is 180° different from the phase of the second signal, wherein the compensation signal is obtained by the following method: The first signal is processed, signal strengths corresponding to the frequencies of the first signal except the second signal are set to 0, and the processed first signal is transformed from the frequency domain to the time domain to obtain the compensation signal.

2. The active stabilization method according to claim 1, characterized in that: The frequency response range of the sensor is 10~22KHz.

3. The active stabilization method according to claim 1, characterized in that: The sampling rate of the sensor is greater than or equal to 44KHz.

4. The active stabilization method according to claim 1, characterized in that: The dynamic range of the sensor is greater than or equal to 90 dB.

5. The active stabilization method according to claim 1, characterized in that: The length of the first time period is 500-1500 ms.

6. An active stabilization system suitable for reducing the impact of vibration on a three-dimensional printing device, characterized in that: Suitable for executing the active stabilization method according to any one of claims 1 to 5, the active stabilization system comprising: A light source, suitable for emitting parallel rays of light; A lens, mounted on the light source via a lens base; A vibration plate, disposed between the lens and the light source; A window glass, through which the parallel light emitted by the light source is suitable for curing the printed material; and At least one sensor and at least one compensator.

7. The active stabilization system according to claim 6, characterized in that: The sensor and the compensator are respectively mounted on the vibration plate, the lens base and the window glass.

8. The active stabilization system according to claim 6, characterized in that: The at least one sensor and the at least one compensator are located adjacent to each other.

9. The active stabilization system according to claim 6, characterized in that: The at least one sensor and the at least one compensator are of integrated design.

10. The active stabilization system according to claim 6, characterized in that: It also includes an air-floating vibration-isolating platform, on which the light source and the window glass are located.

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