Photoelectric pod device for aircraft and driving method thereof

Abstract

The invention relates to the technical field of aircraft pod equipment, in particular to a photoelectric pod device for an aircraft and a driving method of the photoelectric pod device. The device comprises a three-axis regulator, a main spherical cover, a three-light load and a spectrum camera load, the main ball cover is arranged on the three-axis regulator and is electrically connected with the three-axis regulator; the three-axis regulator drives the main ball cover to tilt in a vertical axial direction, an inclined axial direction and an elevation axial direction; and the three-light load or the spectrum camera load is connected with the main dome cover. The device further comprises a three-optical-load front dome cover and a master control system. And the three-optical load and the main control system are arranged in the three-optical load front spherical cover. The system further comprises a spectrum camera front dome cover. And the spectrum camera load is arranged in the spectrum camera front spherical cover. The modularized series assembly mode is adopted, so that the photoelectric pod can be quickly assembled and debugged, the assembling and debugging efficiency is higher, and the research and development period is shorter; in the application process, a standardized universal interface is used, rapid replacement of a carried load can be achieved, and the application efficiency is higher compared with a traditional pod.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft pod equipment, and in particular to an optoelectronic pod device for an aircraft and a driving method thereof. Background Art

[0002] In recent years, various types of dynamic base imaging pods have been widely used in aerial photography, unmanned vehicles, robots and other fields, and have attracted more and more attention. In particular, aerial photography using aircraft is an important means to quickly, flexibly, clearly and accurately obtain photos and video information of areas of interest. However, for dynamic base carriers represented by drones, there are inevitable changes in the carrier's posture and vibration during the movement process, resulting in severe shaking of the video and blurred photos. The birth of the stable gimbal solves this problem.

[0003] The optoelectronic pod is composed of a multi-degree-of-freedom mechanical mechanism, a drive motor on each axis, and a control circuit. Usually, the drive motor on each axis is connected to the control circuit through a separate communication and control harness. However, as the number of pod shaft systems increases, the number of harnesses increases, resulting in an increase in assembly process and cost. At the same time, the existing optoelectronic pods on the market can usually only carry one type of load, which increases the cost of the pod and the maintenance cost. At present, it is urgent to develop a method or an integrated system that can realize rapid replacement of loads and automatic parameter loading by changing the communication method and the pod assembly method. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an optoelectronic pod device for an aircraft and a driving method thereof.

[0005] The first object of the present invention is to provide an optoelectronic pod device for an aircraft, comprising: a three-axis adjuster, a main spherical cover, a three-light payload and a spectral camera payload; The main ball cover is arranged on the three-axis regulator and is electrically connected to the three-axis regulator, and the three-axis regulator drives the main ball cover to tilt in the vertical axis, the tilt axis and the elevation axis; The three-light payload or the spectral camera payload is connected to the main ball cover.

[0006] Preferably, it also includes a front ball cover of a three-light payload and a main control system; the three-light payload includes a dual-band payload and a laser rangefinder; the three-light payload and the main control system are arranged in the front ball cover of the three-light payload.

[0007] Preferably, it also includes a front ball cover of the spectral camera; the spectral camera payload is arranged in the front ball cover of the spectral camera.

[0008] Preferably, the three-axis regulator includes a base, a vertical rotating frame, a vertical rotating drive motor, a vertical rotating frame, a tilting drive motor, a tilting frame and a pitching motor; A mounting flange is provided on the base; a vertical rotation drive motor controls the rotation of the vertical rotation frame; a tilt drive motor controls the oblique tilt of the vertical rotation frame; and a pitch motor controls the pitch movement of the main ball cover; The vertical rotating frame is an L-shaped connecting arm with a downward tilt angle, and the vertical rotating drive motor is fixed on the top of the vertical rotating frame; the tilting drive motor is fixed at the center of the lower end of the vertical rotating frame; one end of the vertical rotating frame is a horizontal frame arm, and the other end is an inclined frame arm; The tilt frame is a C-shaped component, and a first connecting shaft of the tilt frame is provided at the center of the tilt frame; a tilt motor rotor is provided in the tilt drive motor, and the first connecting shaft of the tilt frame is fixedly connected to the tilt drive motor rotor; A pitch motor and a second connecting shaft are respectively arranged on two sides of the pitch frame; and two ends of the main ball cover are respectively connected with the rotor in the pitch motor and the second connecting shaft.

[0009] Preferably, the main ball cover includes a main ball cover housing, a main ball cover bracket, a power supply link, a serial port communication link and a network port communication link; The main ball cover bracket is a C-shaped component, and the two ends of the main ball cover bracket are respectively connected to the rotor in the pitch motor and the second connecting shaft; a plurality of threaded holes are arranged on the main ball cover shell, and the positions of the screw through holes of the main ball cover bracket correspond to the positions of the threaded holes on the main ball cover shell; the main ball cover shell and the main ball cover bracket are screw-connected; the power supply circuit, the serial port communication link, and the network port communication link are arranged on the main ball cover shell; A plurality of threaded holes are arranged on the main ball cover shell; a quick docking connection male port is arranged on the inner top of the main ball cover shell; the power supply link, the serial communication link and the network communication link's power supply and transmission ends are electrically connected to the quick docking connection male port.

[0010] Preferably, a plurality of first threaded holes are provided on the front ball cover of the three-light load; the positions of the first threaded holes correspond to the positions of the screw through holes of the main ball cover shell; the edge of the main ball cover shell and the edge stop of the front ball cover of the three-light load are connected; the main ball cover shell and the front ball cover of the three-light load are threadedly connected; a first quick docking connection female port is provided on the inner top of the front ball cover of the three-light load; the first quick docking connection female port is electrically connected to the quick docking connection male port.

[0011] Preferably, a camera lens is provided at the front end of the dual-band payload; a monitoring port is provided at the front end of the laser rangefinder; and the monitoring port and the camera lens are arranged in front of the main ball cover shell.

[0012] The second object of the present invention is to provide a driving method for an optoelectronic pod device for an aircraft, which is used to drive the optoelectronic pod device for an aircraft, and specifically comprises the following steps: S1. Select three-light payload or spectral camera payload according to the application scenario; S2. The front ball cover of the three-light load or the spectral camera is locked and connected to the main ball cover; the first quick docking connection female port of the three-light load front ball cover or the second quick docking connection female port of the spectral camera front ball cover is electrically connected to the quick docking connection male port; S3. The main control system is connected and powered on; S4. The main control system is initialized; the main control system receives the sensor data fed back by the pitch motor and analyzes the data, performs closed-loop control based on the feedback data and feeds back to the pitch motor; S5. Initialize the pitch motor; the pitch motor receives sensor data fed back by the tilt drive motor, and reads encoder data of the pitch motor; the tilt drive motor data, vertical rotation drive motor data and pitch motor data are packaged and fed back to the main control system; the pitch motor receives the control command sent by the main control system, extracts the control command for controlling the pitch motor, processes the remaining control command after extraction, and sends the processed control command to the tilt drive motor for rotation; S6. Initialize the tilt drive motor; the tilt drive motor receives the sensor data fed back by the vertical rotation drive motor, and reads the encoder data of the tilt drive motor; the data of the vertical rotation drive motor and the encoder data of the tilt motor are packaged and sent to the pitch motor; the tilt drive motor receives the control command sent by the pitch motor, extracts the tilt motor control command, and controls the rotation of the tilt drive motor according to the control command; the remaining control command after extraction is processed, and the tilt drive motor sends the processed control command to the vertical rotation drive motor; S7. The vertical rotation drive motor is initialized; the vertical rotation drive motor reads the encoder data and sends the encoder data of the vertical drive motor to the tilt drive motor; the vertical rotation drive motor receives the control command sent by the tilt drive motor and controls the motor rotation according to the control command.

[0013] Preferably, the packaging method in step S5 is specifically as follows: right-shifting the encoder data of the tilt drive motor and the encoder data of the vertical rotation drive motor in the data packet by m bytes, filling the encoder data of the pitch motor to the position of bytes 1 to m in the data packet, and feeding back the data to the main control system; The packaging method in step S6 is specifically as follows: the encoder data of the vertical rotation drive motor in the data packet is shifted right by m bytes, the encoder data of the oblique tilt motor is filled into the position of bytes 1 to m in the data packet, and the data is sent to the pitch motor.

[0014] Preferably, the method for extracting data in step S5 is specifically: shifting the control instruction data of the tilt drive motor and the control instruction data of the vertical rotation drive motor in the instruction data packet to the left by m bytes, and sending the data to the tilt drive motor; The method for extracting data in step S6 is specifically: shifting the instruction data of the vertical rotation drive motor in the instruction data packet to the left by m bytes, and sending the data to the vertical rotation drive motor.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: The optoelectronic pod device of the present invention is used in the process of developing, assembling and debugging the optoelectronic pod. The modular serial assembly mode can realize the rapid assembly and debugging of the optoelectronic pod. Compared with the traditional pod design mode, the assembly efficiency is higher and the development cycle is shorter. At the same time, the standardized universal interface is used in the application process, which can realize the rapid replacement of the load, and the application efficiency is higher than that of the traditional pod. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a composition and connection diagram of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0017] Figure 2 1 is an electrical connection diagram of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0018] Figure 3 The present invention is a schematic diagram of the structure of a three-axis regulator and a main ball cover of an optoelectronic pod device for an aircraft according to an embodiment of the present invention.

[0019] Figure 4 The figure is a schematic diagram of the overall structure of three optical loads of an optoelectronic pod device for an aircraft according to an embodiment of the present invention.

[0020] Figure 5 It is a front view of a three-light load structure of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0021] Figure 6 It is a rear view of the three-light load structure of the optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0022] Figure 7 It is a schematic diagram of the overall structure of a spectral camera payload of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0023] Figure 8 It is a front view of the spectral video camera load structure of the optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0024] Fig. 9 It is a rear view of the spectral video camera load structure of the optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0025] Fig.10 The present invention is a flowchart of sending control instructions for an optoelectronic pod device for an aircraft according to an embodiment of the present invention.

[0026] Fig.11 The present invention provides a sensor data and status feedback flow chart of an optoelectronic pod device for an aircraft according to an embodiment of the present invention.

[0027] Fig.12 It is a schematic diagram of analyzing downlink data of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0028] Fig.13 Schematic diagram of an uploaded data packet of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0029] Fig.14 It is a schematic diagram of a quick docking connection male port of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0030] Fig.15 It is a schematic diagram of identifying a first quick docking connection female port of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0031] Fig.16 It is a schematic diagram of identifying a second quick docking connection female port of an optoelectronic pod device for an aircraft provided according to an embodiment of the present invention.

[0032] Reference numerals: 11. Base; 13. Vertical rotating frame; 14. Vertical rotating drive motor; 15. Tilt drive motor; 16. Tilt frame; 17. Pitch motor; 131. Horizontal arm; 132. Tilt arm; 161. Tilt rotating arm; 21. Main ball cover housing; 22. Main ball cover bracket; 23. Power supply link; 24. Serial communication link; 25. Network communication link; 221. Screw through hole; 222. Quick docking connection male port; 2221. First contact point; 2222. Second contact point; 2223. Third contact point; 3. Three-light load front ball cover; 31. First threaded hole; 32. First quick docking connection female port; 3201. First female port contact point; 3202. Second female port contact point; 4. Three light loads; 41. Dual-band payload; 42. Laser rangefinder; 411. Camera lens; 421. Monitoring port; 5. Main control system; 6. Spectral camera front ball cover; 61. Second threaded hole; 62. Second quick docking connection female port; 6201. Second female port contact point; 6202. Second female port contact point; 7. Spectral camera payload; 71. Spectral camera monitoring terminal. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0035] The present invention provides an optoelectronic pod device for an aircraft, comprising: a three-axis regulator, a main spherical cover, a three-light load and a spectral camera load; The main ball cover is arranged on the three-axis regulator and is electrically connected to the three-axis regulator, and the three-axis regulator drives the main ball cover to tilt in the vertical axis, the tilt axis and the elevation axis; The three-light payload or the spectral camera payload is connected to the main ball cover.

[0036] In a specific embodiment, the device further includes a three-light load front ball cover and a main control system; the three-light load and the main control system are arranged in the three-light load front ball cover.

[0037] In a specific embodiment, the device further includes a front ball cover of the spectral camera; the spectral camera payload is disposed in the front ball cover of the spectral camera.

[0038] In a specific embodiment, the main control system may include 4 UART interfaces, which are respectively connected to the optical payload (visible light camera, infrared camera, spectral camera), laser rangefinder, debugging computer and first-level driving component; The pod device comprises n driving components, where n is a positive integer greater than or equal to 1; The drive assembly consists of a drive circuit, a motor, and an angle measurement sensor; The driving circuit comprises two UART interfaces, the first UART interface is connected to the previous driving circuit or the main control system, and the second UART interface is connected to the next driving circuit; The UART interface is used to receive and send control instructions, receive and send status information of the drive components, including working status, angular position information measured by the angle measurement sensor, etc. The main control system obtains the control quantity of each drive component through calculation and packages the data according to the series connection order of the drive components.

[0039] Example 1 See also Figures 1 to 6 As shown, this embodiment provides an optoelectronic pod device for an aircraft, which includes: a three-axis regulator, a main ball cover, a front ball cover 3 for three optical loads, three optical loads 4, and a main control system 5; The three-axis regulator includes: a base 11, a vertical rotating frame 13, a vertical rotating driving motor 14, a tilt driving motor 15, a tilt frame 16, and a pitch motor 17; A mounting flange is provided on the base 11; The vertical rotating frame 13 is an L-shaped connecting arm with a downward tilt angle; one end of the vertical rotating frame 13 is a horizontal frame arm 131, and the other end of the vertical rotating frame 13 is an inclined frame arm 132; the inner angle between the horizontal frame arm 131 and the inclined frame arm 132 is preferably -135 degrees, that is, the inner angle of the L-shaped connecting arm is -135 degrees; according to different application scenarios, the inner angle between the horizontal frame arm 131 and the inclined frame arm 132 can also be selected to be set at any angle between 90 and 135 degrees; The vertical rotation drive motor 14 is fixed at the center of the horizontal frame arm 131 of the vertical rotation frame 13; the rotor of the vertical rotation drive motor 14 is fixedly connected to the center of the base 11; the tilt drive motor 15 is fixed at the inner center of the tilt frame arm 132; The tilt frame 16 is a C-shaped component, and a tilt rotating frame 161 is provided at the center of the tilt frame 16; a tilt driving motor rotor is provided in the tilt driving motor 15, and the tilt rotating frame 161 is fixedly connected to the tilt driving motor rotor of the tilt driving motor 15; The pitch motor 17 is arranged on one side of the C-shaped tilt frame 16, and a second connecting shaft is arranged on the other side of the tilt frame 16; both ends of the main ball cover are respectively connected to the rotor in the pitch motor 17 and the second connecting shaft; The vertical rotation drive motor 14, the tilt drive motor 15 and the pitch motor 17 are all servo motors; the vertical rotation drive motor 14 is used to control the azimuth servo of the vertical rotation frame 13; the tilt drive motor 15 is used to control the oblique tilt servo of the tilt frame 16; the pitch motor 17 is used to control the pitch servo of the main ball cover; The tilt drive motor 15 drives the tilt frame 16 to rotate.

[0040] The main ball cover is locked and connected with the three-light load front ball cover 3; The main ball cover is provided with a main ball cover housing 21, a main ball cover bracket 22, a power supply link 23, a serial communication link 24, and a network communication link 25; The main ball cover housing 21 is provided with a plurality of screw holes 221; the main ball cover bracket 22 is fixed in the front ball cover 3 of the three-light load; the main ball cover bracket 22 is a C-shaped component, and the two ends of the main ball cover bracket 22 are respectively connected to the pitch motor rotor and the second connecting shaft; The power supply circuit 23, the serial communication link 24, and the network communication link 25 are arranged on the main ball cover bracket 22; The three-light load 4 is arranged in the front ball cover 3 of the three-light load; a plurality of first threaded holes 31 are arranged on the front ball cover 3 of the three-light load; the positions of the first threaded holes 31 correspond to the positions of the screw through holes 221; the edge of the main ball cover shell 21 and the edge stop of the front ball cover 3 of the three-light load are butted; the main ball cover shell 21 and the front ball cover 3 of the three-light load are connected by bolt thread locking; A quick docking connection male port 222 is provided at the top of the inner side of the main ball cover housing 21; the power supply link 23, the serial communication link 24 and the network communication link 25 are electrically connected to the quick docking connection male port 222; The quick docking connection male port 222 is provided with: a male port first contact point 2221, a male port second contact point 2222, and a male port third contact point 2223; A first quick docking connection female port 32 is provided at the top of the inner side of the front ball cover 3 of the three-light load; the power supply and transmission ends of the three-light load 4 and the main control system 5 are connected to the first quick docking connection female port 32; and can be electrically connected to the first quick docking connection female port 32 by plugging; The first quick docking connection female port 32 is provided with: a first female port contact point 3201 and a second female port contact point 3202 .

[0041] The three-light load 4 includes: a dual-band load 41 and a laser rangefinder 42; a monitoring port 421 is provided at the front end of the laser rangefinder 42; a camera lens 411 is provided at the front end of the dual-band load 41; the monitoring port 421 and the camera lens 411 are arranged in front of the main ball cover shell 21; the dual-band load 41 and the laser rangefinder 42 are arranged in the front ball cover 3 of the three-light load.

[0042] The main control system 5 is powered by a power supply circuit 23, which outputs 12V~24V DC; The main ball cover is provided with a wireless connection terminal and UART2 and UART4 wire and cable connection ports; that is, the three-axis regulator is electrically connected to the main ball cover through the wireless connection terminal or the wired connection terminal; The wireless connection terminal connection mode adopted by the power supply circuit 23 means that the vertical rotation drive motor 14, the tilt drive motor 15 and the pitch motor 17 are powered by wireless power; the main control system 5 and the vertical rotation drive motor 14, the tilt drive motor 15 and the pitch motor 17 are driven and controlled by wireless signal transmission; The wireless signal transmission method refers to analog microwave transmission, digital microwave transmission or signal transmission based on the ISM frequency band.

[0043] The wired power supply terminal connection mode adopted by the power supply circuit 23 means that the vertical rotation drive motor 14 (azimuth servo) is also provided with a serial communication interface UART1; the tilt drive motor 15 (tilt tilt servo) is also provided with serial communication interfaces UART1 and UART2; the pitch motor 17 (pitch servo) has serial communication interfaces UART1 and UART2; The vertical rotation drive motor 14 (azimuth servo) is connected to the tilt drive motor 15 (tilt servo) UART2 via UART1 for two-way data communication; the tilt drive motor 15 (tilt servo) is connected to the pitch motor 17 (pitch servo) UART2 via UART1 for two-way data communication; the pitch motor 17 is connected to the UART2 on the main control system 5 via UART1 for two-way data communication.

[0044] Example 2 See also Figure 1 , Figure 2 as well as Figures 7 to 9 As shown, this embodiment provides an optoelectronic pod device for an aircraft, which includes: a three-axis regulator, a main ball cover, a spectral camera front ball cover 6, and a spectral camera payload 7; The three-axis regulator is the same as that in Example 1; A second threaded hole 61 is provided on the edge of the front ball cover 6 of the spectral camera; the position of the second threaded hole 61 corresponds to the position of the screw through hole 221; a second quick docking connection female port 62 is provided on the top of the inner side of the front ball cover 6 of the spectral camera; the front ball cover 6 of the spectral camera can be fixedly connected to the main ball cover housing 21 through screw threads; the main ball cover is locked and connected to the front ball cover 6 of the spectral camera; The second quick docking connection female port 62 is provided with a second female port contact point 6201 and a second female port contact point 6202; the male port first contact point 2221 is electrically connected to the second female port contact point 6201; the male port third contact point 2223 is electrically connected to the second female port contact point 6202; The spectral camera payload 7 is arranged in the front ball cover 6 of the spectral camera; the front end of the spectral camera payload 7 is provided with a spectral camera monitoring terminal 71, and the spectral camera monitoring terminal 71 is arranged at the front end of the front ball cover 6 of the spectral camera; the power supply and transmission end of the spectral camera payload 7 is electrically connected to the second quick docking connection female port 62 through a cable; the quick docking connection male port 222 can be electrically connected to the first quick docking connection female port 32 by plugging.

[0045] Example 3 This embodiment provides a driving method for an optoelectronic pod device for an aircraft. The structure of the optoelectronic pod device for an aircraft is shown in FIG. Figures 1 to 9 The driving method specifically includes the following steps: S1. Select the three-light payload or spectral camera payload according to the application scenario.

[0046] S2. The three-light load ball cover 3 or the spectral camera ball cover 6 is locked and connected to the main ball cover; the first quick docking connection female port 32 or the second quick docking connection female port 62 is electrically connected to the quick docking connection male port 222; the schematic diagram of the quick docking connection male port 222 is shown Fig.14 ; When the first quick docking connection female port 32 is docked with the quick docking connection male port 222, the male port first contact point 2221 is electrically connected to the first female port contact point 3201, and the male port second contact point 2222 is quickly docked to the male port 222 and the second female port contact point 3202 is electrically connected, and the system recognizes that the load type is a three-light load; the schematic diagram of the first quick docking connection female port 32 is as shown in Fig.15 ; When the second quick docking connection female port 62 is docked with the quick docking connection male port 222, the first male port contact point 2221 of the quick docking connection male port 222 is electrically connected to the second female port contact point 6201; the third male port contact point 2223 is electrically connected to the second female port contact point 6202; the system recognizes that the load type is a spectral load; the schematic diagram of the second quick docking connection female port 62 is shown in Fig.16 .

[0047] S3. The main control system 5 is connected and powered on.

[0048] S4. The main control system 5 is initialized, and the main control system 5 is connected to the UART2 according to Fig.12 The data format shown in (a) receives the sensor data fed back by the pitch motor 17 and parses the data, performs closed-loop control based on the feedback data and controls the control amount according to Fig.13 The data format shown in (a) is sent to the pitch motor 17.

[0049] S5. The pitch motor 17 is initialized, and the pitch motor 17 is transmitted through UART2 according to Fig.12 The data format shown in (b) receives the sensor data fed back by the tilt drive motor 15, and reads the encoder data of the pitch motor 17 at the same time, shifts the encoder data of the tilt drive motor 15 and the encoder data of the vertical rotation drive motor 14 in the data packet right by m bytes, fills the encoder data of the pitch motor 17 to the position of bytes 1 to m in the data packet, and transmits the data to the UART1 according to Fig.12 The data format shown in (a) sends data to the main control system 5. The pitch motor 17 receives the control command sent by the main control system through UART1. The command format is as follows Fig.13As shown in (a), the pitch motor 17 reads bytes 1 to m in the data packet, controls the motor rotation according to the control instruction, and shifts the oblique tilt and azimuth control instructions to the left by m bytes to form the instruction format shown in (b) in 13. The pitch motor 17 sends the control instruction to the tilt drive motor 15 through UART2.

[0050] S6. The tilt drive motor 15 is initialized, and the tilt drive motor 15 is initialized through UART2 according to Fig.12 The data format shown in (c) receives the sensor data fed back by the vertical rotation drive motor 14, and reads the encoder data of the tilt drive motor 15 at the same time, shifts the azimuth encoder data in the data packet right by m bytes, fills the encoder data of the tilt drive motor 15 into the position of bytes 1 to m in the data packet, and transmits the data to the UART1 according to Fig.12 The data format shown in (b) sends data to the pitch motor 17. The tilt drive motor 15 receives the control command sent by the pitch motor 17 through UART1. The command format is as follows: Fig.13 As shown in (b), the tilt drive motor 15 reads bytes 1 to m in the data packet, controls the motor to rotate according to the control instruction, and shifts the azimuth control instruction left by m bytes to form Fig.13 In the command format shown in (c), the tilt drive motor 15 sends the control command to the vertical rotation drive motor 14 through UART2.

[0051] S7. The vertical rotation drive motor 14 is initialized, the vertical rotation drive motor 14 reads the encoder data, fills the encoder data of the tilt drive motor 15 into the position of 1~m bytes of the data packet, and transmits the data to the UART1 according to Fig.12 The data format shown in (c) sends data to the tilt drive motor 15. The vertical rotation drive motor 14 receives the control command sent by the tilt drive motor 15 through UART1. The command format is as follows: Fig.13 As shown in (c), the vertical rotation drive motor 14 reads bytes 1 to m in the data packet and controls the motor to rotate according to the control instruction. In this method, the control instruction sending flow chart is shown in Fig.10 , the sensor data and status feedback flow chart is shown in Fig.11 .

[0052] The principle of the driving method of the present invention is briefly described as follows: the motor control is realized by serial communication, the main control system calculates the control amount of each driving component, and packages the data according to the serial order of the driving components; the main control system sends the data to the first-level driving component through the serial port connected to the first-level driving component; After the first-level driver component receives the data packet sent by the main control system, it verifies the data. If the verification is correct, the first-level driver component extracts the first m data in the data packet, and then moves the data packet forward from the m+1th position by m positions to form a new data packet. The new data packet is verified, and the verification result is placed at the end of the new data packet, and sent to the second-level driver component through the UART interface; After receiving the data packet sent by the main control system, the second-level driver component verifies the data. If the verification is correct, the second-level driver component extracts the first m data in the data packet, and then moves the data packet forward from the m+1th position by m positions to form a new data packet. The new data packet is verified, and the verification result is placed at the end of the new data packet, and sent to the third-level driver component through the UART interface; The next level of drive assembly repeats the above steps until the last level of drive assembly.

[0053] For the rapid replacement of optoelectronic pod payload systems, due to the differences in different load model parameters, the control performance of the system is affected when achieving high-precision control. The control of different loads can be achieved by hanging a servo control system on different loads, but a set of control circuits needs to be made for each load, which increases the cost and also increases the number of wiring harnesses. Therefore, a control circuit can be uniformly mounted on the pod, and multiple control parameters can be stored inside the control circuit for different loads. The servo circuit can be controlled to select the corresponding control parameters by short-circuiting the load connector contacts, which reduces the system volume, the number of wiring harnesses, the number of connector cores, and reduces costs.

[0054] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0055] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An optoelectronic pod device for an aircraft, characterized in that: include: Three-axis adjuster, main ball cover, three-light payload and spectral camera payload; The main ball cover is arranged on the three-axis regulator and is electrically connected to the three-axis regulator, and the three-axis regulator drives the main ball cover to tilt in the vertical axis, the tilt axis and the elevation axis; The three-light payload or the spectral camera payload is connected to the main ball cover.

2. The optoelectronic pod device for aircraft according to claim 1, characterized in that: It also includes a front ball cover of a three-light load and a main control system; the three-light load includes a dual-band load and a laser rangefinder; the three-light load and the main control system are arranged in the front ball cover of the three-light load.

3. The optoelectronic pod device for aircraft according to claim 1, characterized in that: It also includes a front ball cover for a spectral camera; the spectral camera payload is arranged in the front ball cover for the spectral camera.

4. An optoelectronic pod device for aircraft according to any one of claims 1 to 3, characterized in that: The three-axis regulator includes a base, a vertical rotating frame, a vertical rotating drive motor, a vertical rotating frame, a tilting drive motor, a tilting frame and a pitching motor; A mounting flange is provided on the base; a vertical rotation drive motor controls the rotation of the vertical rotation frame; a tilt drive motor controls the oblique tilt of the vertical rotation frame; and a pitch motor controls the pitch movement of the main ball cover; The vertical rotating frame is an L-shaped connecting arm with a downward tilt angle, and the vertical rotating drive motor is fixed on the top of the vertical rotating frame; the tilting drive motor is fixed at the center of the lower end of the vertical rotating frame; one end of the vertical rotating frame is a horizontal frame arm, and the other end is an inclined frame arm; The tilt frame is a C-shaped component, and a first connecting shaft of the tilt frame is provided at the center of the tilt frame; a tilt motor rotor is provided in the tilt drive motor, and the first connecting shaft of the tilt frame is fixedly connected to the tilt drive motor rotor; A pitch motor and a second connecting shaft are respectively arranged on two sides of the pitch frame; and two ends of the main ball cover are respectively connected with the rotor in the pitch motor and the second connecting shaft.

5. The optoelectronic pod device for aircraft according to claim 1, characterized in that: The main ball cover includes a main ball cover shell, a main ball cover bracket, a power supply link, a serial port communication link and a network port communication link; The main ball cover bracket is a C-shaped component, and the two ends of the main ball cover bracket are respectively connected to the rotor in the pitch motor and the second connecting shaft; a plurality of threaded holes are arranged on the main ball cover shell, and the positions of the screw through holes of the main ball cover bracket correspond to the positions of the threaded holes on the main ball cover shell; the main ball cover shell and the main ball cover bracket are screw-connected; the power supply circuit, the serial port communication link, and the network port communication link are arranged on the main ball cover shell; A plurality of threaded holes are arranged on the main ball cover shell; a quick docking connection male port is arranged on the inner top of the main ball cover shell; the power supply link, the serial communication link and the network communication link's power supply and transmission ends are electrically connected to the quick docking connection male port.

6. The optoelectronic pod device for aircraft according to claim 2, characterized in that: The three-light load front ball cover is provided with a plurality of first threaded holes; the positions of the first threaded holes correspond to the positions of the screw through holes of the main ball cover shell; the edge of the main ball cover shell is butted with the edge stop of the three-light load front ball cover; the main ball cover shell and the three-light load front ball cover are threadedly connected; a first quick docking connection female port is provided on the top inner side of the three-light load front ball cover; the first quick docking connection female port is electrically connected to the quick docking connection male port.

7. The optoelectronic pod device for aircraft according to claim 6, characterized in that: A camera lens is arranged at the front end of the dual-band payload; a monitoring port is arranged at the front end of the laser rangefinder; and the monitoring port and the camera lens are arranged in front of the main ball cover shell.

8. A method for driving an optoelectronic pod device for an aircraft, used to drive the optoelectronic pod device for an aircraft according to any one of claims 1 to 8, characterized in that: The specific steps include: S1. Select three-light payload or spectral camera payload according to the application scenario; S2. The front ball cover of the three-light load or the spectral camera is locked and connected to the main ball cover; the first quick docking connection female port of the three-light load front ball cover or the second quick docking connection female port of the spectral camera front ball cover is electrically connected to the quick docking connection male port; S3. The main control system is connected and powered on; S4. The main control system is initialized; the main control system receives the sensor data fed back by the pitch motor and analyzes the data, performs closed-loop control based on the feedback data and feeds back to the pitch motor; S5. Initialize the pitch motor; The pitch motor receives the sensor data fed back by the tilt drive motor, and reads the encoder data of the pitch motor at the same time; the tilt drive motor data, the vertical rotation drive motor data and the pitch motor data are packaged and fed back to the main control system; the pitch motor receives the control instructions sent by the main control system, extracts the control instructions for controlling the pitch motor, processes the remaining control instructions after extraction, and sends the processed control instructions to the tilt drive motor for rotation; S6. Initialize the tilt drive motor; the tilt drive motor receives the sensor data fed back by the vertical rotation drive motor, and reads the encoder data of the tilt drive motor; the data of the vertical rotation drive motor and the encoder data of the tilt motor are packaged and sent to the pitch motor; the tilt drive motor receives the control command sent by the pitch motor, extracts the tilt motor control command, and controls the rotation of the tilt drive motor according to the control command; the remaining control command after extraction is processed, and the tilt drive motor sends the processed control command to the vertical rotation drive motor; S7. Initialize the vertical rotation drive motor; The vertical rotation drive motor reads encoder data and sends the encoder data of the vertical drive motor to the tilt drive motor; the vertical rotation drive motor receives the control instruction sent by the tilt drive motor and controls the motor rotation according to the control instruction.

9. The driving method of the optoelectronic pod device for an aircraft according to claim 8, characterized in that: The packaging method in step S5 is specifically as follows: right-shifting the encoder data of the tilt drive motor and the encoder data of the vertical rotation drive motor in the data packet by m bytes, filling the encoder data of the pitch motor to the position of bytes 1 to m in the data packet, and feeding back the data to the main control system; The packaging method in step S6 is specifically as follows: the encoder data of the vertical rotation drive motor in the data packet is shifted right by m bytes, the encoder data of the oblique tilt motor is filled into the position of bytes 1 to m in the data packet, and the data is sent to the pitch motor.

10. The driving method of the optoelectronic pod device for an aircraft according to claim 8, characterized in that: The method for extracting data in step S5 is specifically as follows: shifting the control instruction data of the tilt drive motor and the control instruction data of the vertical rotation drive motor in the instruction data packet to the left by m bytes, and sending the data to the tilt drive motor; The method for extracting data in step S6 is specifically: shifting the instruction data of the vertical rotation drive motor in the instruction data packet to the left by m bytes, and sending the data to the vertical rotation drive motor.

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