Novel airborne photoelectric reconnaissance equipment three-dimensional image stabilization system

Abstract

The invention discloses a novel airborne photoelectric reconnaissance equipment three-dimensional image stabilization system, and the system comprises an actuator which comprises four traction electromagnets, the fixed ends of the traction electromagnets are disposed on a hemispherical frame, and the moving ends of the traction electromagnets are fixedly connected with a load frame through a mounting rack; a fixed cross beam is installed in the middle of the hemispherical frame, a three-degree-of-freedom rotating mechanism is installed in the middle of the cross beam, one end of the three-degree-of-freedom rotating mechanism is fixed to the load frame, the other end of the three-degree-of-freedom rotating mechanism is connected with the cross beam, and the three-degree-of-freedom rotating mechanism is used for driving the load frame to conduct three-dimensional rotation through the three-degree-of-freedom rotating mechanism; and the load frame is used for performing three-dimensional rotation under the driving of the four traction electromagnets and the three-degree-of-freedom rotating mechanism. The device is compact in structure, high in space utilization rate, accurate in control, fast in response and high in servo bandwidth, can simultaneously realize a three-dimensional optical axis stabilization function and overhead tracking, and has an image rotation eliminating function.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional optical axes, and in particular to a novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment. Background Art

[0002] With the development of photoelectric detection technology, the application scope of airborne photoelectric reconnaissance equipment has gradually expanded from the initial reconnaissance and surveillance to meeting the needs of unmanned monitoring, playing an important role in disaster relief and search and rescue, maritime rescue, fishery resource protection, geographic remote sensing and other fields.

[0003] Optical axis stabilization is a basic function of airborne optoelectronic reconnaissance equipment and is also one of the most important evaluation indicators of its performance.

[0004] At present, airborne optoelectronic reconnaissance equipment can achieve two-dimensional or three-dimensional optical axis stabilization function. The commonly used method is to adopt a two-axis two-frame structure system or a three-axis three-frame structure system. If the stability accuracy level is required to be higher, a two-axis four-frame structure system is generally adopted.

[0005] The two-axis two-frame structural system can only achieve two-dimensional optical axis stabilization function, which is easily affected by the airflow disturbance caused by the aircraft's flight. The stabilization accuracy is low. As the pitch angle increases, its stable tracking ability gradually decreases. In the case of vertical downward viewing, it will lose the target tracking ability.

[0006] The three-axis three-frame structural system can achieve three-dimensional optical axis stabilization function, but it is also greatly affected by the airflow disturbance caused by the flight of the aircraft, and the stabilization accuracy is low. It is generally only used for low-speed or rotorcraft to observe and reconnaissance close-range targets.

[0007] The two-axis four-frame structural system, with the two outer frames isolating the airflow disturbance, can achieve higher stability accuracy, but cannot realize the three-dimensional optical axis stabilization function, because the two internal rotating frames occupy a certain space, the pod system with the same overall size has a smaller payload space and the system space utilization is low.

[0008] In view of this, how to provide a new type of three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment to achieve the three-dimensional stabilization function and high stabilization accuracy of the optical axis of the optoelectronic sensor in the inertial space has become a technical problem that urgently needs to be solved. Summary of the invention

[0009] The embodiment of the present application provides a novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment, which is used to solve the contradiction between the stability dimension, accuracy and effective carrying space of the current system.

[0010] In a first aspect of an embodiment of the present application, a novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment is provided, comprising:

[0011] An actuator, comprising four traction electromagnets, wherein the fixed ends of the traction electromagnets are mounted on the hemispherical frame, and the moving ends are fixedly connected to the load frame via a mounting frame;

[0012] The hemispherical frame has a fixed crossbeam installed in the middle, a three-degree-of-freedom rotation mechanism is installed in the middle of the crossbeam, one end of the three-degree-of-freedom rotation mechanism is fixed to the load frame, and the other end is connected to the crossbeam, and is used to drive the load frame to perform three-dimensional rotation through the three-degree-of-freedom rotation mechanism;

[0013] The load frame is used to perform three-dimensional rotation under the drive of the four traction electromagnets and the three-degree-of-freedom rotation mechanism.

[0014] Optionally, the traction electromagnets are spatially staggered and arranged on the top of the hemispherical frame.

[0015] Optionally, a three-dimensional angle sensor is integrated inside the three-freedom rotation mechanism, wherein the three-dimensional angle sensor is used to measure the rotation angle of the three-dimensional angle sensor during three-dimensional rotation, and provide a three-dimensional rotation angle of the load frame relative to the hemispherical frame.

[0016] Optionally, a variety of photoelectric sensors and high-precision three-axis gyroscopes are installed on the load frame to feed back three-axis angular velocity information through the high-precision three-axis gyroscope to control the three-dimensional optical axis stability of the photoelectric sensor relative to the inertial space.

[0017] Optionally, it also includes:

[0018] The universal joint rotation mechanism is arranged on the three-degree-of-freedom rotation mechanism and is used for performing closed-loop control on the four traction electromagnets and the motor through the three-dimensional angle sensor and the three-axis gyroscope.

[0019] The four traction electromagnets and the three-dimensional angle sensor adopt space torque vector synthesis servo control technology.

[0020] The present application provides a novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment, comprising: an actuator, comprising four traction electromagnets, wherein the fixed end of the traction electromagnet is mounted on the hemispherical frame, and the moving end is fixedly connected to the load frame through a mounting frame; the hemispherical frame is provided with a fixed crossbeam in the middle, a three-degree-of-freedom rotation mechanism is installed in the middle of the crossbeam, one end of the three-degree-of-freedom rotation mechanism is fixed to the load frame, and the other end is connected to the crossbeam, and is used to drive the load frame to perform three-dimensional rotation through the three-degree-of-freedom rotation mechanism; the load frame is used to perform three-dimensional rotation under the drive of the four traction electromagnets and the three-degree-of-freedom rotation mechanism.

[0021] The optical axis stabilization system provided by the embodiment of the present application has a compact structure, high space utilization, precise control, fast response, and high servo bandwidth. It can simultaneously realize the three-dimensional optical axis stabilization function, can realize overhead tracking, and has an image rotation elimination function. Compared with the two-axis four-frame system, it has one less frame component and can provide a larger load space with the same outer dimensions. The load frame is driven by the combined force provided by four electromagnets, with a large driving torque, no transmission chain in the process, good structural rigidity, and high structural natural frequency, thereby achieving high control bandwidth and high dynamic response, and can realize high-precision stabilization and tracking of the load optical axis.

[0022] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, which can be implemented in accordance with the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0024] Figure 1 A schematic front view of a three-dimensional image stabilization system for a novel airborne optoelectronic reconnaissance device provided in an embodiment of the present application;

[0025] Figure 2 A schematic top view of a three-dimensional image stabilization system for a novel airborne optoelectronic reconnaissance device provided in an embodiment of the present application;

[0026] Figure 3 A schematic side view of a three-dimensional image stabilization system for a novel airborne optoelectronic reconnaissance device provided in an embodiment of the present application;

[0027] Among them, the crossbeam-1; the three-dimensional angle sensor-2; the hemispherical frame-3; the traction electromagnet-4; the three-axis gyroscope-5; the three-degree-of-freedom rotation mechanism-6; the load frame-7; the servo circuit board-8; and the limit column-9. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0029] See also Figure 1-Figure 3 , Figure 1 A schematic front view of a three-dimensional image stabilization system for a novel airborne optoelectronic reconnaissance device provided in an embodiment of the present application; Figure 2 A schematic top view of a three-dimensional image stabilization system for a novel airborne optoelectronic reconnaissance device provided in an embodiment of the present application; Figure 3 A schematic side view of a three-dimensional image stabilization system for a novel airborne optoelectronic reconnaissance device provided in an embodiment of the present application.

[0030] It should be noted that this application is mainly used in the load compartment of airborne optoelectronic reconnaissance equipment, which solves the contradiction between the system's stable dimension, accuracy and effective carrying space. A new optical axis stabilization technology system is proposed, which is different from the traditional method. It adopts a new five-axis three-frame structure layout, designs a special universal joint rotation mechanism, and uses the space torque vector synthesis servo control technology through the traction electromagnet 4 and the three-dimensional angle sensor 2 to ensure efficient space utilization while achieving high-precision three-dimensional optical axis stabilization function.

[0031] like Figure 1-Figure 3 As shown, the three-dimensional image stabilization system of the novel airborne optoelectronic reconnaissance equipment includes an actuator, a hemispherical frame 3 and a load frame 7.

[0032] Among them, the actuator includes four traction electromagnets 4, wherein the traction electromagnets 4 are spatially staggered and arranged on the top of the hemispherical frame; the fixed end of the traction electromagnet 4 is installed on the hemispherical frame, and the moving end is fixedly connected to the load frame 7 through a mounting frame.

[0033] The hemispherical frame 3 is provided with a fixed crossbeam 1 in the middle, and a three-degree-of-freedom rotation mechanism 6 is provided in the middle of the crossbeam 1. The moving end of the three-degree-of-freedom rotation mechanism 6 is fixed to the load frame 7, and the other end is reliably connected to the crossbeam 1, and is used to drive the load frame 7 to rotate three-dimensionally through the three-degree-of-freedom rotation mechanism 6, and can rotate along any axis in space. In addition, a three-dimensional angle sensor 2 is integrated inside the three-degree-of-freedom rotation mechanism, wherein the three-dimensional angle sensor 2 is used to measure the rotation angle of the three-dimensional angle sensor 2 when providing high-precision three-dimensional rotation, and at the same time feedback the three-dimensional rotation angle of the load frame 7 relative to the hemispherical frame 3.

[0034] The load frame 7 is used to achieve high-precision three-dimensional rotation under the constraints of the four traction electromagnets 4 and the three-degree-of-freedom rotation mechanism 6. The rotation angle is measured by the three-dimensional angle sensor 2, and the closed-loop control of the three-dimensional rotation of the load frame 7 is achieved through the spatial torque vector synthesis servo control algorithm, so as to achieve the motion effect of precise rotation of any angle along any axis in space (within the rotation range).

[0035] The load frame 7 is equipped with a variety of photoelectric sensors and a high-precision three-axis gyroscope 5, which are used to feedback three-axis angular velocity information through the high-precision three-axis gyroscope 5 to achieve closed-loop speed control, thereby achieving the three-dimensional optical axis stabilization function of the photoelectric sensor optical axis relative to the inertial space.

[0036] In an embodiment of the present application, the three-dimensional image stabilization system of the novel airborne optoelectronic reconnaissance equipment also includes: a universal joint rotation mechanism, which is arranged on the three-degree-of-freedom rotation mechanism 6, and is used to perform closed-loop control of the four traction electromagnets 4 and the motor through the three-dimensional angle sensor 2 and the three-axis gyroscope 5.

[0037] The three-dimensional optical axis stabilization function of the airborne optoelectronic reconnaissance equipment provided by the present application is described in detail as follows: the electromagnet or linear motor arranged in space is driven to convert the linear motion of the motor moving part into the three-dimensional rotation of the sensor mounting frame, and the spatial torque synthesis algorithm is used to perform servo control on it, and the three-dimensional rotation angle of the rotating frame relative to the outer frame is obtained through the three-dimensional angle sensor 2, thereby realizing the three-dimensional angle closed-loop control of the rotating frame; the load frame 7 is directly connected to the moving part of the electromagnet or linear motor without passing through any deceleration mechanism, thereby realizing a higher natural frequency and servo control bandwidth of the system, and the servo system has good dynamic performance; the three-dimensional rotation mechanism and the three-dimensional angle sensor 2 are integrated into an integrated design, which is both a kinematic pair and a high-precision angle sensor, with a compact structure, and the same external dimensions can provide a larger load installation space; a gyro inertial navigation component is installed on the sensor mounting frame, which can measure the rotation angle of the frame relative to the inertial space, and realize the three-dimensional image stabilization function of the sensor optical axis through speed closed-loop control.

[0038] The novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment provided by the embodiment of the present application has a compact structure, high space utilization, precise control, fast response, and high servo bandwidth. It can simultaneously realize the three-dimensional optical axis stabilization function, can realize overhead tracking, and has an image rotation elimination function. Compared with the two-axis four-frame system, it has one less frame component and can provide a larger load space with the same outer dimensions. The load frame 7 is driven by the combined force provided by four electromagnets, with a large driving torque, no transmission chain in the process, good structural rigidity, and high structural natural frequency, thereby achieving high control bandwidth and high dynamic response, and can realize high-precision image stabilization and tracking of the load optical axis.

[0039] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0040] It should be noted that the above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present specification.

[0041] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0042] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A new type of three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment, characterized in that: include: An actuator, comprising four traction electromagnets, wherein the fixed ends of the traction electromagnets are mounted on the hemispherical frame, and the moving ends are fixedly connected to the load frame via a mounting frame; The hemispherical frame has a fixed crossbeam installed in the middle, a three-degree-of-freedom rotation mechanism is installed in the middle of the crossbeam, one end of the three-degree-of-freedom rotation mechanism is fixed to the load frame, and the other end is connected to the crossbeam, and is used to drive the load frame to perform three-dimensional rotation through the three-degree-of-freedom rotation mechanism; The load frame is used for performing three-dimensional rotation under the drive of the four traction electromagnets and the three-degree-of-freedom rotation mechanism.

2. The novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment according to claim 1 is characterized in that: The traction electromagnets are spatially staggered and arranged on the top of the hemispherical frame.

3. The novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment according to claim 1 is characterized in that: A three-dimensional angle sensor is integrated inside the three-freedom rotation mechanism, wherein the three-dimensional angle sensor is used to measure the rotation angle of the three-dimensional angle sensor during three-dimensional rotation, and provide a three-dimensional rotation angle of the load frame relative to the hemispherical frame.

4. The novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment according to claim 1 is characterized in that: The load frame is equipped with a variety of photoelectric sensors and a high-precision three-axis gyroscope, which are used to feed back three-axis angular velocity information through the high-precision three-axis gyroscope to control the three-dimensional optical axis stability of the photoelectric sensor relative to the inertial space.

5. The novel three-dimensional image stabilization system for airborne optoelectronic reconnaissance equipment according to claim 1 is characterized in that: Also includes: The universal joint rotation mechanism is arranged on the three-degree-of-freedom rotation mechanism and is used for performing closed-loop control on the four traction electromagnets and the motor through the three-dimensional angle sensor and the three-axis gyroscope. The four traction electromagnets and the three-dimensional angle sensor adopt space torque vector synthesis servo control technology.

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