Coarse tracking pointing mechanism and laser communication terminal equipment

Abstract

This application relates to the field of laser communication technology and discloses a coarse tracking pointing mechanism and a laser communication terminal device, which can improve the accuracy of target tracking. The coarse tracking pointing mechanism includes a two-dimensional turntable, a pendulum mirror mounting bracket, a single pendulum mirror, and a drive module. The pendulum mirror mounting bracket is fixedly connected to the two-dimensional turntable, and the single pendulum mirror is mounted on the pendulum mirror mounting bracket. The drive module includes a voice coil motor, which includes a housing, a stator module, and a mover module. The mover module includes an iron core disposed within the housing and two sets of permanent magnets, with the iron core located between the two sets of permanent magnets. The stator module includes a coil support and a drive coil. The coil support includes a first fixed part and a second fixed part connected to each other. The first fixed part is located inside the housing, and a portion of the second fixed part is located outside the housing. The first fixed part surrounds the iron core, and the drive coil is wound around the first fixed part. The second fixed part is connected to the pendulum mirror mounting bracket, and the housing is connected to the single pendulum mirror.

Description

Technical Field

[0001] This application relates to the field of laser communication technology, and in particular to a coarse tracking pointing mechanism and a laser communication terminal device. Background Technology

[0002] Laser communication terminals typically include a coarse tracking pointing mechanism for receiving or transmitting laser light, thereby achieving coarse tracking of the target. Currently, this mechanism includes a single pendulum mirror, which adjusts its pitch and azimuth angles to receive and transmit the laser light. However, existing drive mechanisms suffer from low precision when rotating the pendulum mirror, resulting in insufficient accuracy in target tracking and impacting work efficiency.

[0003] In addition, the stability of the pendulum mirror's own structure also affects the accuracy of target tracking. When the drive mechanism drives the pendulum mirror to rotate, the heat generated by the drive mechanism is easily transferred to the pendulum mirror, causing the pendulum mirror to deform due to heat, which affects the accuracy of target tracking. Summary of the Invention

[0004] This application provides a coarse tracking pointing mechanism and a laser communication terminal device, which can improve the accuracy of target tracking.

[0005] In a first aspect, this application provides a coarse tracking pointing mechanism, including a two-dimensional turntable, a pendulum mirror mounting bracket, a single pendulum mirror, and a drive module. The pendulum mirror mounting bracket is fixedly connected to the two-dimensional turntable, and the single pendulum mirror is mounted on the pendulum mirror mounting bracket. The drive module is used to drive the single pendulum mirror to rotate relative to the pendulum mirror mounting bracket around a first axis to change the pitch angle of the single pendulum mirror. The drive module is also used to drive the two-dimensional turntable to rotate around a second axis to change the horizontal azimuth angle of the single pendulum mirror. The first axis is perpendicular to the second axis.

[0006] The drive module includes a voice coil motor for driving the pendulum mirror to rotate around the first axis. The voice coil motor includes a housing, a stator module, and a mover module.

[0007] The moving part module includes an iron core and two sets of permanent magnets disposed inside the housing. The two sets of permanent magnets are respectively fixed to the top and bottom of the housing, and the iron core is located between the two sets of permanent magnets.

[0008] The stator module includes a coil support and a drive coil. The coil support includes a first fixing part and a second fixing part that are connected to each other. The arrangement direction of the first fixing part and the second fixing part is perpendicular to the arrangement direction of the two sets of permanent magnets. The first fixing part is located inside the housing, and part of the second fixing part is located outside the housing. The first fixing part is arranged around the iron core, and the first fixing part is spaced apart from the iron core. The drive coil is wound around the first fixing part.

[0009] The second fixing part is connected to the pendulum mirror mounting bracket, and the housing is connected to the single pendulum mirror.

[0010] The coarse tracking pointing mechanism in this application utilizes a voice coil motor to drive a pendulum mirror. The high control precision of the voice coil motor improves the accuracy of the pendulum mirror's angle adjustment, thereby enhancing target tracking accuracy. The stator module of the voice coil motor is connected to the pendulum mirror mounting bracket, and the housing is connected to the pendulum mirror. During the operation of the voice coil motor, the drive coil acts as the primary heat-generating element. The heat generated by the drive coil is transferred to the pendulum mirror mounting bracket through the coil bracket, rather than directly to the pendulum mirror. This minimizes the heat received by the pendulum mirror, preventing deformation due to heat and further improving target tracking accuracy.

[0011] In some possible implementations, the pendulum mirror mounting bracket includes two opposing support frames, which are integral with the two-dimensional turntable, and the single pendulum mirror is mounted between the two support frames.

[0012] In some possible implementations, an eddy current sensor is also included, which is connected to one of the support frames to detect the rotation angle of the pendulum mirror.

[0013] In some possible implementations, a carrier plate is also included, the drive module further includes a wireless power supply module, the two-dimensional turntable is rotatably disposed on the carrier plate about the second axis, and the wireless power supply module is disposed between the two-dimensional turntable and the carrier plate;

[0014] The wireless power supply module includes a transmitting coil and a receiving coil arranged opposite to each other, with the transmitting coil and the receiving coil spaced apart.

[0015] The transmitting coil is fixedly connected to the carrier plate, the receiving coil is fixedly connected to the two-dimensional turntable, and the receiving coil is connected to the driving coil and the eddy current sensor respectively through the connecting wire passing through the two-dimensional turntable.

[0016] In some possible implementations, the distance between the transmitting coil and the receiving coil is 1mm to 10mm.

[0017] In some possible implementations, when the pendulum mirror is in its initial state, the distance between the mirror surface of the pendulum mirror and the eddy current sensor is 0.5 mm to 1.5 mm.

[0018] In some possible implementations, there are two eddy current sensors, which are symmetrically distributed about the central axis of the pendulum mirror.

[0019] In some possible implementations, the pendulum mirror includes a frame and a mirror body, the mirror body being fixed within the frame;

[0020] The mirror frame has mounting holes on both sides, and the mirror frame is connected to the support frame through flexible bearings that pass through the mounting holes.

[0021] In some possible implementations, the mounting holes on both sides are symmetrically distributed about the central axis of the pendulum mirror, and the line connecting the axes of the mounting holes on both sides passes through the center point of the pendulum mirror.

[0022] In some possible implementations, the drive module includes two voice coil motors, which are symmetrically arranged on both sides of the pendulum mirror.

[0023] In some possible implementations, the projection plane is assumed to be a plane perpendicular to the second axis, and the orthographic projection of the voice coil motor on the projection plane is located at the orthographic projection of the two-dimensional turntable on the projection plane.

[0024] In a second aspect, this application provides a laser communication terminal device, including a coarse tracking pointing mechanism as described in any possible embodiment of the first aspect. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a laser communication terminal device in an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of a voice coil motor in one embodiment of this application;

[0027] Figure 3 This is a partial structural diagram of the voice coil motor in an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of a coil support structure in one embodiment of this application;

[0029] Figure 5 This is a schematic cross-sectional view of the core and stator module assembled in an embodiment of this application.

[0030] Figure 6This is a schematic diagram of one structure of the coarse tracking pointing mechanism in an embodiment of this application;

[0031] Figure 7 This is a schematic diagram of the coarse tracking pointing mechanism from another angle in an embodiment of this application;

[0032] Figure 8 This is a cross-sectional structural diagram of a wireless power supply module in an embodiment of this application;

[0033] Figure 9 This is a schematic diagram illustrating the working principle of a laser communication terminal device in an embodiment of this application.

[0034] In the picture:

[0035] 100-Two-dimensional turntable; 200-Pendulous mirror mounting bracket; 210-Support frame; 211-Mounting slot; 300-Single pendulum mirror; 310-Mirror frame; 311-Mounting hole; 320-Mirror body; 400-Drive module; 410-Voice coil motor; 411-Housing; 4111-Bottom shell; 4112-Cover plate; 412-Motor module; 4121-Permanent magnet; 4122-Iron core; 413-Stator module; 4131-Coil bracket; 41311- First fixing part; 41312-Second fixing part; 41313-Square groove; 41314-Limiting groove; 4132-Drive coil; 414-Limiting plate; 420-Wireless power supply module; 421-Transmitting coil; 422-Receiving coil; 430-Drive module; 500-Flexible bearing; 600-Eddy current sensor; 700-Adapter plate; 710-First connecting part; 720-Second connecting part; 900-Carrier plate; 1000-Supporting member. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0037] refer to Figure 1The coarse tracking pointing mechanism in this embodiment may include a two-dimensional turntable 100, a pendulum mirror mounting bracket 200, a single pendulum mirror 300, and a drive module 400. The pendulum mirror mounting bracket 200 is fixedly connected to the two-dimensional turntable 100, and the single pendulum mirror 300 is mounted on the pendulum mirror mounting bracket 200. The drive module 400 can be used to drive the single pendulum mirror 300 to rotate relative to the pendulum mirror mounting bracket 200 around a first axis to change the pitch angle of the single pendulum mirror 300. The drive module 400 can also be used to drive the two-dimensional turntable 100 to rotate around a second axis to change the horizontal azimuth angle of the single pendulum mirror 300. The first axis is perpendicular to the second axis.

[0038] Please refer to the above. Figures 2 to 5 The drive module 400 may include a voice coil motor 410, which includes a housing 411, a stator module 413, and a mover module 412. Specifically, the housing 411 may include a bottom shell 4111 and a cover plate 4112, which are detachably connected to the bottom shell 4111 to facilitate the assembly of the stator module 413 and the mover module 412 with the housing 411.

[0039] The moving module 412 includes an iron core 4122 and two sets of permanent magnets 4121 disposed inside the housing 411. One set of permanent magnets 4121 can be fixed to the top of the housing 411, and the other set of permanent magnets 4121 can be fixed to the bottom of the housing 411. That is, the two permanent magnets 4121 are respectively fixed to the bottom shell 4111 and the cover plate 4112. The iron core 4122 is disposed between the two sets of permanent magnets 4121. In this way, the two sets of permanent magnets 4121 can cooperate to provide a stable and uniform magnetic field, and the iron core 4122 guides the magnetic field to form a closed magnetic circuit with low magnetic resistance.

[0040] like Figure 2 and Figure 3 As shown, the stator module 413 includes a coil support 4131 and a drive coil 4132. An opening is provided on one side of the housing 411, through which the coil support 4131 can pass. The coil support 4131 may include a first fixing part 41311 and a second fixing part 41312 connected to each other. The arrangement direction of the first fixing part 41311 and the second fixing part 41312 is perpendicular to the arrangement direction of the two sets of permanent magnets 4121. The first fixing part 41311 is located inside the housing 411, and the second fixing part 41312 is located outside the housing 411.

[0041] The first fixing part 41311 is disposed around the iron core 4122, and the first fixing part 41311 and the iron core 4122 are arranged at a distance from each other. For example, as shown... Figure 5As shown, the iron core 4122 can be a square structure, and the first fixing part 41311 is provided with a square groove 41313. The iron core 4122 can extend into the square groove 41313 through the opening of the square groove 41313. In addition, in the arrangement direction of the two sets of permanent magnets 4121, there is a certain distance between the iron core 4122 and the inner wall of the square groove 41313.

[0042] The drive coil 4132 is wound around the first fixed part 41311. When current is passed through the drive coil 4132, it is subjected to Ampere force in the magnetic field, thereby allowing the drive coil 4132 to move relative to the iron core 4122. In this embodiment, the drive coil 4132 and the iron core 4122 can achieve relative movement in the arrangement direction of the two sets of permanent magnets 4121, that is, the coil support 4131 and the housing 411 can achieve relative movement in the arrangement direction of the two sets of permanent magnets 4121.

[0043] like Figure 6 As shown, when connecting the voice coil motor 410 to the pendulum mirror 300, the second fixing part 41312 can be connected to the pendulum mirror mounting bracket 200, and the housing 411 can be connected to the pendulum mirror 300. Since the pendulum mirror mounting bracket 200 and the two-dimensional turntable 100 are relatively fixed, and the second fixing part 41312 is connected to the pendulum mirror mounting bracket 200, when current is applied to the drive coil 4132, under the action of Ampere force, the stator module 413 remains fixed to the two-dimensional turntable 100, and the housing 411 and the rotor module generate movement in the direction of the second axis, thereby driving the pendulum mirror 300 to rotate, so as to realize the adjustment of the pitch angle.

[0044] It is understandable that when the voice coil motor 410 drives the pendulum mirror 300 to rotate, the high control precision of the voice coil motor 410 can improve the accuracy of the angle adjustment of the pendulum mirror 300, thereby improving the accuracy of target tracking. The stator module 413 of the voice coil motor 410 is connected to the pendulum mirror mounting bracket 200, and the housing 411 is connected to the pendulum mirror 300. During the operation of the voice coil motor 410, the drive coil 4132 acts as the main heat-generating element. The heat generated by the drive coil 4132 can be transferred to the pendulum mirror mounting bracket 200 through the coil bracket 4131, rather than to the pendulum mirror 300. In this way, the pendulum mirror 300 receives less heat, thus preventing deformation due to heat and further improving the accuracy of target tracking.

[0045] Continue to refer to Figure 2 and Figure 3A limiting plate 414 may be provided at the opening of the housing 411. The two ends of the limiting plate 414 can be connected to the bottom housing 4111 and the top cover respectively, so that the limiting plate 414 partially covers the opening. The second fixing part 41312 may be provided with a limiting groove 41314 extending through the arrangement direction of the bottom housing 4111 and the cover plate 4112. When the coil support 4131 passes through the opening of the housing 411, the limiting plate 414 also passes through the limiting groove 41314. In this way, the limiting groove 41314 can limit the coil support 4131 in the arrangement direction of the first fixing part 41311 and the second fixing part 41312, preventing the coils from detaching from the housing 411 through the opening.

[0046] In addition, the cover plate 4112 and the bottom shell 4111 can be fastened together by screws, so as to facilitate the assembly and disassembly of the cover plate 4112 and the shell 411. When the cover plate 4112 is closed on the bottom shell 4111, the interior of the shell 411 is a relatively closed environment, which can play a magnetic concentrating effect, making the magnetic field more concentrated, thereby improving the driving force of the voice coil motor 410.

[0047] In some embodiments, reference Figure 6 The pendulum mirror mounting bracket 200 may include two support frames 210 arranged opposite each other, with a certain space between the two support frames 210. This space can be used to accommodate the single pendulum mirror 300, so that the single pendulum mirror 300 can be assembled and connected to the two support frames 210 respectively.

[0048] In this embodiment, the support frame 210 and the two-dimensional turntable 100 are an integral structure to ensure a better fixation effect between them. Compared to the solution of fixing the support frame 210 and the two-dimensional turntable 100 using locking structures (such as screws), this embodiment makes the support frame 210 and the two-dimensional turntable 100 an integral structure, which ensures that the pendulum mirror mounting bracket 200 will not move relative to the two-dimensional turntable 100 under the action of external forces, thereby improving the control effect of the rotation accuracy of the single pendulum mirror 300. Furthermore, designing the support frame 210 and the two-dimensional turntable 100 as an integral structure can also reduce the error generated when the single pendulum mirror 300 is assembled with the support frame 210, thereby improving the installation accuracy of the single pendulum mirror 300 and ensuring subsequent control of the rotation accuracy of the single pendulum mirror 300.

[0049] Furthermore, the pendulum mirror 300 may include a frame 310 and a mirror body 320, with the mirror body 320 fixed within the frame 310. For example, the mirror body 320 may be assembled to the frame 310 by adhesive bonding. When assembling the pendulum mirror 300 with the support frame 210, the frame 310 can be connected to the support frame 210 to prevent the mirror body 320 from deforming under stress.

[0050] Specifically, mounting holes 311 can be provided on both sides of the mirror frame 310, and mounting grooves 211 can be provided on the support frame 210 corresponding to the mounting holes 311. When connecting the mirror frame 310 and the support frame 210, a flexible bearing 500 can be used to achieve the connection between the two. At this time, a part of the flexible bearing 500 passes through the mounting hole 311, and the flexible bearing 500 and the mounting hole 311 can be connected by a pin. The other part of the flexible bearing 500 is fixedly connected to the mounting groove 211. The connection between the mirror frame 310 and the support frame 210 through the flexible bearing 500 can improve the impact resistance of the pendulum mirror 300, thereby improving the stability of the pendulum mirror 300 during operation.

[0051] It is understandable that the shape of the frame 310 can be adapted to the shape of the mirror body 320. When the mirror body 320 has an elliptical structure, the overall shape of the frame 310 can also be an elliptical structure, or a symmetrical structure based on an ellipse, so that the mirror body 320 can be subjected to balanced forces after being fixed to the frame 310. That is to say, the axis of the frame 310 is consistent with the axis of the mirror body 320, and the axis of the pendulum mirror 300 is the axis of the mirror body 320.

[0052] Based on this, the mounting holes 311 on both sides of the frame 310 are symmetrically distributed with the central axis of the pendulum mirror 300 as the axis of symmetry. Furthermore, the line connecting the axes of the mounting holes 311 on both sides passes through the center point of the pendulum mirror 300. That is, the mounting holes 311 are located in the middle of the frame 310, and the first axis is parallel to the axis of the mounting holes 311. In this way, after the frame 310 is connected to the support frame 210 through the flexible bearing 500, the frame 310 can be subjected to balanced forces.

[0053] In some embodiments, reference Figure 7 The coarse tracking pointing mechanism may also include an eddy current sensor 600, which can be mounted on the pendulum mirror mounting bracket 200 and used to detect the rotation angle of the single pendulum mirror 300. Specifically, the voice coil motor 410 can be set on one side of one of the mirrors of the single pendulum mirror 300, and the eddy current sensor 600 can be set on one side of the other mirror of the single pendulum mirror 300. This can improve the integration of the overall structure and make the structure more compact and small.

[0054] For example, an adapter plate 700 may be provided on the support frame 210. The adapter plate 700 may include a first connecting portion 710 and a second connecting portion 720. The first connecting portion 710 is fixed to the support frame 210, and a portion of the second connecting portion 720 may extend along the arrangement direction of the two support frames 210 to face the mirror body 320. An eddy current sensor 600 is fixedly mounted on the second connecting portion 720 so that the probe of the eddy current sensor 600 can face the mirror surface of the mirror body 320. When the pendulum mirror 300 rotates relative to the support frame 210 about a first axis, the eddy current sensor 600 can detect the actual rotation angle of the pendulum mirror 300, so as to control the operation of the voice coil motor 410 according to the actual rotation angle and the preset rotation angle of the pendulum mirror 300, thereby enabling the eddy current sensor 600 to cooperate with the voice coil motor 410 to achieve higher control accuracy.

[0055] In this embodiment, there can be two eddy current sensors 600, which can be connected to the same support frame 210. The two eddy current sensors 600 can be located on either side of the mounting holes 311 in the mirror frame 310, and the mounting holes 311 can be symmetrically distributed along an axis of symmetry. Thus, the rotation angle of the pendulum mirror 300 can be detected simultaneously using two eddy current sensors 600. By processing the detection results from the two eddy current sensors 600, the accuracy of detecting the rotation angle of the pendulum mirror 300 can be improved, thereby further improving the control precision of the rotation angle of the pendulum mirror 300.

[0056] Since the eddy current sensor 600 detects the rotation angle by measuring the distance between its probe and the mirror, the rotation angle of the pendulum mirror 300 is determined by the change in this distance. Therefore, it is worth referring to... Figure 7 A certain distance needs to be maintained between the probe of the eddy current sensor 600 and the mirror surface of the pendulum mirror 300 to avoid the pendulum mirror 300 from coming into contact with the probe of the eddy current sensor 600 during rotation, which would cause the detection to fail.

[0057] In specific implementation, when the pendulum mirror 300 is in its initial state, the distance between the mirror surface of the pendulum mirror 300 and the eddy current sensor 600 can be 0.5mm to 1.5mm. Controlling the distance between the pendulum mirror 300 and the eddy current sensor 600 within this range not only effectively prevents the pendulum mirror 300 from contacting the eddy current sensor 600 during rotation, but also avoids a reduction in detection accuracy due to an excessively large distance. This ensures the detection accuracy of the eddy current sensor 600, thereby enabling precise control of the rotation angle of the pendulum mirror 300.

[0058] For example, the distance between the mirror surface of the pendulum mirror 300 and the eddy current sensor 600 can be 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, etc.

[0059] In some embodiments, refer again Figure 1 The coarse tracking pointing mechanism may also include a carrier plate 900, on which the two-dimensional turntable 100 is rotatably mounted relative to the carrier plate 900 about a second axis, so that the carrier plate 900 can support the two-dimensional turntable 100. The drive module 400 may also include a wireless power supply module 420, which is disposed between the two-dimensional turntable and the carrier plate 900 to supply power to the voice coil motor 410.

[0060] like Figure 1 and Figure 8 As shown, the wireless power supply module 420 includes a transmitting coil 421 and a receiving coil 422 arranged opposite to each other. The transmitting coil 421 can be fixedly connected to the carrier plate 900, and the receiving coil 422 can be fixedly connected to the two-dimensional turntable 100. The transmitting coil 421 and the receiving coil 422 are spaced apart. When power is supplied to the transmitting coil 421, the transmitting coil 421 converts the received electrical energy into an alternating magnetic field, thereby wirelessly transmitting the electrical energy to the receiving coil 422. The receiving coil 422 then converts the received energy back into electrical energy, which is then transmitted to the voice coil motor 410.

[0061] In this embodiment, since the receiving coil 422 and the voice coil motor 410 are located on opposite sides of the two-dimensional turntable 100, a connecting wire passing through the two-dimensional turntable 100 can be used to connect the drive coil 4132 of the voice coil motor 410 and the receiving coil 422, thereby enabling power supply to the voice coil motor 410. Furthermore, the receiving coil 422 can also be connected to the eddy current sensor 600 via the connecting wire passing through the two-dimensional turntable 100, thereby enabling the wireless power supply module 420 to supply power to the eddy current sensor 600, ensuring the normal operation of the eddy current sensor 600.

[0062] The drive module 400 in this embodiment may further include a drive module 430 for driving the two-dimensional turntable 100 to rotate relative to the carrier plate 900 around a second axis. When the drive module 430 drives the two-dimensional turntable 100 to rotate, since the transmitting coil 421 is fixed to the carrier plate 900 and the receiving coil 422 is fixed to the two-dimensional turntable 100, the two-dimensional turntable 100 will drive the receiving coil 422 to rotate together during the rotation. As mentioned above, the voice coil motor 410 and the eddy current sensor 600 are both disposed on the two-dimensional turntable 100. During the rotation of the two-dimensional turntable 100, the receiving coil 422, the voice coil motor 410, the eddy current sensor 600, the connecting line between the receiving coil 422 and the voice coil motor 410, and the connecting line between the receiving coil 422 and the eddy current sensor 600 all remain relatively stationary.

[0063] It is understandable that traditional power supply modules, due to their large size, are unsuitable for placement on the 2D turntable 100. Instead, they are placed on one side of the turntable 100, and the power module needs to be connected to the voice coil motor 410 or the eddy current sensor 600 via cables. Thus, while the turntable 100 rotates, the traditional power module remains stationary, but the connecting cables must rotate with the turntable 100. This process easily leads to cable tangling and pulling, causing unstable cable connections. Furthermore, due to the cable constraints, the 2D turntable 100 cannot complete a 360° rotation, limiting the rotation angle of the pendulum mirror 300 and resulting in decreased target tracking accuracy. In this embodiment, a wireless power supply module 420 is used for power supply. Since the transmitting coil 421 is connected to the power supply through a cable, the transmitting coil 421 remains stationary during the rotation of the two-dimensional turntable 100, which will not cause the cable to be tangled or pulled. The connecting line connected to the receiving coil 422 will rotate together with it, which will not affect the rotation of the two-dimensional turntable 100. This enables the single pendulum mirror to rotate 300-360°, thereby improving the accuracy of target tracking.

[0064] Furthermore, the drive module 400 may include two voice coil motors 410, which may be symmetrically arranged on both sides of the pendulum mirror 300. The two voice coil motors 410 can synchronously drive the pendulum mirror 300 to rotate, which can maintain the balanced force on the pendulum mirror 300, thereby ensuring precise control of the rotation angle of the pendulum mirror 300.

[0065] Based on this, since the voice coil motor 410 is connected to the receiving coil 422 via a connecting line passing through the two-dimensional turntable 100, and the projection plane is set to be a plane perpendicular to the second axis, the orthographic projection of the voice coil motor 410 on the projection plane is located at the orthographic projection of the two-dimensional turntable 100 on the projection plane. It can be understood that, because the voice coil motor 410 in this embodiment is relatively small, its edge contour does not exceed the edge contour of the two-dimensional turntable 100. During the rotation of the two-dimensional turntable 100 around the second axis, the space required by the two-dimensional turntable 100 depends only on the edge contour of the two-dimensional turntable 100, thereby saving the space occupied by the coarse tracking pointing mechanism during rotation.

[0066] In specific implementation, such as Figure 8 As shown, a support member 1000 can also be provided, which passes through the carrier plate 900 to connect to the two-dimensional turntable 100. The support member 1000 can also be connected to the drive module 430, so that the drive module 430 can drive the support member 1000 and the two-dimensional turntable 100 to rotate relative to the carrier plate 900. In this case, both the transmitting coil 421 and the receiving coil 422 can be ring structures. The transmitting coil 421 is arranged around the support member 1000 and fixed to the carrier plate 900, and the receiving coil 422 is wound around and fixed to the support member 1000. In this way, by setting the support member 1000, the two-dimensional turntable 100 and the carrier plate 900 are assembled, ensuring structural stability and also ensuring that a certain distance is maintained between the transmitting coil 421 and the receiving coil 422.

[0067] Furthermore, the coarse tracking pointing mechanism in this embodiment may also include a circuit board, which may be equipped with a Bluetooth transceiver chip for wireless signal transmission and reception. For example, the rotation angle information of the pendulum mirror 300 detected by the eddy current sensor 600 can be wirelessly transmitted to the circuit board. The circuit board can then control the amount of electrical energy input to the transmitting coil 421 based on the actual rotation angle of the pendulum mirror 300, thereby controlling the electrical energy input to the voice coil motor 410 and thus controlling the rotation angle of the pendulum mirror 300. Therefore, wireless transmission can improve the communication rate, and through wireless transmission and wireless power supply, the control accuracy of the pendulum mirror 300's rotation can be further improved.

[0068] Specifically, the spacing between the transmitting coil 421 and the receiving coil 422 can be designed based on factors such as the diameter of the coils and the required magnetic field strength. As an optional implementation, the spacing between the transmitting coil 421 and the receiving coil 422 can be between 1 mm and 10 mm.

[0069] Based on the same inventive concept, embodiments of this application may also provide a laser communication terminal device, which includes the coarse tracking pointing mechanism in any of the above embodiments, and may also include a telescope, a rear optical path, a receiver optical amplifier module, a transmitter optical amplifier module, a receiver coherent optical module, and a transmitter coherent optical module.

[0070] Combination Figure 9 Taking the communication between laser communication terminal device A and other laser communication terminal devices B in this embodiment as an example, the communication process can be referred to the following steps.

[0071] Laser communication terminal device B emits signal light towards laser communication terminal device A. A single-pendulum mirror receives the signal light, which, after reflection by the mirror, passes sequentially through a telescope and the rear optical path before being received by the receiving-end optical amplifier module. The receiving-end optical amplifier module amplifies the signal power and transmits the amplified optical signal to the receiving-end coherent optical module. Upon receiving the optical signal, the receiving-end coherent optical module performs physical layer processing for laser communication transmission, including spot position detection.

[0072] Subsequently, laser communication terminal device A drives the pendulum mirror to a suitable position according to the detected spot position. The coherent optical signal from the transmitting end of laser communication terminal device A can transmit signal light to the transmitting end optical amplifier module. The transmitting end amplifies the power of the optical signal and transmits it to the pendulum mirror through the rear optical path and the telescope in sequence. Finally, it is reflected by the pendulum mirror to laser communication terminal device B.

[0073] Subsequently, the process of processing the received signal light by laser communication terminal device B is the same as that by laser communication terminal device A. Laser communication terminal device B can then transmit signal light back to laser communication terminal device A. In this way, by transmitting and receiving signal light back and forth, laser communication terminal devices A and B can establish a bidirectional laser link, ultimately enabling satellite communication functionality for the laser communication terminal devices.

[0074] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A coarse tracking pointing mechanism, characterized in that, The device includes a two-dimensional turntable, a pendulum mirror mounting bracket, a single pendulum mirror, and a drive module. The pendulum mirror mounting bracket is fixedly connected to the two-dimensional turntable, and the single pendulum mirror is mounted on the pendulum mirror mounting bracket. The drive module is used to drive the single pendulum mirror to rotate relative to the pendulum mirror mounting bracket around a first axis to change the pitch angle of the single pendulum mirror. The drive module is also used to drive the two-dimensional turntable to rotate around a second axis to change the horizontal azimuth angle of the single pendulum mirror. The first axis is perpendicular to the second axis. The drive module includes a voice coil motor for driving the pendulum mirror to rotate around the first axis. The voice coil motor includes a housing, a stator module, and a mover module. The moving part module includes an iron core and two sets of permanent magnets disposed inside the housing. The two sets of permanent magnets are respectively fixed to the top and bottom of the housing, and the iron core is located between the two sets of permanent magnets. The stator module includes a coil support and a drive coil. The coil support includes a first fixing part and a second fixing part that are connected to each other. The arrangement direction of the first fixing part and the second fixing part is perpendicular to the arrangement direction of the two sets of permanent magnets. The first fixing part is located inside the housing, and part of the second fixing part is located outside the housing. The first fixing part is arranged around the iron core, and the first fixing part is spaced apart from the iron core. The drive coil is wound around the first fixing part. The second fixing part is connected to the pendulum mirror mounting bracket, and the housing is connected to the single pendulum mirror.

2. The coarse tracking pointing mechanism according to claim 1, characterized in that, The pendulum mirror mounting bracket includes two support frames arranged opposite each other. The support frames and the two-dimensional turntable are an integral structure, and the single pendulum mirror is installed between the two support frames.

3. The coarse tracking pointing mechanism according to claim 2, characterized in that, It also includes an eddy current sensor connected to one of the support frames for detecting the rotation angle of the pendulum mirror.

4. The coarse tracking pointing mechanism according to claim 3, characterized in that, It also includes a carrier plate, and the drive module further includes a wireless power supply module. The two-dimensional turntable is rotatably disposed on the carrier plate relative to the carrier plate about the second axis, and the wireless power supply module is disposed between the two-dimensional turntable and the carrier plate. The wireless power supply module includes a transmitting coil and a receiving coil arranged opposite to each other, with the transmitting coil and the receiving coil spaced apart. The transmitting coil is fixedly connected to the carrier plate, the receiving coil is fixedly connected to the two-dimensional turntable, and the receiving coil is connected to the driving coil and the eddy current sensor respectively through the connecting wire passing through the two-dimensional turntable.

5. The coarse tracking pointing mechanism according to claim 4, characterized in that, The distance between the transmitting coil and the receiving coil is 1mm to 10mm.

6. The coarse tracking pointing mechanism according to claim 3, characterized in that, When the pendulum mirror is in its initial state, the distance between the mirror surface of the pendulum mirror and the eddy current sensor is 0.5mm to 1.5mm.

7. The coarse tracking pointing mechanism according to claim 3, characterized in that, There are two eddy current sensors, which are symmetrically distributed about the central axis of the pendulum mirror.

8. The coarse tracking pointing mechanism according to claim 2, characterized in that, The pendulum mirror includes a frame and a mirror body, with the mirror body fixed inside the frame; The mirror frame has mounting holes on both sides, and the mirror frame is connected to the support frame through flexible bearings that pass through the mounting holes.

9. The coarse tracking pointing mechanism according to claim 8, characterized in that, The mounting holes on both sides are symmetrically distributed with the central axis of the pendulum mirror as the axis of symmetry, and the line connecting the axes of the mounting holes on both sides passes through the center point of the pendulum mirror.

10. The coarse tracking pointing mechanism according to claim 1, characterized in that, The drive module includes two voice coil motors, which are symmetrically arranged on both sides of the pendulum mirror.

11. The coarse tracking pointing mechanism according to claim 10, characterized in that, Let the projection plane be a plane perpendicular to the second axis, and the orthographic projection of the voice coil motor on the projection plane is located at the orthographic projection of the two-dimensional turntable on the projection plane.

12. A laser communication terminal device, characterized in that, Includes the coarse tracking pointing mechanism as described in any one of claims 1 to 11.

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