Single-photon laser ranging stabilization system

Abstract

The invention discloses a single-photon laser ranging stabilization system. The system comprises a mounting base; the laser transceiving system is arranged on the mounting base; the detection element is used for detecting the deflection angle of the laser transceiving system; the electromagnetic brake comprises a connecting end used for being fixed to the aerial carrier platform and a braking end connected to the mounting base, the connecting end and the braking end are oppositely arranged and can rotate relatively, and part of the position of the connecting end is electrified to control the corresponding part of the braking end to rotate so as to generate correction force opposite to the deflection angle; the control element is in signal connection with the detection element and the electromagnetic brake and used for controlling the connecting end according to detection information of the detection element. The laser ranging stabilizing system can compensate the attitude change of the mobile platform, ensure the stability of a single-photon ranging system under the condition of the mobile platform, and ensure the stability and accuracy of long-distance laser ranging.

Description

Technical Field

[0001] The invention relates to the technical field of laser ranging, and more specifically to a single-photon laser ranging stabilization system. Background Art

[0002] Laser ranging is a technology that measures distance based on the principle of laser pulse emission and echo reception. Single-photon laser ranging, as a way of laser ranging using photon technology, can achieve long-distance and rapid ranging and has a wide range of applications in industrial production.

[0003] In specific applications, the single-photon ranging system needs to maintain stable measurement of the measurement target for a long time, but the platform of actual application may be a moving platform, that is, a platform where the carrier's attitude is constantly changing. The state of the ranging system under such a moving platform is also unstable, and it is impossible to achieve long-distance stable measurement of the target.

[0004] In summary, how to ensure stable measurement of a single-photon ranging system under a moving platform is a problem that currently needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a single-photon laser ranging stabilization system that can compensate for the posture changes of the mobile platform, ensure the stability of the single-photon ranging system under the moving platform, and ensure the stability and accuracy of long-distance laser ranging.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A single-photon laser ranging stabilization system, comprising:

[0008] Install the base;

[0009] A laser transceiver system, arranged on the mounting base;

[0010] A detection element, used to detect the deflection angle of the laser transceiver system;

[0011] The electromagnetic brake comprises a connection end for fixing to the aircraft carrier platform and a braking end connected to the mounting base, wherein the connection end and the braking end are arranged opposite to each other and can rotate relative to each other, and a part of the connection end is energized to control the rotation of a corresponding part of the braking end to generate a correcting force opposite to the deflection angle;

[0012] A control element is signal-connected to the detection element and the electromagnetic brake, and is used to control the connection end according to the detection information of the detection element.

[0013] Preferably, the connecting end comprises a stator, a magnetic body is arranged in the middle of the stator, and a plurality of groups of symmetrically arranged coils are arranged in the circumferential direction of the stator;

[0014] The braking end comprises a rotor fixed on the mounting base, wherein the rotor has a plurality of induction parts corresponding to the coils one by one, and the coils are energized to control the corresponding induction parts to generate deflection.

[0015] Preferably, the magnetic body is provided with a hollow area, a central flexible node is provided in the hollow area, one end of the central flexible node is connected to the stator, and the other end of the central flexible node is connected to the rotor;

[0016] A rotational flexible joint is provided between two adjacent coils, one end of the rotational flexible joint is connected to the mounting base, and the other end of the rotational flexible joint is used to connect to the aircraft carrier platform.

[0017] Preferably, the rotating flexible joint comprises a main body, a first flexible joint, and a second flexible joint, and the first flexible joint and the second flexible joint are alternately arranged along the periphery of the main body;

[0018] The first flexible joint has a first mounting surface connected to the mounting base, the second flexible joint has a second mounting surface for connecting to the aircraft carrier platform, and the height of the first mounting surface is higher than the height of the second mounting surface;

[0019] The center line of the first flexible joint intersects with the center line of the second flexible joint to form a rotation center O of the laser transceiver system and the mounting base.

[0020] Preferably, it further comprises a fixed base, the connecting end is arranged on the fixed base, a mounting portion is arranged on the fixed base, a fixing member is connected to the mounting base, and the fixing member is arranged through the mounting portion;

[0021] A fixing tube is sleeved on the outer side of the fixing member, and a limiting gap is provided between the outer side of the fixing tube and the inner side of the fixing member, and the limiting gap is used to limit the rotation angle of the laser transceiver system;

[0022] Buffer pads for absorbing impact force are arranged on both sides of the mounting portion, and two groups of fasteners are threadedly connected to the fixing tube, and the two groups of fasteners are used to press the buffer pads onto the mounting portion.

[0023] Preferably, the laser transceiver system comprises a laser receiving system and a laser emitting system, the laser receiving system is located in the middle of the mounting base, and the two laser emitting systems are located on both sides of the laser receiving system;

[0024] Placement grooves are arranged on both sides of the installation base, avoidance areas are arranged on both sides of the laser receiving system, and the laser emitting system is located in the space formed by the avoidance area and the placement grooves.

[0025] Preferably, the laser receiving system comprises a connecting tube, a primary mirror located on the upper side of the mounting base, and a secondary mirror located in the middle of the connecting tube, wherein the primary mirror is used to receive the laser emitted by the laser emitting system and reflect it through the secondary mirror;

[0026] A lens barrel is connected to the middle of the connecting barrel. The lens barrel is located between the secondary mirror and the primary mirror and is used for placing a lens.

[0027] Preferably, the main mirror comprises a mirror surface, a first connecting portion and a second connecting portion provided on the back of the mirror surface, and the first connecting portion and the second connecting portion are alternately provided along the circumference of the back of the mirror surface;

[0028] The first connecting portion is connected to the mounting base via a main mirror back plate, a buffer gap is provided between the second connecting portion and the main mirror back plate, the buffer gap and the inner wall of the mounting base form an anti-impact zone, and the anti-impact zone is provided with an anti-impact structure for buffering the main mirror.

[0029] Preferably, the anti-impact structure comprises a radial anti-impact structure and a normal anti-impact structure, and the radial anti-impact structure and the normal anti-impact structure are arranged vertically;

[0030] A protective seat is fixed on the mounting base, the normal anti-impact structure is arranged between the protective seat and the upper end surface of the second connecting portion, and the radial anti-impact structure is arranged between the inner wall of the mounting base and the circumference of the second connecting portion;

[0031] Gaps are provided between the normal impact protection structure and the upper end surface of the second connecting portion, and between the radial impact protection structure and the circumference of the second connecting portion.

[0032] Preferably, the front side of the main mirror back plate is connected to the first connecting portion, the back side of the main mirror back plate is provided with a first mounting portion, and two adjacent first mounting portions are provided with a second mounting portion;

[0033] The second mounting portion is connected to the mounting base, a first gap is provided between the front side of the first mounting portion and the back side of the mirror surface, a second gap is provided on the first mounting portion, the first gap is a radial gap, the second gap is an L-shaped gap, and two groups of the second gaps are centrally symmetrically distributed on the first mounting portion to form an installation and adjustment space for the main mirror.

[0034] The single-photon laser ranging stabilization system provided by the present invention comprises a mounting base, a laser transceiver system, a detection element, an electromagnetic brake and a control element, wherein the laser transceiver system is arranged on the mounting base, and the detection element is used to detect the deflection angle of the laser transceiver system; the electromagnetic brake comprises a connection end fixed to a carrier platform and a braking end connected to the mounting base, the braking end and the connection end are arranged correspondingly, when the carrier platform deflects and the posture changes, the laser transceiver system will also deflect accordingly, the deflection information of the laser transceiver system is sent to the control element through the detection element, and the control element controls a part of the connection end of the electromagnetic brake to be energized according to the detection information, so as to control the rotation of the part of the braking end corresponding to the part of the connection end that is energized, so as to make the braking end generate a correction force opposite to the deflection angle, so as to realize the correction of the laser transceiver system on the mounting base, ensure that the laser transceiver system stably points to the detection target, and improve the stability and accuracy of the detection.

[0035] The beneficial effect of the present invention is that the electromagnetic effect formed by the connecting end and the braking end of the electromagnetic brake can effectively and timely correct the laser transceiver system. Even if the posture of the carrier platform keeps changing, the laser transceiver system can be kept unaffected and can point to the detection target stably for a long time, thereby ensuring the stability and accuracy of the laser ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0037] Figure 1 This is a schematic diagram of the structure of the single-photon laser ranging stabilization system provided by the present invention;

[0038] Figure 2 for Figure 1 A front view of

[0039] Figure 3 for Figure 2 Middle AA section view;

[0040] Figure 4 This is a schematic diagram of the structure of the laser transceiver system provided by the present invention;

[0041] Figure 5 A schematic diagram of the structure of the primary mirror provided by the present invention;

[0042] Figure 6 A schematic diagram of the connection between the primary mirror and the primary mirror back plate provided by the present invention;

[0043] Figure 7 for Figure 6 The local structure diagram of

[0044] Figure 8 A schematic diagram of the structure of the electromagnetic brake provided by the present invention;

[0045] Fig. 9 for Figure 8 A top view of

[0046] Fig.10 for Fig. 9 Middle BB section;

[0047] Fig.11 A schematic diagram of the structure of the flexible joint provided by the present invention;

[0048] Fig.12 A schematic diagram of the connection between the primary mirror and the mounting base provided by the present invention;

[0049] Fig.13 for Fig.11 Mid-CC section;

[0050] Fig.14 A schematic diagram of the position limiting buffer structure of the flexible joint provided by the present invention;

[0051] Fig.15 for Fig.14 A front view of

[0052] Fig.16 for Fig.15 Middle DD section view.

[0053] Figure 1-Figure 16 , the reference numerals include:

[0054] 1-laser emission system; 2-laser receiving system; 3-mounting base; 4-fixed base; 5-electromagnetic brake; 6-central flexible joint; 7-rotating flexible joint; 8-radial anti-impact structure; 9-normal anti-impact structure; 10-protective seat; 11-fixing piece; 12-fixing cylinder; 13-buffer pad; 14-fastener;

[0055] 21-connecting tube; 22-secondary mirror; 23-primary mirror; 24-lens tube; 25-primary mirror back plate; 211-connecting arm; 231-mirror surface; 232-avoidance area; 233-center through hole; 234-first connecting part; 235-second connecting part; 251-first mounting part; 2511-first gap; 252-second mounting part; 2512-second gap; 31-placement groove; 41-mounting part; 51-rotor; 52-magnetic body; 53-stator; 54-coil; 71-first flexible joint; 72-second flexible joint; 73-flexible joint; 711-first mounting surface; 721-second mounting surface. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] The core of the present invention is to provide a single-photon laser ranging stabilization system. Through the electromagnetic effect formed by the connecting end and the braking end of the electromagnetic brake, the laser transceiver system can be effectively and timely corrected. Even if the posture of the carrier platform is constantly changing, the laser transceiver system can be ensured not to be affected and can point to the detection target stably for a long time, thereby ensuring the stability and accuracy of the laser ranging.

[0058] The single-photon laser ranging stabilization system provided by the present invention specifically includes a mounting base 3, a laser transceiver system, a detection element, an electromagnetic brake 5 and a control element. Please refer to Figure 1 , Figure 2 , Figure 3 .

[0059] The laser transceiver system is arranged on the mounting base 3, and specifically realizes the distance measurement of the detection target through the emission and reception of laser. By ensuring the stability of the laser transceiver system, the stability of the target measurement for a long time is guaranteed, and the stability and accuracy of the laser distance measurement are guaranteed.

[0060] Specifically, the deflection angle of the laser transceiver system is detected by a detection element, which can be a contact detection element or a non-contact detection element. For contact detection, the detection element can be set on the mounting base 3 or the laser transceiver system. The specific detection element can be a sensor.

[0061] The electromagnetic brake 5 includes a connecting end and a braking end arranged opposite thereto, wherein the connecting end is fixed on the carrier platform. When the carrier platform deflects, the connecting end also deflects. For example, if the direction of the deflection is specifically a 3° positive rotation around the x-axis, the control element controls the corresponding position on the connecting end where correction can be achieved to obtain power, so as to control the corresponding part of the braking end to rotate relative to the connecting end. Here, the rotation of the braking end is a 3° reverse rotation around the x-axis, generating a correction force opposite to the deflection angle, so as to achieve the correction effect, avoid the deflection of the laser transceiver system on the mounting base 3, ensure that the laser transceiver system points to the detection target stably for a long time, and ensure the accuracy and stability of long-distance measurement.

[0062] In this embodiment, the connecting end and the braking end realize the correction effect through the electromagnetic effect. If a part of the connecting end is energized, the position of the braking end corresponding to this part will generate an electromagnetic effect, causing the braking end to deflect. At this time, the deflection generated by the braking end is opposite to the deflection generated by the connecting end when the position of the carrier platform changes, so that the deflection generated by the braking end can compensate for the deflection of the carrier platform, maintain the stability of the mounting base 3 connected to the braking end, ensure the stability of the laser transceiver system on the mounting base 3, enable the laser transceiver system to stably and reliably point to the measurement target, and ensure the accuracy and stability of laser ranging.

[0063] The control element signal connects the detection element and the electromagnetic brake 5. Specifically, the deflection angle of the laser transceiver system is transmitted to the control element through the detection element. The control element controls part of the position of the connection end to be energized according to the detected deflection angle. The part of the position here refers to the position on the connection end that can cooperate with the braking end to generate a deflection force opposite to the deflection angle. By controlling this part of the position to be energized, the corresponding position of the braking end can generate a deflection force opposite to the deflection direction of the laser transceiver system under electromagnetic induction, so as to realize the correction of the laser transceiver system.

[0064] In this embodiment, the partial position of the connection end is energized based on the fact that the deflection of the braking end is not a rotation around the central axis of the stabilization system, but an up-and-down deflection. The partial position of the connection end is energized to achieve the corresponding relative up-and-down deflection of the braking end.

[0065] The electromagnetic effect formed by the connection end and the brake end of the electromagnetic brake 5 can effectively and timely correct the laser transceiver system. Even if the posture of the carrier platform changes continuously, the laser transceiver system can be guaranteed not to be affected and can point to the detection target stably for a long time, thus ensuring the stability and accuracy of the laser ranging. The use of the electromagnetic brake 5 can also meet the design requirements of the laser ranging system for high bandwidth, large travel, and low power consumption, and has better applicability.

[0066] On the basis of the above embodiment, the connection end includes a stator 53, a magnetic body 52 is arranged in the middle of the stator 53, and a plurality of groups of symmetrically arranged coils 54 are arranged in the circumferential direction of the stator 53;

[0067] The braking end includes a rotor 51 fixed on the mounting base 3. The rotor 51 has a plurality of induction parts corresponding to the coils 54. The coils 54 are energized to control the corresponding induction parts to generate deflection.

[0068] Please refer to Figure 8 Specifically, the connection end includes a stator 53, a magnetic body 52, and a coil 54, and the braking end includes a rotor 51. There is a gap between the rotor 51 and the connection end, and the gap here refers to the gap along the height direction.

[0069] The stator 53 is fixedly arranged, with a magnetic body 52 in the middle and a coil 54 arranged circumferentially. The rotor 51 on the mounting base 3 is arranged corresponding to the coil 54. When a group of symmetrically arranged coils 54 are energized, a group of induction parts on the corresponding rotor 51 are deflected. The deflection direction here is opposite to the deflection direction of the carrier platform to maintain the stability of the laser transceiver system installed on the mounting base 3. By energizing a group of coils 54 at different positions to achieve different direction output magnitudes and displacements, a correction force in different directions is formed.

[0070] A group of symmetrically arranged coils 54 specifically includes two coils 54, and the two coils 54 are specifically symmetrically arranged on both sides of the magnetic body 52. ​​If one coil 54 in a group of symmetrically arranged coils 54 is connected to the negative pole and the other coil 54 is connected to the positive pole, then a group of induction parts corresponding to the two coils 54 will be deflected in a certain direction under the electromagnetic effect; if it is necessary to change the direction of the deflection, the order of connecting the positive and negative poles of the two coils 54 can be changed, so that the induction part forms a deflection opposite to a certain direction.

[0071] like Figure 8 , Fig. 9 As shown, the four coils 54 are arranged in a cross-shaped structure, and the corresponding rotor 51 also has a cross-shaped structure. If the origin is set on the axis of the magnetic body 52, the four coils 54 are respectively located in the positive x direction, the negative x direction, the positive y direction, and the negative y direction. When correcting the deviation, the coils 54 in the positive x direction and the negative x direction are energized at the same time to realize the rotation of the rotor 51 around the y axis for correction, or the coils 54 in the positive y direction and the negative y direction are energized at the same time to realize the rotation of the rotor 51 around the x axis for correction.

[0072] Based on any of the above embodiments, please refer to Figure 8 , Figure 3 The magnetic body 52 is provided with a hollow area, and a central flexible node 6 is provided in the hollow area. One end of the central flexible node 6 is connected to the stator 53 , and the other end of the central flexible node 6 is connected to the rotor 51 .

[0073] A rotating flexible joint 7 is provided between two adjacent coils 54, one end of the rotating flexible joint 7 is connected to the mounting base 3, and the other end of the rotating flexible joint 7 is used to connect to the carrier platform. The rotating flexible joint 7 is arranged circumferentially to ensure that the rotation center of the laser transceiver system and the mounting base 3 is fixed during deviation correction, thereby ensuring the stability of the laser transceiver system and the accuracy of long-distance laser detection.

[0074] On the basis of using the electromagnetic brake 5 for correction, the negative stiffness is matched by the central flexible joint 6 and the rotating flexible joint 7 to avoid adsorption of the magnetic body 52 and the rotor 51. When the carrier platform is deflected or in a normal operating posture, the gap between the rotor 51 and the magnetic body 52 is always maintained to ensure the correction effect of the electromagnetic brake 5.

[0075] In addition, the space between two adjacent coils 54 is used to set the rotating flexible node 7, and the hollow area in the middle of the magnetic body 52 is used to set the central flexible node 6, so that the structure of the entire distance measurement system is simple and compact, and the occupied area is reduced.

[0076] Based on any of the above embodiments, please refer to Figures 9 to 11 The rotational flexible joint 7 includes a main body, a first flexible joint 71 and a second flexible joint 72 , and the first flexible joint 71 and the second flexible joint 72 are alternately arranged along the outer circumference of the main body.

[0077] The first ends of the first flexible joint 71 and the second flexible joint 72 are both connected to the main body, the second end of the first flexible joint 71 is provided with a first mounting surface 711, and the first mounting surface 711 is used to connect to the mounting base 3, and the second end of the second flexible joint 72 is provided with a second mounting surface 721, and the second mounting surface 721 is used to connect to the carrier platform through the fixed base 4.

[0078] Specifically, the first mounting surface 711 is located at the upper end surface of the second end of the first flexible joint 71, and the second mounting surface 721 is located at the lower end surface of the second end of the second flexible joint 72. The height of the first mounting surface 711 is greater than the height of the second mounting surface 721. This is based on the fact that the mounting base 3 is located on the upper side of the fixing base 4, and there is a certain height difference between the two.

[0079] The first flexible joint 71 and the second flexible joint 72 both include a plurality of thin flexible joints 73. When the laser transceiver system deflects, the first flexible joint 71 and the second flexible joint 72 can limit the center point of the deflection to ensure the stability of the laser transceiver system. Specifically, the center line of the first flexible joint 71 and the center line of the second flexible joint 72 intersect, that is, the center lines of the plurality of thin flexible joints 73 corresponding to the first flexible joint 71 and the center lines of the plurality of thin flexible joints 73 corresponding to the second flexible joint 72 intersect at a point O, which is the rotation center point of the first flexible joint 71 and the second flexible joint 72.

[0080] By setting the first flexible joint 71 and the second flexible joint 72, the laser transceiver system is kept at the center point O of the deflection, avoiding the instability of the laser transceiver system caused by the deviation of the center point, and ensuring the stability and accuracy of the laser ranging.

[0081] In addition, the first flexible joint 71 and the second flexible joint 72 are inclined in the circumferential direction of the main body, and the inclination angle can be set to 30°, 40°, 45°, etc., making full use of the space between the fixed base 4 and the mounting base 3, so that the entire ranging stabilization system has a simple and compact structure.

[0082] Taking a specific application as an example, the rotating flexible joint 7 and the electromagnetic brake 5 are cross-distributed at 45 degrees, with a compact and simple structure and a small footprint.

[0083] Based on any of the above embodiments, please refer to Figure 2 , Figure 3 , and also includes a fixed base 4, a connecting end is arranged on the fixed base 4, and specifically the fixed base 4 is connected to the carrier platform. When correction is needed, the rotor 51 of the electromagnetic brake 5 rotates relative to the fixed base 4 to generate a correction force, thereby ensuring the stability of the laser receiving system 2 and the laser emitting system 1, and ensuring the stability and accuracy of long-distance measurement.

[0084] Please refer to Fig.14 , Fig.15 , Fig.16 The fixing base 4 is provided with a mounting portion 41, which is specifically a component protruding from the fixing base 4. The mounting portion 41 is provided with a mounting opening for mounting a fixing member 11, and the fixing member 11 is specifically a component connecting the mounting base 3 and the mounting portion 41, and is in a T-shape as a whole. The fixing member 11 passes through the mounting base 3 and the mounting portion 41 to achieve fixation. The fixing member 11, the laser transceiver system, the mounting base 3 and the brake end of the electromagnetic brake can be rotated relative to the mounting portion 41 as a whole, and the rotation angle should be set within a certain range to avoid excessive rotation and damage to components.

[0085] A fixing tube 12 is sleeved on the outer side of the fixing part 11, and a limiting gap is provided on the outer side of the fixing tube 12 and the inner side of the fixing part 11. The limiting gap here is used to limit the rotation angle of the laser transceiver system, realize the mechanical limitation of the laser transceiver system, and ensure effective protection of the laser transceiver system.

[0086] In addition, buffer pads 13 are provided on both sides of the mounting portion 41. The buffer pads 13 are fixed and pressed on both sides of the mounting portion 41 by fasteners 14 threadedly connected to the fixing tube 12. The buffer pads 13 and the setting of the limiting gap jointly provide a buffering effect for the flexible joint structure to prevent the flexible joint from being damaged due to excessive impact in the x-direction and y-direction.

[0087] like Fig.16 As shown, a total of 8 groups of fixing members 11, fixing tubes 12, buffer pads 13 and fasteners 14 are provided, corresponding to the limit and buffer limit in the positive x direction, negative x direction, positive y direction and negative y direction, to ensure the anti-impact effect on the rotating flexible joint 7 and the central flexible joint 6.

[0088] Based on any of the above embodiments, the laser transceiver system includes a laser receiving system 2 and a laser emitting system 1 . The laser receiving system 2 is located in the middle of the mounting base 3 , and the two laser emitting systems 1 are located on both sides of the laser receiving system 2 .

[0089] Please refer to Figure 1The laser emitting system 1 is used to transmit a light beam to a detection target, and the laser receiving system 2 is a coaxial catadioptric optical structure and is used to receive a light beam reflected by the detection target. By setting two laser emitting systems 1, it is convenient to quickly accumulate the number of photons.

[0090] The laser emitting system 1 and the laser receiving system 2 are both arranged on the mounting base 3. As an integral component, the ranging stabilization system is miniaturized and lightweight. The weight of the entire system is less than 3kg, which can maintain the stable and reliable ranging effect of the laser emitting system 1 and the laser receiving system 2 for a long time while improving the lightweight degree of the system.

[0091] In addition, the laser receiving system 2 and the laser emitting system 1 are installed on a mounting base 3, which facilitates the coaxial debugging of the laser receiving system 2 and the laser emitting system 1 and improves the stability of the system.

[0092] like Figure 4 , Figure 5 As shown, placement grooves 31 are provided on both sides of the mounting base 3, avoidance areas 232 are provided on both sides of the laser receiving system 2, and the laser emitting system 1 is located in the space formed by the avoidance area 232 and the placement grooves 31. By integrating the laser emitting system 1 and the laser receiving system 2 on the mounting base 3, the overall ranging stabilization system is made compact in structure, the space occupied is reduced, and the effect of miniaturization and lightweight is achieved without affecting the light beam receiving and sending process.

[0093] The placement groove 31 is specifically a circular groove, which is convenient for placing the laser emitting system 1, and the avoidance area 232 is specifically an arc-shaped notch on both sides of the laser receiving system 2. The entire height of the arc-shaped notch is greater than the height of the placement groove 31, ensuring the stability and reliability of the placement of the laser emitting system 1 on the mounting base 3.

[0094] More specifically, the arc-shaped notches on both sides of the laser receiving system 2, specifically the notches on the primary mirror 23 of the laser receiving system 2, can ensure that the received energy meets the requirements while ensuring that the entire laser ranging stabilization system has a compact and miniaturized structure and reduces the occupied space.

[0095] On the basis of any of the above embodiments, the laser receiving system 2 comprises a connecting tube 21, a primary mirror 23 located on the upper side of the mounting base 3, and a secondary mirror 22 located in the middle of the connecting tube 21. The primary mirror 23 is used to receive the laser emitted by the laser emitting system 1 and reflect it through the secondary mirror 22. A central through hole 233 is provided in the middle of the primary mirror 23 to ensure that the optical path can be smoothly incident into the optical fiber after passing through the primary and secondary mirrors.

[0096] In the process of long-distance laser ranging, a light beam is emitted to the detection target through the laser emission system 1, and then the light beam reflected by the detection target is received through the primary mirror 23. Thereafter, the light beam is further concentrated and reflected to the secondary mirror 22 through the primary mirror 23. Furthermore, the light beam is emitted downward into the optical fiber through the lens.

[0097] A lens barrel 24 is connected to the middle of the connecting barrel 21 . The lens barrel 24 is located between the secondary mirror 22 and the primary mirror 23 and is used to place a lens.

[0098] Specifically, the connecting tube 21 and the lens tube 24 are connected by a connecting arm 211. The connecting arm 211 is located on the inner side of the connecting tube 21 and is connected to the circumference of the lens tube 24. Three connecting arms 211 can be provided to form a relatively stable triangular structure to ensure the structural stability of the lens tube 24 and improve the rigidity of the entire ranging stabilization system.

[0099] Reinforced ribs or reinforced folded edges may be provided on the connecting arm 211 to ensure the stability of the lens barrel 24 and the reliability of the lens; weight-reducing holes may also be provided at some locations on the connecting arm 211 to meet the requirements of lightweighting the system.

[0100] Based on any of the above embodiments, please refer to Figure 5 , Figure 6 The main mirror 23 includes a mirror surface 231, a first connecting portion 234 and a second connecting portion 235 arranged on the back of the mirror surface 231, and the first connecting portion 234 and the second connecting portion 235 are alternately arranged along the circumference of the back of the mirror surface 231. The back of the mirror surface 231 is relative to the front of the reflective surface, that is, the mirror surface 231 is set to reflect the light beam reflected by the detection target.

[0101] The first connecting portion 234 is connected to the mounting base 3 via the main mirror back plate 25 , that is, the main mirror back plate 25 , the mounting base 3 , and the main mirror 23 are effectively fixed to ensure the stability of the main mirror 23 and the effects of receiving and reflecting light beams.

[0102] There is a buffer gap between the second connection part 235 and the main mirror back plate 25, and the buffer gap and the inner wall of the mounting base 3 form an anti-impact zone. Since the first connection part 234 and the second connection part 235 are circumferentially arranged on the back of the mirror surface 231, the buffer gap is actually arranged circumferentially along the back of the mirror surface 231, and multiple anti-impact zones are formed between the circumferentially arranged buffer gap and the inner wall of the mounting base 3. Each anti-impact zone is provided with an anti-impact structure to form reliable protection for the main mirror 23 from the circumferential direction, to ensure that the main mirror 23 will not be damaged when the system is impacted, and to ensure the reliability of the system. In addition, the anti-impact structure can also absorb the energy generated during the impact to avoid damage to the flexible structure in the system.

[0103] The specific anti-impact mechanism can be in the form of a protective pad, a limiter, etc., and can be configured to meet actual usage requirements.

[0104] On the basis of any of the above embodiments, the anti-impact structure includes a radial anti-impact structure 8 and a normal anti-impact structure 9. The radial anti-impact structure 8 and the normal anti-impact structure 9 are arranged vertically. Please refer to Fig.12 , Fig.13 .

[0105] A protective seat 10 is fixed on the mounting base 3, and a normal anti-impact structure 9 is provided between the protective seat 10 and the upper end surface c of the second connecting part 235 to absorb the axial impact force generated when the main mirror 23 moves. The axial direction here can be regarded as the axial direction of the laser receiving system 2; a radial anti-impact structure 8 is provided between the inner wall of the mounting base 3 and the circumferential plane a of the second connecting part 235 to absorb the radial impact force generated when the main mirror 23 moves.

[0106] There are gaps between the normal anti-impact structure 9 and the upper end surface c of the second connection part 235, and between the radial anti-impact structure 8 and the circumferential plane a of the second connection part 235. There is also a gap between the lower end surface b of the second connection part 235 and the radial anti-impact structure 8. The above gaps can be specifically 0.1 mm. When a large impact occurs, the primary mirror 23 will be displaced, and the second connection part 235 will hit the normal anti-impact structure 9 and the radial anti-impact structure 8 to absorb the impact, thereby avoiding damage to the flexible structure and the primary mirror 23.

[0107] In actual use, if the main mirror 23 is impacted and moves, the radial anti-impact structure 8 and the normal anti-impact structure 9 can generate corresponding resistance to limit the movement of the main mirror 23 and ensure that the laser ranging stabilization system will not be easily damaged under strong impact.

[0108] In addition, the specific radial anti-impact structure 8 and the normal anti-impact structure 9 can be made of high-damping materials to ensure better protection effect.

[0109] Based on any of the above embodiments, please refer to Figure 6 The front side of the main mirror back plate 25 is connected to the first connecting portion 234 , the back side of the main mirror back plate 25 is provided with a first mounting portion 251 , two adjacent first mounting portions 251 are provided with a second mounting portion 252 , and the first mounting portion 251 and the second mounting portion 252 are alternately arranged on the back side of the main mirror back plate 25 .

[0110] For example, taking the case where three first mounting parts 251 and three second mounting parts 252 are specifically provided, the three second mounting parts 252 are all connected to the mounting base 3 to meet the requirement of fixing the main mirror 23, while the three first mounting parts 251 are used to provide adjustment space for the installation of the main mirror 23 to ensure the surface accuracy of the reflecting mirror of the main mirror 23.

[0111] Specifically, the first mounting portion 251 is provided with a second gap 2512, the first gap 2511 is a radial gap, and the second gap 2512 is an L-shaped gap. The two groups of second gaps 2512 are centrally symmetrically distributed on the first mounting portion 251, so that the first mounting portion 251 as a whole forms a cantilever structure, which can produce an appropriate amount of axial and / or radial movement relative to the main mirror 23, so that the main mirror 23 has a certain adjustment space when installed, thereby ensuring the installation reliability and installation accuracy of the main mirror 23, and further ensuring the surface accuracy of the reflecting mirror.

[0112] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0113] The above is a detailed introduction to a single-photon laser ranging stabilization system provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A single-photon laser ranging stabilization system, characterized in that: include: Mounting base (3); A laser transceiver system, arranged on the mounting base (3); A detection element, used to detect the deflection angle of the laser transceiver system; An electromagnetic brake (5) comprises a connection end for fixing to the aircraft carrier platform and a braking end connected to the mounting base (3), wherein the connection end and the braking end are arranged opposite to each other and can rotate relative to each other, and a part of the connection end is energized to control the rotation of a corresponding part of the braking end to generate a correcting force opposite to the deflection angle; A control element, signal-connected to the detection element and the electromagnetic brake (5), is used to control the connection end according to detection information of the detection element.

2. The single-photon laser ranging stabilization system according to claim 1, characterized in that: The connecting end comprises a stator (53), a magnetic body (52) is arranged in the middle of the stator (53), and a plurality of groups of symmetrically arranged coils (54) are arranged in the circumferential direction of the stator (53); The braking end comprises a rotor (51) fixed on the mounting base (3), the rotor (51) having a plurality of groups of induction parts corresponding one to the coils (54), and the coils (54) are energized to control the corresponding induction parts to generate deflection.

3. The single-photon laser ranging stabilization system according to claim 2, characterized in that: The magnetic body (52) is provided with a hollow area, a central flexible node (6) is provided in the hollow area, one end of the central flexible node (6) is connected to the stator (53), and the other end of the central flexible node (6) is connected to the rotor (51); A rotational flexible joint (7) is provided between two adjacent coils (54); one end of the rotational flexible joint (7) is connected to the mounting base (3); and the other end of the rotational flexible joint (7) is used to be connected to the airborne device.

4. The single-photon laser ranging stabilization system according to claim 3, characterized in that: The rotating flexible joint (7) comprises a main body, a first flexible joint (71), and a second flexible joint (72), wherein the first flexible joint (71) and the second flexible joint (72) are alternately arranged along the outer circumference of the main body; The first flexible joint (71) has a first mounting surface (711) connected to the mounting base (3), the second flexible joint (72) has a second mounting surface (721) for connecting to the aircraft carrier platform, and the height of the first mounting surface (711) is higher than the height of the second mounting surface (721); The center line of the first flexible joint (71) and the center line of the second flexible joint (72) intersect to form a rotation center of mass O of the laser transceiver system and the mounting base (3).

5. The single-photon laser ranging stabilization system according to claim 1, characterized in that: It also comprises a fixed base (4), the connection end is arranged on the fixed base (4), a mounting portion (41) is arranged on the fixed base (4), a fixing member (11) is connected to the mounting base (3), and the fixing member (11) is arranged through the mounting portion (41); A fixing cylinder (12) is sleeved on the outer side of the fixing member (11), and a limiting gap is provided on the outer side of the fixing cylinder (12) and the inner side of the fixing member (11), wherein the limiting gap is used to limit the rotation angle of the laser transceiver system; Buffer pads (13) for absorbing impact force are provided on both sides of the mounting portion (41), and two groups of fasteners (14) are threadedly connected to the fixing cylinder (12), and the two groups of fasteners (14) are used to press the buffer pads (13) onto the mounting portion (41).

6. The single-photon laser ranging stabilization system according to claim 1, characterized in that: The laser transceiver system comprises a laser receiving system (2) and a laser emitting system (1), wherein the laser receiving system (2) is located in the middle of the mounting base (3), and the two laser emitting systems (1) are located on both sides of the laser receiving system (2); The mounting base (3) is provided with placement grooves (31) on both sides, avoidance areas (232) are provided on both sides of the laser receiving system (2) respectively, and the laser emitting system (1) is located in a space formed by the avoidance area (232) and the placement grooves (31).

7. The single-photon laser ranging stabilization system according to any one of claims 1 to 6, characterized in that: The laser receiving system (2) comprises a connecting tube (21), a primary mirror (23) located on the upper side of the mounting base (3), and a secondary mirror (22) located in the middle of the connecting tube (21), wherein the primary mirror (23) is used to receive the laser emitted by the laser emitting system (1) and reflect it through the secondary mirror (22); A lens barrel (24) is connected to the middle of the connecting barrel (21); the lens barrel (24) is located between the secondary mirror (22) and the primary mirror (23) and is used for accommodating a lens.

8. The single-photon laser ranging stabilization system according to claim 7, characterized in that: The main mirror (23) comprises a mirror surface (231), a first connecting portion (234) and a second connecting portion (235) arranged on the back of the mirror surface (231), wherein the first connecting portion (234) and the second connecting portion (235) are alternately arranged along the circumference of the back of the mirror surface (231); The first connecting portion (234) is connected to the mounting base (3) via a main mirror back plate (25); a buffer gap is provided between the second connecting portion (235) and the main mirror back plate (25); the buffer gap and the inner wall of the mounting base (3) form an impact-proof area; the impact-proof area is provided with an impact-proof structure for buffering the main mirror (23).

9. The single-photon laser ranging stabilization system according to claim 8, characterized in that: The impact-proof structure comprises a radial impact-proof structure (8) and a normal impact-proof structure (9), wherein the radial impact-proof structure (8) and the normal impact-proof structure (9) are arranged vertically; A protective seat (10) is fixed on the mounting base (3); the normal impact protection structure (9) is provided between the protective seat (10) and the upper end surface of the second connecting portion (235); and the radial impact protection structure (8) is provided between the inner wall of the mounting base (3) and the circumference of the second connecting portion (235); Gaps are provided between the normal impact protection structure (9) and the upper end surface of the second connection portion (235), and between the radial impact protection structure (8) and the circumference of the second connection portion (235).

10. The single-photon laser ranging stabilization system according to claim 9, characterized in that: The front side of the main mirror back plate (25) is connected to the first connection portion (234), the back side of the main mirror back plate (25) is provided with a first mounting portion (251), and two adjacent first mounting portions (251) are provided with a second mounting portion (252); The second mounting portion (252) is connected to the mounting base (3); a first gap (2511) is provided between the front surface of the first mounting portion (251) and the back surface of the mirror surface (231); the first mounting portion (251) is provided with a second gap (2512); the first gap (2511) is a radial gap; the second gap (2512) is an L-shaped gap; two groups of the second gaps (2512) are centrally symmetrically distributed on the first mounting portion (251) to form an installation adjustment space for the primary mirror (23).

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