Seeker and airborne load

Abstract

The utility model discloses a seeker and an airborne load, and relates to the field of aircraft equipment. The seeker comprises a mounting base, a first motor, a second motor, a rotating support and a camera assembly, and the camera assembly comprises a camera used for collecting image information. The mounting base is used for connecting a load control device of an airborne load, and the first motor is used for driving the rotating support to rotate around the rotating axis of the first rotor. The second motor is used for driving the camera assembly to rotate around the rotating axis of the second rotor. The rotating axes of the first rotor and the second rotor are perpendicular to each other. By arranging the first motor and the second motor, the camera assembly can be controlled to flexibly rotate in two directions, and the rotatable range is large. In addition, the seeker provided by the embodiment of the utility model has better structural stability and compactness. The airborne load provided by the utility model comprises a load body, a load control device and the seeker.

Description

Technical Field

[0001] The present application relates to the field of aircraft equipment, and in particular, to a seeker and an airborne payload. Background Art

[0002] Airborne payloads are usually mounted on aircraft and dropped to the target location by the aircraft to achieve corresponding functions (such as fire extinguishing, insect killing, etc.). In order to improve the delivery accuracy of airborne payloads, a seeker can be installed on the airborne payload, and the target position can be monitored through the camera component of the seeker, so as to adjust the flight direction of the airborne payload in real time. However, the current seeker cannot flexibly adjust its direction due to its unreasonable structure and setting method, so it is easy for the target to be lost outside the field of view. Utility Model Content

[0003] The purpose of the present application is to provide a seeker and an airborne payload, wherein the seeker can flexibly adjust its direction to reduce the risk of losing the target.

[0004] The embodiment of the present application is implemented as follows:

[0005] In a first aspect, the present application provides a seeker for use with an airborne payload, the seeker comprising a mounting base, a first motor, a second motor, a rotating bracket and a camera assembly, the camera assembly comprising a camera for collecting image information, the mounting base being used to connect to a load control device of the airborne payload, the first motor comprising a first stator and a first rotor which are rotatable relative to each other, the first stator being fixedly connected to the mounting base, the first rotor being connected to the rotating bracket, the first rotor being used to drive the rotating bracket to rotate around a rotation axis of the first rotor; the second motor comprising a second stator and a second rotor which are rotatable relative to each other, the second stator being fixedly connected to the rotating bracket, the second rotor being connected to the camera assembly, the second rotor being used to drive the camera assembly to rotate around a rotation axis of the second rotor, the rotation axes of the first rotor and the second rotor being perpendicular to each other.

[0006] In an optional embodiment, the first rotor includes a rotating cylinder and a first magnet arranged on the inner wall of the rotating cylinder, the rotating bracket is connected to the rotating cylinder, the first stator includes a first winding, the first magnet is accommodated in the rotating cylinder, the first magnet surrounds the outer circumference of the first winding and is spaced apart from the first winding.

[0007] In an optional embodiment, the first rotor also includes a rotating shaft, which is coaxial with the rotating cylinder and relatively fixed, the first winding has a central through hole, one end of the rotating shaft is located in the rotating cylinder and passes through the central through hole of the first winding, and the other end of the rotating shaft is rotatably connected to the mounting seat.

[0008] In an optional embodiment, the rotating bracket includes a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm are respectively connected to two radially opposite sides of the first rotor, the second stator of the second motor is connected to the first connecting arm, and the camera assembly is located between the first connecting arm and the second connecting arm, one side of the camera assembly is connected to the second rotor, and the other opposite side is rotatably connected to the second connecting arm.

[0009] In an optional embodiment, the second stator includes a stator seat and a second magnet, the second rotor includes a second winding and a drive shaft, the stator seat forms a accommodating cavity, the second magnet and the second winding are accommodated in the accommodating cavity, the second magnet is fixedly connected to the inner wall of the accommodating cavity, the second magnet surrounds the outer circumference of the second winding and is spaced apart from the second winding, the drive shaft is connected to the second winding, one end of the drive shaft passes through the stator seat through a through hole opened on the stator seat, the stator seat is connected to the first connecting arm, and the drive shaft is connected to the camera assembly.

[0010] In an optional embodiment, the rotating bracket also includes a support base, which is detachably connected to the second connecting arm, and an axial hole is provided on the support base. The camera assembly includes a support shaft, and the support shaft is rotatably connected to the axial hole on the support base.

[0011] In an optional embodiment, the camera assembly also includes a mounting bracket, the mounting bracket includes a first arm and a second arm arranged at intervals, the camera is arranged between the first arm and the second arm, the first arm is connected to the second rotor of the second motor, and the support shaft is arranged on the second arm.

[0012] In an optional embodiment, the mounting bracket also includes a bracket body, a first arm and a second arm are respectively connected to opposite ends of the bracket body, the first arm, the second arm and the bracket body together form a space for installing a camera, and the camera is fixedly connected to the bracket body.

[0013] In an optional embodiment, the guide head further includes a shell, the shell is fixedly connected to the mounting bracket, the camera is accommodated in the shell, a window is provided on the shell, and the camera is opposite to the window.

[0014] In an optional embodiment, the shell includes a front shell and a rear shell, which are detachably connected in a preset direction to jointly form a cavity for accommodating the camera, the preset direction is perpendicular to the rotation axis of the first rotor and the second rotor, and the window is arranged on the front shell.

[0015] In an optional embodiment, the seeker also includes a first fairing and a second fairing, the first fairing is arranged on the side of the second motor away from the camera assembly, and the second fairing is arranged on the side of the support base away from the camera assembly, and the positions of the first fairing and the second fairing are fixed relative to the rotating bracket.

[0016] In an optional embodiment, a counterweight is disposed in the second fairing.

[0017] In an optional embodiment, the camera assembly further includes a gesture sensor.

[0018] In an optional embodiment, the camera includes at least one of a visible light camera, an infrared camera, and a laser camera.

[0019] In an optional embodiment, a wire passing hole is provided on the mounting seat.

[0020] In a second aspect, the present application provides an airborne payload for being mounted on an aircraft and being dropped by the aircraft to a target location, comprising a payload body, a payload control device and a seeker of any one of the aforementioned embodiments, wherein the payload body and the payload control device are detachably connected, and the mounting base of the seeker head is connected to the load control device.

[0021] In an optional embodiment, the load control device has an outer circumferential surface surrounding its axis, and the guide head is arranged on the outer circumferential surface of the load control device.

[0022] The beneficial effects of the embodiments of the present application are:

[0023] The seeker provided by the present application comprises a mounting seat, a first motor, a second motor, a rotating bracket and a camera assembly, wherein the camera assembly comprises a camera for collecting image information. The mounting seat is used to connect the load control device of the airborne load, the first motor comprises a first stator and a first rotor which can rotate relatively, the first stator is fixedly connected to the mounting seat, the first rotor is connected to the rotating bracket, and the first rotor is used to drive the rotating bracket to rotate around the rotation axis of the first rotor. The second motor comprises a second stator and a second rotor which can rotate relatively, the second stator is fixedly connected to the rotating bracket, the second rotor is connected to the camera assembly, and the second rotor is used to drive the camera assembly to rotate around the rotation axis of the second rotor, and the rotation axes of the first rotor and the second rotor are perpendicular to each other. By setting the first motor and the second motor, the camera assembly can be controlled to rotate flexibly in two directions. Moreover, since the rotating bracket and the first rotor of the first motor rotate coaxially, and the camera assembly and the second rotor of the second motor rotate coaxially, the rotatable range of the camera assembly is large. Moreover, relative to the case of non-coaxial rotation (i.e., the rotation axis of the camera assembly does not coincide with the rotation axis of the motor), the seeker of the embodiment of the present application has better structural stability and compactness. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a partial schematic diagram of an airborne load in one embodiment of the present application;

[0026] Figure 2 This is a schematic diagram of the structure of a seeker in one embodiment of the present application;

[0027] Figure 3 This is an exploded view of a seeker in one embodiment of the present application;

[0028] Figure 4 A cross-sectional view of a seeker in one embodiment of the present application;

[0029] Figure 5 This is a schematic diagram of the assembly of a camera assembly in one embodiment of the present application.

[0030] Icons: 100-guide head; 110-mounting seat; 111-wire hole; 112-first bearing; 120-first motor; 121-rotating cylinder; 122-first magnet; 123-rotating shaft; 124-first clamping nut; 125-first winding; 126-first control board; 131-first connecting arm; 132-second connecting arm; 133-support seat; 134-third bearing; 140-second motor; 141-stator seat; 142-second winding; 143-driving shaft; 144-second magnet; 145-second bearing; 146-second control board; 147-motor cover; 150-camera assembly; 151-camera; 152-bracket body; 153-first arm; 154-second arm; 155-support shaft; 156-IMU adapter plate; 157-second clamping nut; 161-front shell; 1611-window; 162-rear shell; 171-first fairing; 172-second fairing; 173-counterweight; 200-load control device. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] Figure 1 This is a partial schematic diagram of an onboard load in one embodiment of the present application. Figure 1The airborne load provided in this embodiment includes a load body (not shown in the figure), a load control device 200 and a seeker 100 arranged on the load control device 200. Specifically, a rack structure for connecting to an aircraft is arranged on the load control device 200, and the load body is detachably connected to the load control device 200. The load body can be used to accommodate operation-related materials, such as fire extinguishing agents, pesticides, explosives, etc. The load control device 200 includes components such as load fixing parts, guide wings, and control wings (not shown in the figure). The load control device 200 can be used to adjust the flight direction and attitude of the airborne load during the falling process after the airborne load is dropped. In this embodiment, the load control device 200 has an outer peripheral surface surrounding its axis, and the seeker 100 is arranged on the outer peripheral surface of the load control device 200. Specifically, the load fixing part of the load control device 200 is a cylindrical structure, which has an outer peripheral surface surrounding its axis. The guide head 100, the guide wing, and the control wing are all arranged on the outer peripheral surface of the load fixing part and arranged in sequence along the axial direction of the load fixing part; the load body can be detachably connected to the load fixing part of the load control device 200.

[0038] Figure 2 This is a schematic diagram of the structure of a seeker 100 in one embodiment of the present application; Figure 3 FIG. 1 is an exploded view of a seeker 100 in one embodiment of the present application. Figure 2 and Figure 3 As shown, the seeker 100 provided in the embodiment of the present application includes a mounting seat 110, a first motor 120, a second motor 140, a rotating bracket and a camera assembly 150. The mounting seat 110 is used to connect the load control device 200 of the airborne payload to achieve the goal of mounting the seeker 100 on the airborne payload. The camera assembly 150 includes a camera 151 (see FIG. 150 ) for collecting image information. Figure 5 ), the image information collected by the camera assembly 150 can be analyzed by the control device (not shown in the figure) in the load control device 200 to obtain the position of the target relative to the onboard load. The first motor 120 and the second motor 140 are used to adjust the direction of the camera assembly 150 to track the target, that is, to prevent the target from disappearing from the field of view of the camera assembly 150.

[0039] Optionally, a mounting groove is provided on the shell of the load control device 200 , and the mounting seat 110 can be embedded in the mounting groove and fixedly connected to the load control device 200 .

[0040] In this embodiment, the assembly groove can also be used for wiring. The mounting seat 110 is provided with a wire hole 111 , through which the wire harness of the guide head 100 can pass to be electrically connected to the control device in the load control device 200 .

[0041] Figure 4 This is a cross-sectional view of a seeker 100 in one embodiment of the present application; Figure 5 This is a schematic diagram of the assembly of the camera assembly 150 in one embodiment of the present application. Figures 2 to 5 In the embodiment of the present application, the first motor 120 includes a first stator and a first rotor that can rotate relatively, the first stator is fixedly connected to the mounting seat 110, the first rotor is connected to the rotating bracket, and the first rotor is used to drive the rotating bracket to rotate around the rotation axis of the first rotor. The second motor 140 includes a second stator and a second rotor that can rotate relatively, the second stator is fixedly connected to the rotating bracket, the second rotor is connected to the camera assembly 150, and the second rotor is used to drive the camera assembly 150 to rotate around the rotation axis of the second rotor, and the rotation axes of the first rotor and the second rotor are perpendicular to each other. By setting the first motor 120 and the second motor 140, the camera assembly 150 can be driven to rotate in two directions, thereby adjusting the orientation of the camera assembly 150. Among them, the rotation axis of the first rotor is perpendicular to the axis of the load control device 200, the first motor 120 can be regarded as a heading motor, and the second motor 140 can be regarded as a pitch motor. The rotating bracket can be rotatably connected to the camera assembly 150, so as to support the camera assembly 150 and transmit the function.

[0042] In this embodiment, the first rotor includes a rotating cylinder 121 and a first magnet 122 disposed on the inner wall of the rotating cylinder 121, and the rotating bracket is connected to the rotating cylinder 121. The first stator includes a first winding 125, the first magnet 122 is contained in the rotating cylinder 121, and the first magnet 122 surrounds the outer periphery of the first winding 125 and is spaced apart from the first winding 125. It can be understood that in this embodiment, the first rotor in the first motor 120 surrounds the outer side of the first stator. When the first winding 125 is energized, the first magnet 122 on the outer side rotates under the action of electromagnetic force, and the first magnet 122 drives the rotating cylinder 121 and the rotating bracket to rotate synchronously. The first winding 125 connected to the wiring harness is fixed relative to the mounting seat 110, which reduces the difficulty of its routing, and the first rotor itself does not have a wire, so it can rotate to a large extent.

[0043] In this embodiment, the first magnet 122 is a ring magnet, and the outer side of the first magnet 122 is connected to the inner wall of the rotating cylinder 121 .

[0044] In this embodiment, the first rotor further includes a rotating shaft 123, which is coaxial with the rotating cylinder 121 and relatively fixed. The first winding 125 has a central through hole, one end of the rotating shaft 123 is located in the rotating cylinder 121 and passes through the central through hole of the first winding 125, and the other end of the rotating shaft 123 is rotatably connected to the mounting seat 110. Optionally, the end of the rotating shaft 123 located in the rotating cylinder 121 can be connected to the inner wall surface of the rotating cylinder 121 through a radially extending connecting portion or a fan-shaped annular plate. By rotatably connecting the rotating shaft 123 to the mounting seat 110, the radial stability of the first rotor can be improved, so that the first rotor is not easily offset in a direction perpendicular to its rotation axis. In order to further reduce the rotational resistance between the rotating shaft 123 and the mounting seat 110, in the present embodiment, the rotating shaft 123 and the mounting seat 110 are connected via two first bearings 112, the first bearing 112 close to the rotating cylinder 121 is axially limited by the step surface on the rotating shaft 123 and the step surface of the mounting seat 110, and the first bearing 112 away from the rotating cylinder 121 is axially limited by the step surface of the mounting seat 110 and the first clamping nut 124 threaded on the rotating shaft 123.

[0045] The first motor 120 further includes a first control board 126, which is in a sector ring shape and sleeved on the rotating shaft 123. The first control board 126 is located between the first winding 125 and the mounting seat 110 and remains fixed relative to the mounting seat 110 and the first winding 125. The first control board 126 can be connected to the mounting seat 110 and / or the first winding 125, and the first control board 126 is electrically connected to the first winding 125 to collect and control the working parameters of the first motor 120, such as the rotation angle.

[0046] In this embodiment, the rotating bracket includes a first connecting arm 131 and a second connecting arm 132, the first connecting arm 131 and the second connecting arm 132 are respectively connected to two opposite sides of the first rotor in the radial direction, the second stator of the second motor 140 is connected to the first connecting arm 131, the camera assembly 150 is located between the first connecting arm 131 and the second connecting arm 132, one side of the camera assembly 150 is connected to the second rotor, and the other side opposite is rotatably connected to the second connecting arm 132. Specifically, the first connecting arm 131 and the second connecting arm 132 are both connected to the outside of the rotating cylinder 121 at one end, and the other end extends in a direction away from the mounting seat 110, so that a space for mounting the camera assembly 150 is formed between the first connecting arm 131 and the second connecting arm 132.

[0047] In the embodiment of the present application, the second stator includes a stator seat 141 and a second magnet 144, and the second rotor includes a second winding 142 and a drive shaft 143. The stator seat 141 forms a housing cavity, and the second magnet 144 and the second winding 142 are accommodated in the housing cavity. The second magnet 144 is fixedly connected to the inner side wall of the housing cavity, and the second magnet 144 surrounds the outer periphery of the second winding 142 and is spaced from the second winding 142. The drive shaft 143 is connected to the second winding 142, and one end of the drive shaft 143 passes through the stator seat 141 through a through hole opened on the stator seat 141. The stator seat 141 is connected to the first connecting arm 131, and the drive shaft 143 is connected to the camera assembly 150. In this embodiment, the second stator in the second motor 140 surrounds the outer side of the second rotor. The stator seat 141 can be detachably connected to the first connecting arm 131 by fasteners such as screws, which facilitates the assembly of the second motor 140. In this embodiment, the stator seat 141 is a cylinder with an opening at one end, and the second winding 142 and the second magnet 144 can be installed in the stator seat 141 through the opening of the stator seat 141. The other end of the stator seat 141 opposite to the opening is the bottom of the stator seat 141. A through hole is provided on the bottom of the stator seat 141, and the torque output end of the drive shaft 143 can pass through the through hole of the stator seat 141 and be connected to the camera assembly 150. In order to reduce the rotational resistance between the drive shaft 143 and the stator seat 141, in this embodiment, the drive shaft 143 and the stator seat 141 are connected through a second bearing 145.

[0048] Optionally, the second magnet 144 is a ring magnet, and the outer side of the second magnet 144 is connected to the inner wall of the stator seat 141 .

[0049] In this embodiment, the second motor 140 further includes a second control board 146 and a motor pressure cover 147. The motor pressure cover 147 is connected to the end of the driving shaft 143 away from the camera assembly 150 by screws, and presses the second control board 146 against the driving shaft 143. The second control board 146 is electrically connected to the second winding 142 to realize the collection and control of the working parameters of the second motor 140, such as the rotation angle.

[0050] In this embodiment, the rotating bracket further includes a support seat 133, which is detachably connected to the second connecting arm 132, and an axial hole is provided on the support seat 133. The camera assembly 150 includes a support shaft 155, and the support shaft 155 is rotatably connected to the axial hole on the support seat 133. Compared with the method of directly opening the axial hole on the second connecting arm 132, by providing a detachable support seat 133, it is more convenient to assemble the guide head 100. For example, the camera assembly 150 can be first placed in the installation position between the first connecting arm 131 and the second connecting arm 132, and then the support seat 133 is sleeved on the support shaft 155, and the support seat 133 is connected to the second connecting arm 132 by fasteners such as screws.

[0051] In order to reduce the rotational resistance between the support shaft 155 and the support seat 133, in this embodiment, the support shaft 155 and the support seat 133 are connected through the third bearing 134. The end of the support shaft 155 away from the camera assembly 150 can be threadedly connected to the second clamping nut 157, and the second clamping nut 157 is used to axially limit the third bearing 134. In the embodiment of the present application, the types of the first bearing 112, the second bearing 145 and the third bearing 134 can be selected as needed, as long as they can play a role in reducing resistance, such as deep groove ball bearings and thin bearings.

[0052] like Figure 5 As shown, the camera assembly 150 also includes a mounting bracket, which includes a first arm 153 and a second arm 154 arranged at intervals, and the camera 151 is arranged between the first arm 153 and the second arm 154, the first arm 153 is connected to the second rotor of the second motor 140, and the support shaft 155 is arranged on the second arm 154. Specifically, the first arm 153 can be connected to the torque output end of the driving shaft 143 of the second rotor by a screw. The mounting bracket also includes a bracket body 152, the first arm 153 and the second arm 154 are respectively connected to the opposite ends of the bracket body 152, and the first arm 153, the second arm 154 and the bracket body 152 together enclose a space for installing the camera 151. The camera 151 can be fixedly connected to the bracket body 152.

[0053] In this embodiment, the camera 151 includes at least one of a visible light camera, an infrared camera, and a laser camera. For example, the camera 151 is a visible light camera, a short-wave infrared camera, a medium-wave infrared camera, a long-wave infrared camera, a laser ranging camera, a laser irradiation camera, etc.

[0054] Furthermore, the camera assembly 150 also includes a posture sensor (not shown in the figure), which is used to detect the posture of the seeker 100, and can also be used to determine the posture of the airborne payload. The posture sensor can be an inertial measurement unit (IMU), which includes three single-axis accelerometers and three single-axis gyroscopes. In this embodiment, the posture sensor is arranged on the IMU adapter plate 156, and the IMU adapter plate 156 is arranged on the bracket body 152 and is located on the side of the bracket body 152 away from the camera 151.

[0055] In this embodiment, the support shaft 155 is a hollow shaft, and a hole is provided on the second arm 154 at the position connected to the support shaft 155. The hole is connected to the support shaft 155, so that the related wiring harness of the camera assembly 150 can pass through the support shaft 155. Therefore, the support shaft 155 of this embodiment also has the function of wiring.

[0056] In this embodiment, the seeker further comprises a housing, the housing is fixedly connected to the mounting bracket, the camera 151 is accommodated in the housing, a window 1611 is provided on the housing, and the camera 151 is opposite to the window 1611. The housing can protect the camera 151, the attitude sensor and other devices. Further, in this embodiment, the housing comprises a front housing 161 and a rear housing 162, the front housing 161 and the rear housing 162 are detachably connected in a preset direction to jointly form a cavity for accommodating the camera 151, the preset direction is perpendicular to the rotation axis of the first rotor and the second rotor, and the window 1611 is provided on the front housing 161. The front housing 161 and the rear housing 162 can be connected by fasteners such as screws. It should be noted that since the housing will rotate under the drive of the second motor 140, the housing should maintain a certain gap or be slidable with the first connecting arm 131, the second connecting arm 132, the rotating cylinder 121 and other components. Avoidance grooves are provided on the front shell 161 and the rear shell 162 at positions corresponding to the first arm 153 and the second arm 154, for avoiding the first arm 153 and the second arm 154, so that the first arm 153 and the second arm 154 can extend out of the shell and be connected to the second motor 140 and the second connecting arm 132, and the first arm 153 and the second arm 154 can remain in contact with the outer side of the shell to improve compactness.

[0057] Furthermore, the seeker 100 further includes a first fairing 171 and a second fairing 172. The first fairing 171 is disposed on a side of the second motor 140 away from the camera assembly 150, and the second fairing 172 is disposed on a side of the support seat 133 away from the camera assembly 150. The first fairing 171 and the second fairing 172 are fixed relative to the position of the rotating bracket. In this embodiment, the first fairing 171 can be connected to the first connecting arm 131, or to the second stator (such as the stator seat 141) of the second motor 140; the second fairing 172 can be connected to the second connecting arm 132, or to the support seat 133.

[0058] Since the second motor 140 is disposed on the first connecting arm 131, and no motor is disposed on the second connecting arm 132, in order to maintain better symmetry of the seeker 100, a counterweight 173 is disposed in the second fairing 172 in this embodiment, so that the center of gravity of the seeker 100 is closer to the middle in the extending direction of the drive shaft 143 of the second motor 140, so as to achieve balance. The counterweight 173 can be fixedly connected to the inner wall surface of the second fairing 172.

[0059] The seeker 100 provided in the embodiment of the present application uses the first motor 120 and the second motor 140 to drive the camera assembly 150 to rotate in two directions, so the direction of the camera 151 can be flexibly adjusted, and the effect of tracking the target is good. In addition, the camera assembly 150 is connected to the first motor 120 in the axial direction of the first rotor, and the camera assembly 150 is connected to the second motor 140 in the axial direction of the second rotor. This transmission method is efficient, stable, and compact in structure. The first motor 120 is an outer rotor motor, and the first winding 125 does not rotate as a stator. Therefore, the rotation angle range of the first motor 120 is large, and the seeker 100 can even rotate 360° under the drive of the first motor 120. By setting the mounting seat 110, the entire seeker 100 can be protrudingly arranged on the outer peripheral surface of the load control device 200, and the rotation of the camera assembly 150 is not easily interfered by other components of the airborne load, so the volume and type of the camera 151 can be more diversified.

[0060] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A seeker, applied to an airborne payload, characterized in that: The seeker includes a mounting seat, a first motor, a second motor, a rotating bracket and a camera assembly, the camera assembly includes a camera for collecting image information, the mounting seat is used to connect the load control device of the airborne payload, the first motor includes a first stator and a first rotor that can rotate relative to each other, the first stator is fixedly connected to the mounting seat, the first rotor is connected to the rotating bracket, and the first rotor is used to drive the rotating bracket to rotate around the rotation axis of the first rotor; the second motor includes a second stator and a second rotor that can rotate relative to each other, the second stator is fixedly connected to the rotating bracket, the second rotor is connected to the camera assembly, and the second rotor is used to drive the camera assembly to rotate around the rotation axis of the second rotor, and the rotation axes of the first rotor and the second rotor are perpendicular to each other.

2. The seeker according to claim 1, characterized in that: The first rotor includes a rotating cylinder and a first magnet arranged on the inner wall of the rotating cylinder, the rotating bracket is connected to the rotating cylinder, the first stator includes a first winding, the first magnet is accommodated in the rotating cylinder, the first magnet surrounds the outer circumference of the first winding and is spaced apart from the first winding.

3. The seeker according to claim 2, characterized in that: The first rotor also includes a rotating shaft, which is coaxial with the rotating cylinder and relatively fixed. The first winding has a central through hole. One end of the rotating shaft is located in the rotating cylinder and passes through the central through hole of the first winding. The other end of the rotating shaft is rotatably connected to the mounting seat.

4. The seeker according to claim 1, characterized in that: The rotating bracket includes a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm are respectively connected to two radially opposite sides of the first rotor, the second stator of the second motor is connected to the first connecting arm, the camera assembly is located between the first connecting arm and the second connecting arm, one side of the camera assembly is connected to the second rotor, and the other opposite side is rotatably connected to the second connecting arm.

5. The seeker according to claim 4, characterized in that: The second stator includes a stator seat and a second magnet, the second rotor includes a second winding and a driving shaft, the stator seat forms a accommodating cavity, the second magnet and the second winding are accommodated in the accommodating cavity, the second magnet is fixedly connected to the inner wall of the accommodating cavity, the second magnet surrounds the outer circumference of the second winding and is spaced apart from the second winding, the driving shaft is connected to the second winding, one end of the driving shaft passes through the stator seat through a through hole opened on the stator seat, the stator seat is connected to the first connecting arm, and the driving shaft is connected to the camera assembly.

6. The seeker according to claim 4, characterized in that: The rotating bracket also includes a support base, which is detachably connected to the second connecting arm. An axial hole is provided on the support base. The camera assembly includes a support shaft, which is rotatably connected to the axial hole on the support base.

7. The seeker according to claim 6, characterized in that: The camera assembly also includes a mounting bracket, which includes a first arm and a second arm that are spaced apart, the camera is disposed between the first arm and the second arm, the first arm is connected to the second rotor of the second motor, and the support shaft is disposed on the second arm.

8. The seeker according to claim 7, characterized in that: The mounting bracket also includes a bracket body, the first arm and the second arm are respectively connected to opposite ends of the bracket body, the first arm, the second arm and the bracket body together form a space for installing the camera, and the camera is fixedly connected to the bracket body.

9. The seeker according to claim 7, characterized in that: The seeker also includes a shell, which is fixedly connected to the mounting bracket. The camera is accommodated in the shell, and a window is provided on the shell. The camera is opposite to the window.

10. The seeker according to claim 9, characterized in that: The shell includes a front shell and a rear shell, and the front shell and the rear shell are detachably connected in a preset direction to jointly form a cavity for accommodating the camera. The preset direction is perpendicular to the rotation axis of the first rotor and the second rotor, and the window is arranged on the front shell.

11. The seeker according to claim 6, characterized in that: The seeker also includes a first fairing and a second fairing. The first fairing is arranged on a side of the second motor away from the camera assembly, and the second fairing is arranged on a side of the support base away from the camera assembly. The positions of the first fairing and the second fairing are fixed relative to the rotating bracket.

12. The seeker according to claim 11, characterized in that: A counterweight is arranged in the second fairing.

13. The seeker according to any one of claims 1 to 12, characterized in that: The camera assembly also includes a gesture sensor.

14. The seeker according to any one of claims 1 to 12, characterized in that: The camera includes at least one of a visible light camera, an infrared camera, and a laser camera.

15. The seeker according to any one of claims 1 to 12, characterized in that: The mounting seat is provided with a wire passing hole.

16. An airborne payload, for being mounted on an aircraft and being dropped to a target location by the aircraft, characterized in that: It comprises a load body, a load control device and the seeker according to any one of claims 1 to 15, wherein the load body is detachably connected to the load control device, and the mounting seat of the seeker is connected to the load control device.

17. The airborne payload according to claim 16, characterized in that: The load control device has an outer peripheral surface surrounding its axis, and the guide head is arranged on the outer peripheral surface of the load control device.

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