Vehicle-mounted optoelectronic equipment attitude stabilizing system

Abstract

The embodiment of the invention provides a vehicle-mounted optoelectronic equipment attitude stabilizing system. The system comprises a base 2, a combined rotating shaft 1, a motor module 4, a power supply module 8, a comprehensive control module 9, an electric push rod 5, a locking device 3, a motor module stator seat 6 and a bearing pressing ring 7. By providing the full-automatic vehicle-mounted photoelectric equipment attitude stabilizing system which is simple in structure, high in generalization degree and easy to integrate and control, the vehicle-mounted photoelectric equipment is always kept in a vertical state in the lodging and lifting process of the mast, so that the stress state of an azimuth shaft system is not changed, and the reliability and the safety of the photoelectric equipment are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation, in particular to a vehicle-mounted photoelectric device posture stabilizing system. BACKGROUND

[0002] The observation distance of a photoelectric device to the ground or to the sea is affected by the terrain and the curvature of the earth. A photoelectric device with the same performance can observe farther when installed at a higher place than when installed at a lower place. In order to eliminate or reduce the influence of the terrain, the geometric detection distance of the photoelectric device is increased, and the photoelectric device is installed on the roof of a building or the top of a tower to increase its relative position height and expand its observation range. A vehicle-mounted photoelectric device is installed on the top of a mast to achieve the same purpose, but during transportation, it is limited by the traffic environment and needs to be retracted or laid down to meet the height limit of the whole vehicle. After the mast is retracted or laid down, the posture of the photoelectric device at the top of the mast changes from the vertical state during work to the laid-down state, and the axial force of the azimuth axis system of the photoelectric device changes from the axial force to the radial force, and the force direction is constant. The radial force that the azimuth axis system of the photoelectric device has been subjected to for a long time may cause a decrease in the accuracy of the axis system or even damage to the structure of the axis system, and the performance of the photoelectric device cannot be guaranteed. SUMMARY

[0003] The purpose of the present application is to provide a full-automatic vehicle-mounted photoelectric device posture stabilizing system with simple structure, high degree of generalization, easy integration and control, which can keep the vehicle-mounted photoelectric device in a vertical state during the mast is laid down and raised, so that the force state of the azimuth axis system does not change, and the reliability and safety of the photoelectric device are improved.

[0004] The embodiment of the present application provides a vehicle-mounted photoelectric device posture stabilizing system, which comprises:

[0005] A base 2 is used for mechanical connection with the vehicle-mounted mast, comprising a base body 2-1 and a side cover 2-2, wherein the base body 2-1 provides physical support for the combined rotating shaft 1, and the side cover 2-2 is installed on the side wall of the base body 2-1 to form a closed space with the base body 2-1, so as to realize the sandproof, dustproof and waterproof functions of the system;

[0006] A combined rotating shaft 1 is used as an action execution mechanism for realizing the posture stabilization of the photoelectric device, and can rotate in the vertical plane, comprising a left shaft 1-1, a photoelectric seat 1-2, a right shaft 1-3, a motor module rotor seat 1-4, a bearing 1-5, a threaded compression ring 1-6 and an upper cover 1-7, wherein the photoelectric seat 1-2 provides a mechanical connection for the installation of the photoelectric device;

[0007] The motor module 4 is an action execution element for realizing the attitude stability of the photoelectric device, and provides driving for the combined rotating shaft 1. The motor module is installed between the combined rotating shaft 1 and the base body 2-1. The rotor is connected with the motor module rotor seat 1-4, and the stator is connected with the motor module stator seat 6. The motor is locked by the motor brake in the power-off state, and the motor brake is released according to the instruction in the power-on state.

[0008] The power supply module 8 is integratedly installed in the side wall space of the base body 2-1, and provides power supply for the motor module 4, the comprehensive control module 9, the electric push rod 5 and the lock 3.

[0009] The comprehensive control module 9 manages and controls the whole system, and is integratedly installed in the side wall space of the base 2.

[0010] The electric push rod 5 is integratedly installed in the cavity of the photoelectric seat 1-2, and the horizontal plane is located at the center of the whole system. In the vertical state of the mast, the pin shaft is extended to cooperate with the pin hole corresponding to the base, so as to ensure the vertical state of the photoelectric device, and also lock the shaft system.

[0011] The lock 3 is integratedly installed on the side wall of the base body 2-1. The shaft cooperates with the pin hole on the photoelectric seat 1-2 to realize the double locking of the shaft system when the combined rotating shaft 1 is in the limit position.

[0012] In some embodiments, the motor module 4 integrates the angle measuring element, the driver, the harmonic reducer and the brake device, realizes the measurement of the angle position during the rotation of the combined shaft 1 and the locking of the shaft system.

[0013] In some embodiments, the system lifting working process includes:

[0014] S01: The system is powered on, and the mast in-place locking device is released;

[0015] S02: The lock 3 is withdrawn;

[0016] S03: The mast is lifted, and the angle change value of the mast is transmitted to the attitude stabilization system in real time. The attitude stabilization system performs the reverse action according to the input value;

[0017] S04: After the mast is lifted to the position, the electric push rod 5 is extended to lock the pin shaft, the lock 3 is locked at the same time, and the system is powered off.

[0018] In some embodiments, when the work task is completed, the working process of the photoelectric mast system withdrawal includes:

[0019] S05: The system is powered on, and the electric push rod 5 and the lock 3 are withdrawn to release the locking;

[0020] S06: The mast is inverted, and the angle change value of the mast is transmitted to the attitude stabilization system in real time. The attitude stabilization system performs the reverse action according to the input value.

[0021] S07: After the mast is laid down in place, the lock 3 extends the pin shaft lock, and the motor module 4 is powered off to lock the shaft system.

[0022] S08: The mast is locked in place, and the system is powered off.

[0023] In some embodiments, the base body 2-1 has a plurality of mounting holes for fixedly mounting the vehicle-mounted photoelectric device attitude stabilization system.

[0024] In some embodiments, the side cover 2-2 is sealed and connected to the base body 2-1 through a sealing ring.

[0025] In some embodiments, the combined shaft 1 includes at least two independent shafts, each of which can rotate independently to achieve multi-degree-of-freedom attitude adjustment.

[0026] In some embodiments, the motor module 4 includes at least one brushless motor to reduce maintenance requirements and improve system reliability.

[0027] In some embodiments, the electric push rod 5 includes at least one servo motor to achieve precise position control.

[0028] In some embodiments, the comprehensive control module 9 includes at least one microprocessor and corresponding control algorithm for precise control of the motor module 4 and the electric push rod 5.

[0029] The beneficial effects of the above embodiments include:

[0030] The photoelectric device always maintains an upright form during the laying down and raising of the laying down vehicle-mounted photoelectric mast, and the azimuth axis system of the photoelectric device always maintains an upright force condition, improving the reliability and safety of the photoelectric device.

[0031] The design is simple, reliable, and highly universal. The invention can stabilize the attitude of the photoelectric device through a simple mechanical shaft system and an electric control system, with simple structure, low failure rate, and low manufacturing cost.

[0032] All operations involved in the invention are automatically completed, and completely unmanned operation can be achieved.

[0033] The invention can be integrated with multiple types of masts, and can also carry multiple types of photoelectric devices, meeting the needs of different performance indicators of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings generally illustrate the various embodiments discussed herein in an example, rather than limiting, manner.

[0035] Figure 1The structural schematic diagram of the vehicle-mounted photoelectric device attitude stabilizing system of the embodiment of the present application is shown in the figure.

[0036] Figure 2 The sectional structural schematic diagram of the vehicle-mounted photoelectric device attitude stabilizing system of the embodiment of the present application is shown in the figure.

[0037] Figure 3 The integrated installation schematic diagram of the vehicle-mounted photoelectric device attitude stabilizing system of the embodiment of the present application is shown in the figure.

[0038] Symbol explanation:

[0039] 1, combined rotating shaft; 1-1, left shaft; 1-2, photoelectric seat; 1-3, right shaft; 1-4, motor module rotor seat; 1-5, bearing; 1-6, threaded pressing ring; 1-7, upper cover; 2, base; 2-1, base body; 2-2, side cover; 3, lock; 4, motor module; 5, electric push rod; 6, motor module stator seat; 7, bearing pressing ring; 8, power module; 9, comprehensive control module. DETAILED DESCRIPTION

[0040] In order to be able to more fully understand the features and technical contents of the embodiments of the present application, the implementation of the embodiments of the present application will be described in detail below, and the attached drawings are only used for reference and do not limit the embodiments of the present application.

[0041] In the description of the embodiments of the present application, it should be noted that unless otherwise stated and limited, the term "connection" should be understood broadly, for example, it can be an electrical connection, or a connection between two elements, it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above-mentioned term can be understood according to the specific situation.

[0042] It should be noted that the terms "first, second, third" involved in the embodiments of the present application are only to distinguish similar objects, and do not represent a specific order of the objects. Understandably, "first, second, third" can be interchanged in a specific order or sequence as allowed. It should be understood that the objects distinguished by "first, second, third" can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0043] The technical solution provided by the present application is a vehicle-mounted photoelectric device attitude stabilizing system, as shown in Figure 1 and Figure 2 The system includes a base 2, a combined rotating shaft 1, a motor module 4, a power module 8, a comprehensive control module 9, an electric push rod 5, a lock 3, a motor module stator 6 and a bearing pressing ring 7.

[0044] The base 2 provides a mechanical interface for the invention to be integrated with the vehicle-mounted mast, including a base body 2-1 and a side cover 2-2.

[0045] The base body 2-1 provides physical support for the combined rotating shaft 1, and the side cover 2-2 is installed on the side wall of the base body 2-1 to form a closed space with the base body 2-1, thereby achieving the sandproof, dustproof and waterproof functions of the system.

[0046] The combined rotating shaft 1 is a motion execution mechanism for the invention to realize the attitude stability of the photoelectric device, and can rotate in the vertical plane, including a left shaft 1-1, a photoelectric seat 1-2, a right shaft 1-3, a motor module rotor seat 1-4, a bearing 1-5, a threaded compression ring 1-6 and an upper cover 1-7.

[0047] The photoelectric seat 1-2 provides a mechanical interface for the installation of the photoelectric device, as shown in Figure 3 The photoelectric device is integrated with the invention through the mechanical interface.

[0048] The motor module 4 is a motion execution element for the invention to realize the attitude stability of the photoelectric device, and provides driving for the combined rotating shaft 1. It is installed between the combined rotating shaft 1 and the base body 2-1, the rotor is connected with the motor module rotor seat 1-4, and the stator is connected with the motor module stator seat 6. The lower part is electrically locked, and the upper part is unlocked according to the instruction.

[0049] The motor module 4 integrates an angle measuring element, a driver, a harmonic reducer and a brake device, and realizes the measurement of the angle position during the rotation of the combined shaft 1 and the locking of the shaft system.

[0050] The power module 8 is integrated and installed in the side wall space of the base body 2-1, and provides power for the motor module 4, the comprehensive control module 9, the electric push rod 5 and the lock 3.

[0051] The comprehensive control module 9 manages and controls the whole system, and is integrated and installed in the side wall space of the base 2.

[0052] The electric push rod 5 is integrated and installed in the cavity of the photoelectric seat 1-2, and the horizontal plane is located at the center of the whole system. In the vertical state of the mast, the pin shaft is extended and matched with the corresponding pin hole of the base, so as to ensure the vertical state of the photoelectric device, and also lock the shaft system.

[0053] The lock 3 is integrated and installed on the side wall of the base body 2-1, and the shaft is matched with the pin hole on the photoelectric seat 1-2 to realize the double locking of the shaft system when the combined rotating shaft 1 is in the limit position.

[0054] When the photoelectric mast system of the vehicle-mounted photoelectric device attitude stability system is installed, the system lifting work flow is as follows:

[0055] S01: The system is powered on, and the mast in-place locking device is unlocked.

[0056] S02: the lock 3 is withdrawn;

[0057] S03: the mast is lifted, and the angle change value of the mast is transmitted to the attitude stabilization system in real time, and the attitude stabilization system acts in the opposite direction according to the input value;

[0058] S04: after the mast is lifted to the position, the pin shaft of the electric push rod 5 is extended to lock, the lock 3 is locked at the same time, and the system is powered off.

[0059] When the work task is completed, the work flow of the photoelectric mast system is as follows:

[0060] S05: the system is powered on, and the electric push rod 5 and the lock 3 are withdrawn and unlocked;

[0061] S06: the mast is lowered, and the angle change value of the mast is transmitted to the attitude stabilization system in real time, and the attitude stabilization system acts in the opposite direction according to the input value;

[0062] S07: after the mast is lowered to the position, the lock 3 is extended to lock the pin shaft, and the motor module 4 is powered off and locked.

[0063] S08: the mast is locked to the position, and the system is powered off.

[0064] The above embodiment realizes that the photoelectric equipment always maintains a vertical form during the lowering and lifting of the lowering type vehicle-mounted photoelectric mast, the azimuth axis system of the photoelectric equipment always maintains a vertical force condition, and the reliability and safety of the photoelectric equipment are improved.

[0065] The design is simple, the reliability is high, and the generalization degree is high. The attitude of the photoelectric equipment can be stabilized only by a simple mechanical shaft system structure and an electric control system, the structure is simple, the failure rate is low, and the manufacturing cost is low.

[0066] All the work involved in the present application is automatically completed, and unattended operation can be completely realized.

[0067] The present application can be integrated with multiple types of masts, and can also carry multiple types of photoelectric equipment, so that the needs of different performance indicators of the vehicle can be met.

[0068] The technical solutions recorded in the embodiments of the present application can be arbitrarily combined without conflict.

[0069] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle-mounted photoelectric device attitude stabilization system, characterized in that: include: The base (2) is a mechanical interface for integrated installation with the vehicle-mounted mast, comprising a base body (2-1) and a side cover (2-2), wherein the base body (2-1) provides physical support for the combined rotating shaft (1), and the side cover (2-2) is installed on the side wall of the base body (2-1) to form a closed space with the base body, thereby realizing the sandproof, dustproof and waterproof functions of the system; The combined rotating shaft (1) serves as an actuator for achieving a stable posture of the photoelectric device and can rotate in a vertical plane, and comprises a left shaft (1-1), a photoelectric seat (1-2), a right shaft (1-3), a motor module rotor seat (1-4), a bearing (1-5), a threaded pressing ring (1-6) and an upper cover (1-7), wherein the photoelectric seat (1-2) provides a mechanical interface for installing the photoelectric device; The motor module (4) serves as an actuator for achieving a stable posture of the photoelectric device and provides drive for the combined rotating shaft (1). The motor module (4) is installed between the combined rotating shaft (1) and the base body (2-1). The rotor is connected to the motor module rotor seat (1-4), and the stator is connected to the motor module stator seat (6). When the power is turned off, the motor brake is locked, and when the power is turned on, the brake is released according to the instruction. A power module (8) is integrated and installed in the side wall space of the base body (2-1) to supply power to the motor module (4), the integrated control module (9), the electric push rod (5), and the lock (3); An integrated control module (9) manages and controls the entire system and is integrated and installed in the side wall space of the base (2); An electric push rod (5) is integrated and installed in the cavity of the photoelectric base (1-2), with the horizontal plane located at the center of the entire system. When the mast is in an upright state, a pin shaft is extended and matched with a corresponding pin hole of the base, thereby ensuring the vertical state of the photoelectric device and also locking the shaft system. The locker (3) is integrally mounted on the side wall of the base body (2-1), and its pin shaft cooperates with the pin hole on the photoelectric seat (1-2) to achieve double locking of the shaft system when the combined rotating shaft (1) is at the extreme position.

2. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The motor module (4) integrates an angle measuring element, a driver, a harmonic reducer and a brake device, thereby realizing the measurement of the angular position of the combined shaft (1) during its rotation and the locking of the shaft system.

3. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The system lifting workflow includes: S01: Power on the system and release the mast locking device; S02: The locking device (3) is withdrawn; S03: The mast is raised, and the angle change of the mast is transmitted to the attitude stabilization system in real time. At the same time, the attitude stabilization system performs the opposite action according to the input value; S04: After the mast is lifted to its proper position, the electric push rod (5) extends the pin to lock, the lock (3) is locked at the same time, and the system is powered off.

4. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: After completing the task, the work process of withdrawing the optoelectronic mast system includes: S05: The system is powered on, and the electric push rod (5) and the lock (3) are withdrawn and unlocked; S06: The mast falls over and transmits the angle change of the mast to the attitude stabilization system in real time. The attitude stabilization system then performs an opposite action based on the input value. S07: After the mast falls to its proper position, the lock (3) extends the pin to lock the mast, and the motor module (4) lowers the electric brake to lock the shaft. S08: The mast is locked in place and the system is powered off.

5. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The base body (2-1) has a plurality of mounting holes for fixedly mounting the vehicle-mounted optoelectronic equipment attitude stabilization system.

6. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The side cover (2-2) and the base body (2-1) are sealed and connected via a sealing ring.

7. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The combined rotating shaft (1) comprises at least two independent shafts, each of which can rotate independently to achieve multi-degree-of-freedom posture adjustment.

8. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The motor module (4) includes at least one brushless motor to reduce maintenance requirements and improve system reliability.

9. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The electric push rod (5) includes at least one servo motor to achieve precise position control.

10. The vehicle-mounted optoelectronic device posture stabilization system according to claim 1, characterized in that: The integrated control module (9) includes at least one microprocessor and a corresponding control algorithm, and is used to achieve precise control of the motor module (4) and the electric push rod (5).

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