Vibration compensation main body, system, method and storage medium of optical axis stabilization equipment

Abstract

This invention relates to the field of optical axis jitter compensation technology under a floating base, specifically disclosing the vibration compensation body, system, method, and storage medium of an optical axis stabilization device. The vibration compensation body of the optical axis stabilization device includes: a slider assembly, a guide rail assembly, and a drive assembly. The slider assembly consists of a first slider and a second slider, which are arranged opposite to each other and slidably connected to two guide rail assemblies respectively. The first slider and the second slider are fixedly connected and clamped and fixed to the backlash-eliminating nut assembly of the drive assembly. The backlash-eliminating nut assembly and the lead screw in the drive assembly are threadedly connected. The two ends of the lead screw are respectively fixed to any one of the guide rail assemblies by a first limiting and fixing device and a second limiting and fixing device in the drive assembly. This invention suppresses vibration through the vibration environment, and the resisting torque is at the same frequency as the vibration source, so there is no problem of mismatch between the anti-vibration spectrum and the interference spectrum. It does not introduce additional flexible links, has little impact on the servo bandwidth, and does not have sensitive frequency bands that amplify external disturbances.

Description

Technical Field

[0001] This invention relates to the field of optical axis jitter compensation technology under floating base, specifically to the vibration compensation subject, system, method and storage medium of optical axis stabilization equipment. Background Technology

[0002] For optical imaging equipment mounted on floating bases in airborne, vehicle-mounted, and shipborne applications, optical axis stabilization devices are often required to isolate the effects of floating base movement. While servo motor-based stabilization devices can effectively isolate low-frequency base disturbances, current optical axis stabilization devices are typically ineffective at isolating high-frequency vibrations transmitted from the floating base due to servo bandwidth limitations. Therefore, a vibratory isolation technique is needed to address the optical axis jitter caused by vibration environments.

[0003] Currently, the most mainstream technical solution is passive vibration isolation using vibration dampers, a simple and reliable approach. However, as a flexible element, the vibration damper inevitably forms an oscillating system with the equipment being damped, resulting in a frequency range that cannot be weakened but rather amplified—the resonance range of the vibration damping system. When designing a vibration damping system, this resonance range needs to be designed outside the interference frequency band of the vibration environment. When the interference frequency band is very wide, this solution becomes difficult to implement. With increasing weight reduction requirements for vehicles such as drones, the rigidity of the vehicle itself (equivalent to the base) is becoming increasingly costly, and the frequency band of vibration interference generated after excitation is also decreasing, making this solution less adaptable. Furthermore, optical imaging equipment is far more sensitive to angular vibration than to linear vibration, and vibration damping systems constructed using vibration dampers in the angular displacement direction often occupy a significant amount of space. Therefore, based on the aforementioned advantages and disadvantages, passive vibration isolation using vibration dampers is often used as a primary form of vibration damping. In more demanding applications, secondary vibration damping is implemented on top of this primary method.

[0004] To overcome the shortcomings of passive vibration isolation, active vibration isolation based on computer control technology is gradually being introduced into the field of optical image stabilization. Due to limitations in structural stiffness and servo bandwidth, directly suppressing vibration interference through feedback control is difficult. Currently, indirect methods are mainly used, acquiring vibration information through accelerometers, obtaining vibration compensation values ​​through adaptive filtering, and finally feeding these values ​​into the servo system in an open-loop manner, using the servo system's residuals to supervise the iterative process of adaptive filtering. This approach has strong interference suppression capabilities and flexible anti-interference bandwidth, achieving efficient anti-interference over a very wide frequency band. However, implementation is complex, especially for adaptive systems, whose stability and robustness are affected by input and model. In engineering, ensuring system stability often requires a large amount of testing. Particularly for airborne line-of-sight stabilization equipment, the cost of flight testing is often several thousand or even tens of thousands of yuan per hour due to the costs of site, personnel, and fuel, resulting in debugging costs far exceeding material costs. Besides the aforementioned mainstream methods, existing technologies also include flywheel stabilization schemes, schemes using high-bandwidth vibration motors for direct control, and dynamic vibration absorption schemes, each with its own advantages and disadvantages in terms of cost and reliability.

[0005] Therefore, those skilled in the art urgently need to provide a new vibration-resistant technology to overcome and improve the technical defects of existing technologies. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defects existing in the prior art, thereby providing a vibration compensation subject, system, method and storage medium that can imitate the automatic balancing optical axis stabilization device, by further imitating the automatic balancing means of a centrifuge and using inertial force to achieve vibration compensation based on the traditional automatic balancing mechanism.

[0007] A vibration compensation body for an optical axis stabilization device includes: a slider assembly, a guide rail component, and a drive assembly;

[0008] The guide rail component includes: two guide rail assemblies arranged opposite each other, and a plurality of preload rods for connecting the two guide rail assemblies;

[0009] The slider assembly consists of a first slider and a second slider that are relatively arranged and slidably connected to two guide rail assemblies respectively;

[0010] The first slider and the second slider are fixedly connected by bolts, and after the fixed connection, the first slider and the second slider are clamped and fixed on the backlash-free nut assembly of the drive assembly;

[0011] The backlash-free nut assembly and the drive assembly are connected by a screw thread, so that the backlash-free nut assembly moves on the screw based on the connection between the screw and the motor output end in the drive assembly.

[0012] The two ends of the lead screw are respectively fixed to any one of the guide rail assemblies by the first and second limiting fixing devices in the drive assembly.

[0013] Preferably, the slider assembly further includes a first counterweight and a second counterweight;

[0014] One side of the first counterweight is detachably connected to the first slider, and the other side of the first counterweight is fixedly connected to the second counterweight by screws.

[0015] Similarly, one side of the second counterweight and the second slider are detachably connected;

[0016] The second counterweight and the first counterweight are clamped and fixed to the gap-eliminating nut assembly.

[0017] Preferably, the backlash-free nut assembly includes: a first backlash-free nut, a second backlash-free nut, and a backlash-free nut spring;

[0018] Inside the backlash-free nut spring: the groove at the tail of the first backlash-free nut and the groove at the tail of the second backlash-free nut engage.

[0019] The two ends of the gap-free nut spring are fixedly connected to the head of the first gap-free nut and the head of the second gap-free nut, respectively.

[0020] A vibration compensation system for an optical axis stabilization device includes: an optical axis jitter estimation module and an object displacement acquisition module, and also includes: a main control module and a vibration compensation body for the optical axis stabilization device;

[0021] The main control module is connected to the optical axis jitter estimation module, the object displacement acquisition module, and the vibration compensation main signal;

[0022] Based on the optical axis jitter of the imaging device obtained by the optical axis jitter estimation submodule and the position information of the slider assembly obtained by the object displacement acquisition module, the main control module outputs a control command for the next displacement of the slider assembly to the motor.

[0023] A vibration compensation method for an optical axis stabilization device, wherein a main control module controls the operation of a vibration compensation system for the optical axis stabilization device, specifically including the following steps:

[0024] S1. The main control module extracts the disturbance residual from the real-time received optical axis jitter and further processes it using mathematical statistical features to obtain a cost function that describes the optical axis jitter evaluation result.

[0025] S2. The main control module uses the actual position information of the slider component as the independent variable to optimize the cost function, and outputs the control command for the next displacement of the slider component to the motor based on the optimization result, so as to control the motor to work until it stops.

[0026] Preferably, before performing step S1, the connected slider and guide rail assembly need to be pre-tightened, and the stiffness after pre-tightening needs to satisfy the following relationship:

[0027] ;

[0028] in, The upper limit of the vibration frequency to be supplemented, in Hertz; The mass of the first slider or the second slider; This refers to the stiffness between the pre-tightened slider and guide rail assembly, expressed in Newtons per meter.

[0029] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a vibration compensation method for an optical axis stabilization device.

[0030] The technical solution of this invention has the following advantages:

[0031] In practical applications, this invention suppresses vibration through the vibration environment, and the resisting torque is at the same frequency as the vibration source, so there is no problem of mismatch between the anti-vibration spectrum and the interference spectrum; it does not introduce additional flexible links, has little impact on the servo bandwidth, and does not have sensitive frequency bands that amplify external disturbances. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is an exploded view of the overall structure of Embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0035] Figure 3 This is a schematic diagram of a backlash-eliminating nut assembly;

[0036] Figure 4 An exploded view showing the installation positions of the left limit block, right limit block, left limit switch, and right limit switch;

[0037] Figure 5 This is a schematic diagram illustrating the overall principle of the system of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 111-First substrate, 121-First linear guide assembly, 13-Preload rod assembly, 141-Left limiting block, 142-Right limiting block, 151-Bearing assembly mounting slot, 152-Motor mounting slot, 112-Second substrate;

[0040] 21-First slider, 221-First counterweight, 222-First counterweight;

[0041] 31 - Left limit switch; 32 - Right limit switch;

[0042] 41-Lead screw, 42-Motor, 43-Bearing assembly, 44-Backlash elimination nut assembly, 441-First backlash elimination nut, 442-Second backlash elimination nut, 443-Backlash elimination nut spring. Detailed Implementation

[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Example 1

[0048] like Figure 1-2The embodiment shown discloses a vibration compensation main body capable of mimicking an automatic balancing optical axis stabilizing device, including: a slider assembly, a guide rail component, and a drive assembly;

[0049] The guide rail component includes: two guide rail assemblies arranged opposite each other, and a plurality of preload rods 13 for connecting the two guide rail assemblies;

[0050] The slider assembly consists of a first slider 21 and a second slider that are relatively arranged and slidably connected to two guide rail assemblies respectively;

[0051] The first slider 21 and the second slider are fixedly connected by bolts, and after the fixed connection, the first slider 21 and the second slider are clamped and fixed on the backlash-free nut assembly 44 of the drive assembly.

[0052] The backlash-eliminating nut assembly 44 is threadedly connected to the lead screw 41 in the drive assembly, so that the backlash-eliminating nut assembly 44 moves on the lead screw 41 based on the connection between the lead screw 41 and the output end of the motor 42 in the drive assembly.

[0053] The two ends of the lead screw 41 are respectively fixed to any one of the guide rail assemblies by the first limiting and fixing device and the second limiting and fixing device in the drive assembly.

[0054] Specifically:

[0055] This embodiment is a device that is installed as a whole on the imaging device housing. It is only necessary to ensure that the lead screw 41, the two guide rail assemblies and the optical axis of the imaging device are parallel. The specific installation position on the imaging device housing can be set according to the actual installation environment: vibration environment such as airborne or vehicle-mounted, and the size of the space.

[0056] For guide rail components:

[0057] In this embodiment, the two guide rail assemblies are: a first guide rail assembly and a second guide rail assembly; and since the first guide rail assembly and the second guide rail assembly are identical, the structure of the guide rail assembly will be described using the first guide rail assembly as an example:

[0058] like Figure 1 The first guide rail assembly is composed of a first base plate 111 and a first linear guide rail assembly 121. The first linear guide rail assembly 121 is fixed in a guide rail groove opened on the first base plate 111. The model of the first linear guide rail assembly 121 is MGN9C-1-R-200-Z1-C-E10.

[0059] like Figure 1 and Figure 4In this embodiment, the first guide rail assembly further includes a left limiting block 141, a right limiting block 142, a left limit switch 31, and a right limit switch 32; wherein the left limiting block 141 and the right limiting block 142 are both mounted on the first base plate 111 and are located at both ends of the first linear guide rail assembly 121 respectively; similarly, the left limit switch 31 and the right limit switch 32 are also mounted on the first base plate 111, and the mounting positions only need to ensure that when the slider assembly moves to the limit positions at both ends of the first linear guide rail assembly 121, the left limit switch 31 and the right limit switch 32 are triggered accordingly.

[0060] Since factors such as weight need to be considered in practical applications, and because the first slider 21 and the second slider are fixedly connected and can move synchronously, the left limit block 141, right limit block 142, left limit switch 31, and right limit switch 32 only need to be installed on any one of the guide rail components to meet the actual requirements. Furthermore, since the left limit switch 31 and right limit switch 32 are common devices in the limit switch field and are usually connected to the main control module, their principles, as well as the signal and power connection relationships involved depending on the actual situation, will not be elaborated upon in this embodiment.

[0061] For the counterweight:

[0062] In this embodiment, the slider assembly also includes two counterweights: a first counterweight 221 and a second counterweight 222; specifically, one side of the first counterweight 221 is detachably connected to the first slider 21, and the other side of the first counterweight 221 is fixedly connected to the second counterweight 222 by screws.

[0063] Similarly, one side of the second counterweight 222 and the second slider are detachably connected;

[0064] The second counterweight 222 and the first counterweight 221 are clamped and fixed on the gap-eliminating nut assembly 44.

[0065] Since the two counterweights and two sliders in this embodiment are exactly the same.

[0066] For driver components:

[0067] In this embodiment, the driving component includes:

[0068] Lead screw 41 used to drive the movement of the slider assembly;

[0069] Motor 42 is used to drive the lead screw 41 to rotate;

[0070] Bearing assembly 43 for stabilizing lead screw 41.

[0071] One end of the lead screw 41 is connected to the output end of the motor 42, and the other end is connected to the bearing assembly 43;

[0072] Backlash-free nut assembly 44 is used to connect the lead screw 41 and the slider assembly.

[0073] For the backlash-free nut assembly 44:

[0074] like Figure 3 As shown in this embodiment, the backlash-eliminating nut assembly 44 includes: a first backlash-eliminating nut 441, a second backlash-eliminating nut 442, and a backlash-eliminating nut spring 443;

[0075] Inside the backlash-free nut spring 443: the groove at the tail of the first backlash-free nut 441 engages with the groove at the tail of the second backlash-free nut 442.

[0076] The two ends of the gap-eliminating nut spring 443 are fixedly connected to the head of the first gap-eliminating nut 441 and the head of the second gap-eliminating nut 442, respectively.

[0077] It should be added that, as Figure 1 As shown in this embodiment, the head of the first gap-eliminating nut 441 is provided with a plurality of screw holes so that the first counterweight 221 and the second counterweight 222 are respectively fixedly connected to the head screw of the first gap-eliminating nut 441 through some of the screw holes.

[0078] Both the first backlash-eliminating nut 441 and the second backlash-eliminating nut 442 are hollow structures and have internal threads that are compatible with the external threads of the lead screw 41, so that the backlash-eliminating nut assembly 44 is screwed onto the lead screw 41 through threaded engagement.

[0079] For driver component installation:

[0080] In this embodiment, a mounting groove for mounting a drive assembly is provided on the first substrate 111 or the second substrate 112. The drive assembly is fixed in the mounting groove. This arrangement ensures the mounting accuracy of the drive assembly and improves assembly efficiency during actual processing and assembly. The mounting groove includes a bearing assembly mounting groove 151 and a motor mounting groove 152.

[0081] Taking the driving component installed on the second substrate 112 as an example, such as Figure 2 As shown; the bearing assembly 43 is installed in the bearing assembly mounting groove 151: the bearing assembly 43 and the bearing assembly mounting groove 151 are fixedly connected by screws; the motor 42 is installed in the motor mounting groove 152; the specific size selection of the motor 42 and the bearing assembly 43 is related to the actual application scenario, and the specific structure of the bearing assembly 43 can also be set according to actual needs, as long as the size of the motor 42 and the bearing assembly 43 matches the corresponding mounting groove.

[0082] In actual fabrication, considering that either the first substrate 111 or the second substrate 112 may be mounted on the imaging device, several additional holes are prepared as reserved mounting holes.

[0083] Example 2

[0084] Based on Example 1, this example further discloses the preparation-related content:

[0085] Furthermore, during specific assembly, after the top end of the pretensioning rod assembly 13 is fixed to the first substrate 111, the top end of the pretensioning rod assembly 13 is in close contact with the first substrate 111; when the bottom end of the pretensioning rod assembly 13 is fixed to the second substrate 112, a distance of 1mm is maintained between the bottom end of the pretensioning rod assembly 13 and the second substrate 112, so as to form tensile stress when the two substrates and the pretensioning rod assembly 13 are pretensioned based on the screw.

[0086] Considering that the assembly and positioning of the drive components almost entirely rely on the mounting grooves on the first base plate 111 or the second base plate 112, if the requirements for the axial alignment of the lead screw 41 and the guide rail assembly are high, the manufacturing precision requirements for the parts will be very high.

[0087] To appropriately reduce costs, the parallelism requirement between the axial direction of the lead screw 41 and the guide rail assembly is relaxed. The first backlash-free nut 441 needs to be designed with low stiffness and the blank is manufactured by 3D printing of nylon material. Finally, the internal thread is machined to coordinate the deformation and stress caused by the non-standard parallelism between the guide rail assembly and the lead screw 41.

[0088] Example 3

[0089] A vibration compensation system for an optical axis stabilization device includes: an optical axis jitter estimation module, an object displacement acquisition module, a main control module, and a vibration compensation main body for an optical axis stabilization device according to Embodiment 1;

[0090] The main control module is connected to the optical axis jitter estimation module, the object displacement acquisition module, and the vibration compensation main signal;

[0091] Based on the optical axis jitter of the imaging device obtained by the optical axis jitter estimation submodule and the position information of the slider assembly obtained by the object displacement acquisition module, the main control module outputs a control command for the next displacement of the slider assembly to the motor 42.

[0092] It should be noted that, in this embodiment, the motor 42 is a lead screw stepper motor of model 35HSH3417Q-360N1-200, the lead screw 41 has a lead of 1 mm and a maximum thrust of 200N; the lead screw 41 and the rotor of the motor 42 are manufactured as a single unit, without the need for a coupling. The bearing housing in the bearing assembly 43 adopts a standard EF06 bearing housing, corresponding to a 606 type deep groove ball bearing.

[0093] The object displacement acquisition module measures or estimates the position of the slider assembly on the guide rail assembly. Specific components used include, but are not limited to, magnetic scales, potentiometers, and encoders at the 42-end of the motor. Notably, when a stepper motor is used (42), no position sensor is required; the position information of the slider assembly can be estimated directly by counting the steps in an open-loop manner. Similarly, when a brushless motor is used (42), no position sensor is needed; the position information can be estimated using a current sensor via traditional high-frequency injection. It is important to note that the position-related information refers to the measured or estimated absolute or relative displacement of the slider assembly. The position-related information reflects information that characterizes the position of the slider assembly, not necessarily the position itself. Position-related information such as the number of steps for a stepper motor or the number of commutations for a brushless motor can be used as input to the optimization algorithm.

[0094] like Figure 5 The overall system principle diagram shows that the vibration compensation main body of the optical axis stabilization device in Embodiment 1 is only illustrated with a specific working principle structure. Figure 5 The diagram also illustrates the direction of optical axis vibration.

[0095] The optical axis jitter estimation module is a module for measuring or estimating the amount of optical axis jitter. The specific devices selected include, but are not limited to, measuring the amount of optical axis jitter by using a gyroscope sensor that is fixedly connected to the imaging device and whose measurement direction is not parallel to the optical axis, measuring the amount of optical axis jitter by using an encoder that is fixedly connected to the imaging device and whose measurement direction is not parallel to the optical axis, and directly obtaining the inter-frame deviation of the image generated by the imaging device through image processing methods.

[0096] Example 4

[0097] A vibration compensation method for an optical axis stabilizing device, wherein the main control module controls the operation of an embodiment 3 of a vibration compensation system for an optical axis stabilizing device, specifically including the following steps:

[0098] S1. The main control module extracts the disturbance residual from the real-time received optical axis jitter and further processes it using mathematical statistical features to obtain a cost function that describes the optical axis jitter evaluation result.

[0099] S2. The main control module uses the actual acquired position information of the slider component as the independent variable to optimize the cost function, and outputs the control command for the next displacement of the slider component to the motor 42 based on the optimization result, so as to control the motor 42 to work until it stops.

[0100] In this embodiment, regarding the cost function: theoretically, any value positively correlated with the degree of optical axis jitter can be used as the cost function. In engineering practice, considering that in addition to high-frequency vibration, active rotation of the optical axis will also generate angular motion of the optical axis, in order to separate the angular motion expected by the user from the angular motion caused by interference, we consider first extracting the disturbance residual by high-pass filtering and other methods on the optical axis motion information. Then, we use data statistical features such as root mean square and standard deviation to obtain the cost function.

[0101] In this embodiment, the main control module uses the actual acquired position-related information of the slider component as the independent variable, and the process relationship expression for optimizing the cost function is as follows: ;

[0102] In the formula, The slider assembly's movement position is Evaluation value for timeline jitter; Represents the cost function; Indicates the amount of jitter on the optical axis;

[0103] It should be noted that the optimization process in this embodiment is similar to that of numerical optimization, the difference being the cost function used in the optimization process of this embodiment. It is not obtained through pure mathematical calculation, but through the measurement and data processing of optical axis jitter. Specifically, the data processing involves a purchased device used as an optical axis jitter estimation module internally performing data conversion and output processing. The specific working principle of this device will not be elaborated upon further. The independent variable is the slider position. It cannot be input via assignment; instead, it is physically implemented through the driving components. Ultimately, the optimization result of this process is that the slider component moves to a position on the guide rail component, but it is not necessarily required to obtain the value at that position. Furthermore, in practical applications, depending on the specific optimization method, some algorithms only require the increment of the slider component's position for optimization. Additionally, the optimization methods involved in practical applications include, but are not limited to, binary search, the 0.618 method, and gradient descent.

[0104] Specifically:

[0105] Furthermore, considering that this embodiment compensates for vibration by applying the inertial force of the slider assembly to the guide rail assembly under vibration conditions, the contact stiffness between the slider assembly and the guide rail assembly cannot be ignored. In principle, the natural frequency of the assembled slider assembly and guide rail assembly should be higher than the spectrum of the vibration source being compensated. This requires pre-tightening between the slider assembly and the guide rail assembly. Before executing step S1, after assembly, pre-tightening is required between the connected slider and guide rail assemblies. The stiffness after pre-tightening must satisfy the following relationship:

[0106] ;

[0107] in, The upper limit of the vibration frequency to be supplemented, in Hertz; The mass of the first slider 21 or the second slider; This refers to the stiffness between the pre-tightened slider and guide rail assembly, expressed in Newtons per meter.

[0108] Example 5

[0109] Based on Example 5, this example further discloses a specific application example, in which the optical axis jitter estimation module uses a gyroscope sensor and the object displacement acquisition module uses a stepper motor.

[0110] In this embodiment, the main control module uses a greedy algorithm to control the operation of a vibration compensation method for an optical axis stabilizing device, as described in Embodiment 4.

[0111] S11. Record the bandpass filter value of the 10~50Hz range fed back by the target sensor for 1 second, and record the corresponding root mean square value as c0. It should be noted that this is because during operation, the frequency components that have a greater impact on the optical axis are concentrated in the 10~50Hz range. Therefore, under actual working conditions, the target sensor for measuring the vibration impact is a fiber optic gyroscope sensor.

[0112] With the initial compensation direction as the front;

[0113] S12. The main control module drives the stepper motor to push the slider assembly forward by 0.5mm in open loop. After it reaches the position, it records the bandpass filter value of the 10~50Hz part fed back by the target sensor for 1 second and records the corresponding root mean square value as c1.

[0114] S13. If c1 is greater than c0, the open-loop pusher slide assembly moves back 0.5mm; otherwise, the open-loop pusher slide assembly moves forward 0.5mm. Once in position, discard the current value of c0 and replace c0 with the current value of c1. Then, continue to record the bandpass filter value of the 10~50Hz portion fed back by the target sensor for 1 second, and record the corresponding root mean square value as the new c1.

[0115] S14. Check the limit. If the front limit alarm is triggered, push the nut back 5mm with the open ring. If the rear limit alarm is triggered, push the slider forward 5mm with the open ring.

[0116] S15. Repeat steps S13 and S14 continuously until the machine stops.

[0117] In this embodiment, the one-dimensional optimization algorithm is mature, stable, requires little debugging, and has high reliability.

[0118] Example 6

[0119] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the vibration compensation method steps of an optical axis stabilization device according to Embodiment 4.

[0120] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A vibration compensation body for an optical axis stabilization device, characterized in that, include: Slider assembly, guide rail components, and drive assembly; The guide rail component includes: two guide rail assemblies arranged opposite each other, and a number of preload rods (13) for connecting the two guide rail assemblies. The slider assembly consists of a first slider (21) and a second slider that are arranged opposite to each other and slidably connected to the two guide rail assemblies respectively; The first slider (21) and the second slider are fixedly connected by bolts, and after the fixed connection, the first slider (21) and the second slider are clamped and fixed on the backlash-free nut assembly (44) of the drive assembly; The backlash-free nut assembly (44) and the lead screw (41) in the drive assembly are threadedly connected so that the backlash-free nut assembly (44) moves on the lead screw (41) based on the connection between the lead screw (41) and the output end of the motor (42) in the drive assembly; The two ends of the lead screw (41) are respectively fixed to any one of the guide rail assemblies by the first limiting and fixing device and the second limiting and fixing device in the drive assembly.

2. The vibration compensation body of the optical axis stabilization device according to claim 1, characterized in that, The slider assembly also includes a first counterweight (221) and a second counterweight (222); The first counterweight (221) is detachably connected to the first slider (21) on one side, and the other side of the first counterweight (221) is fixedly connected to the second counterweight (222) by screws; Similarly, the second counterweight (222) is detachably connected to the second slider on one side; The second counterweight (222) and the first counterweight (221) are clamped and fixed on the gap-free nut assembly (44).

3. The vibration compensation body of the optical axis stabilization device according to claim 1, characterized in that, The backlash-free nut assembly (44) includes: a first backlash-free nut (441), a second backlash-free nut (442), and a backlash-free nut spring (443); Inside the backlash-free nut spring (443): the groove opened at the tail of the first backlash-free nut (441) and the groove opened at the tail of the second backlash-free nut (442) engage; The two ends of the gap-free nut spring (443) are fixedly connected to the head of the first gap-free nut (441) and the head of the second gap-free nut (442), respectively.

4. A vibration compensation system for an optical axis stabilizing device, comprising: The optical axis jitter estimation module and the object displacement acquisition module are characterized in that they further include: a main control module and a vibration compensation body of an optical axis stabilization device as described in any one of claims 1 to 3; The main control module is connected to the optical axis jitter estimation module, the object displacement acquisition module, and the vibration compensation main signal; Based on the optical axis jitter of the imaging device obtained by the optical axis jitter estimation submodule and the position information of the slider assembly obtained by the object displacement acquisition module, the main control module outputs a control command for the next displacement of the slider assembly to the motor (42).

5. A vibration compensation method for an optical axis stabilizing device, characterized in that, The main control module controls the operation of the vibration compensation system of the optical axis stabilization device according to claim 4, specifically including the following steps: S1. The main control module extracts the disturbance residual from the real-time received optical axis jitter and further processes it using mathematical statistical features to obtain a cost function that describes the optical axis jitter evaluation result. S2. The main control module uses the actual obtained position information of the slider component as the independent variable to optimize the cost function, and outputs the control command for the next displacement of the slider component to the motor (42) based on the optimization result, so as to control the motor (42) to work until it stops.

6. The vibration compensation method for an optical axis stabilizing device according to claim 5, characterized in that, Before performing step S1, it is necessary to pre-tighten the connected slider and guide rail assembly. The stiffness after pre-tightening must satisfy the following relationship: ； in, The upper limit of the vibration frequency to be supplemented, in Hertz; The mass of the first slider (21) or the second slider; This refers to the stiffness between the pre-tightened slider and guide rail assembly, expressed in Newtons per meter.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the vibration compensation method steps of the optical axis stabilization device as described in claim 5.

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