Photoelectric monitoring stabilization system based on non-contact electromagnetic actuation

Abstract

The utility model provides a photoelectric monitoring stabilization system based on non-contact electromagnetic actuation, and belongs to the technical field of monitoring equipment. The problems that an existing system internally comprises a large number of mechanical parts and electrical assemblies and is prone to damage and low in response speed are solved. The photoelectric monitoring stabilization system based on non-contact electromagnetic actuation comprises a monitoring box, a monitoring ball, an electromagnetic driving structure, a gyroscope and a control unit, a containing cavity is formed in the monitoring box, a containing groove is formed in the front face of the monitoring box, a monitoring unit is arranged on the front face of the monitoring ball, and the monitoring ball is partially located in the containing groove; the gyroscope and the control unit are arranged in the containing cavity, the gyroscope and the electromagnetic driving structure are both connected with the control unit, and the electromagnetic driving structure is arranged between the monitoring ball and the monitoring box and used for driving the monitoring ball to rotate in the pitching direction and the azimuth direction and rotate around the center axis of the monitoring ball. The response speed of the system can be greatly improved, and the system has few parts and is not easy to corrode and damage.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of monitoring equipment, especially relates to a photoelectric monitoring stabilizing system based on non-contact electromagnetic actuation. BACKGROUND

[0002] When a ship performs a navigation task in a marine environment, it will produce multi-degree-of-freedom disturbance due to fluid mechanics, and this complex motion mode will produce nonlinear coupling interference on the ship-borne photoelectric monitoring system, significantly reducing the convergence accuracy of the target tracking algorithm. For example, the aircraft pod-type photoelectric platform will encounter atmospheric boundary layer disturbance in the turbulent flow field, and the land-based vehicle-mounted photoelectric equipment will face random vibration spectrum interference caused by vehicle dynamics. For such multi-physical field coupling problems, the existing technology mostly adopts a solution scheme of a two-axis stabilizing architecture combined with an inertial measurement unit, a typical representative of which is an unmanned ship-borne gimbal system, which realizes closed-loop servo control through a pitch encoder, uses a gyroscope sensor to solve the Euler angle of the ship body in real time, and drives the actuator to perform attitude compensation through a control algorithm. However, the existing technical scheme has the following technical bottlenecks: (1) the multi-body dynamics system has insufficient integration, and the mechanical transmission components such as the transfer shaft system and the rolling bearing form a complex mechatronic coupling system with the electrical elements such as the encoder and the servo motor, resulting in a significant reduction in the overall reliability of the system; (2) there is a problem of medium penetration caused by insufficient dynamic sealing efficiency, especially in the marine salt spray corrosion environment, and the electrochemical corrosion will cause the insulation failure of the winding of the permanent magnet motor and the drift of the gyroscope signal, and the dynamic seal will cause a significant increase in friction; (3) the bearing load of the azimuth shaft system is too high, and the bearing is easily damaged during high-speed operation, resulting in a significant reduction in the service life of the equipment; (4) the actuation mode based on the rotating motor is limited by the electromechanical conversion hysteresis, resulting in a low system response bandwidth. CONTENT OF THE UTILITY MODEL

[0003] Therefore, in order to solve the problem that the existing system has a low system response bandwidth due to the actuation mode based on the rotating motor, the dynamic seal is easily damaged, the reliability is low, and the bearing is easily damaged, the utility model provides an electromagnetic stabilizing photoelectric monitoring system.

[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] A photoelectric monitoring stabilizing system based on non-contact electromagnetic actuation, comprising:

[0006] A monitoring box is provided with a containing cavity, and the front face of the monitoring box is provided with a containing groove;

[0007] A monitoring ball is provided with a monitoring unit on the front face, and the monitoring ball is partially located in the containing groove;

[0008] The electromagnetic driving structure, the gyroscope and the control unit are arranged in the accommodating cavity, the gyroscope and the electromagnetic driving structure are connected with the control unit, the electromagnetic driving structure is arranged between the monitoring ball and the monitoring box, and is used for driving the monitoring ball to rotate in the pitch direction, rotate in the azimuth direction and rotate around the central axis of the monitoring ball.

[0009] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the electromagnetic driving structure comprises a pitch electromagnet assembly, an azimuth electromagnet assembly and a roll electromagnet assembly, the front surface of the monitoring box is provided with an annular raised ring, the part of the monitoring ball protruding from the accommodating groove is located in the annular raised ring, the roll electromagnet assembly comprises a plurality of roll electromagnets, the plurality of roll electromagnets are arranged at intervals on the inner side of the annular raised ring, the pitch electromagnet assembly comprises a plurality of pitch electromagnets, the plurality of pitch electromagnets are arranged at intervals on the inner wall of the accommodating groove in the pitch direction, and the azimuth electromagnet assembly comprises a plurality of azimuth electromagnets, the plurality of azimuth electromagnets are arranged at intervals on the inner wall of the accommodating groove in the azimuth direction.

[0010] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the monitoring unit comprises an infrared camera and a visible camera, and the infrared camera and the visible camera are arranged at intervals on the front surface of the monitoring ball.

[0011] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the electromagnetic stabilizing photoelectric monitoring system further comprises a power supply, the power supply is arranged in the accommodating cavity, and the electromagnetic driving structure, the gyroscope and the control unit are connected with the power supply.

[0012] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the electromagnetic stabilizing photoelectric monitoring system further comprises an air cooling device, and the air cooling device is arranged in the accommodating cavity.

[0013] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the two opposite side walls of the monitoring box are respectively provided with an air inlet and an air outlet.

[0014] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the side wall of the monitoring box is provided with an electrical interface.

[0015] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the accommodating groove is semispherical.

[0016] As a preferred scheme of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, the electromagnetic stabilizing photoelectric monitoring system further comprises a mechanical arm, a base and a mounting plate, one end of the mechanical arm is fixedly installed on the base, the other end is connected with the mounting plate, and the back surface of the monitoring box is fixedly connected with the mounting plate.

[0017] As a preferred solution of the above-mentioned photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, a vibration isolation pad is arranged between the mounting plate and the monitoring box.

[0018] Compared with the prior art, the photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation has the following advantages:

[0019] The photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation comprises a mounting plate, a monitoring box, a gyroscope, an electromagnetic driving structure and a control unit. The mounting plate is arranged on the monitoring box. The gyroscope is arranged on the mounting plate. The electromagnetic driving structure is arranged on the mounting plate. The control unit is arranged on the mounting plate. The gyroscope is used for monitoring the acceleration and angular velocity variation of a ship affected by wind and waves in real time. The electromagnetic driving structure is used for controlling the position and rotation angle of the monitoring ball. The control unit is used for calculating the electric signal required to be applied to the electromagnetic driving structure according to the signal transmitted by the gyroscope, dynamically adjusting the current intensity and polarity of the electromagnetic driving structure, forming a compensation magnetic field, and compensating external disturbances quickly and accurately.

[0020] The photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation can realize instant stability adjustment without relying on the rotation of a traditional motor, can finely regulate and control the monitoring ball in a non-contact electromagnetic actuation mode, greatly improves the response speed of the system, can quickly respond, reduces the number of mechanical parts and electrical components that are prone to damage in the traditional system, enhances the durability and environmental erosion resistance of the overall system, and has high reliability. Moreover, since a large number of mechanical structural parts and electrical elements are removed, the entire system is more portable and convenient to install and maintain. The static seal mode with higher reliability and better sealing effect is used, effectively prevents the medium permeation problem caused by insufficient dynamic sealing efficiency, especially in the marine salt spray corrosion environment, the electrochemical corrosion can cause the insulation failure of the winding of the permanent magnet motor and the signal drift of the gyroscope, and also solves the problem that the traditional rotary table concentrates the load on the bearing, reduces the load borne by the bearing, thereby prolongs the service life of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments illustrated in the drawings are provided to explain the present application and, to provide no improper limitations on the present application. In the drawings:

[0022] Fig. 1 is a structural schematic view of the photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation provided by the embodiment of the present application;

[0023] Fig. 2It is the structural schematic view of the monitoring box of the photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation provided by the embodiment of the utility model.

[0024] Fig. 3 It is the partial structural schematic view of the photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation provided by the embodiment of the utility model.

[0025] In the drawing,

[0026] 1, monitoring box;11, containing groove;12, air outlet;13, air inlet;14, electrical interface;

[0027] 2, monitoring ball;

[0028] 3, annular convex ring;

[0029] 41, horizontal roll electromagnetic assembly;42, pitch electromagnetic assembly;43, azimuth electromagnetic assembly;

[0030] 5, control unit;

[0031] 6, gyroscope;

[0032] 7, power supply;

[0033] 8, mechanical arm;

[0034] 91, infrared camera;92, visible camera. Specific embodiments

[0035] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. It should be noted that the embodiments and the features in the embodiments in the utility model can be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the utility model, not all the embodiments.

[0036] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated;It can be mechanically connected, or it can be electrically connected;It can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0037] In the utility model, unless otherwise expressly provided and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on the surface of" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0038] In the description of the embodiment, the terms "upper", "lower", "right", and the like, orientation or positional relationship shown in the drawings, are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0039] Referring to Figs. 1-3 The utility model discloses a kind of photoelectric monitoring stability systems based on non-contact electromagnetic actuation, which includes monitoring box 1, monitoring ball 2, electromagnetic drive structure, gyroscope 6 and control unit 5, monitoring box 1 is equipped with containing cavity, the front of monitoring box 1 is equipped with containing groove 11, the front of monitoring ball 2 is equipped with monitoring unit, monitoring ball 2 part is located in containing groove 11, gyroscope 6 and control unit 5 are arranged in containing cavity, gyroscope 6 and electromagnetic drive structure are connected with control unit 5, electromagnetic drive structure is arranged between monitoring ball 2 and monitoring box 1, for driving monitoring ball 2 rotates along pitch direction, rotates along azimuth direction and rotates around its center axis.

[0040] In the photoelectric monitoring stability system based on non-contact electromagnetic actuation, high-precision gyroscope 6 is used for real-time monitoring the acceleration and angular velocity change generated by wind and wave affected ship. Electromagnet in electromagnetic drive structure can be magnetically attracted with the shell of monitoring ball 2 after electrification, so as to control the position and rotation angle of monitoring ball 2. The system attitude deviation is monitored in real time by gyroscope 6, and the signal is transmitted to control unit 5, and control unit 5 calculates the electric signal required to be applied to electromagnetic drive structure, dynamically adjusts the current intensity and polarity of electromagnetic drive structure, forms compensation magnetic field, and compensates external disturbance quickly and accurately. In the case of search and interference, electromagnetic force is used to drive, to ensure the accurate positioning of photoelectric monitoring equipment.

[0041] The photoelectric monitoring stability system based on non-contact electromagnetic actuation can realize instant stability adjustment without relying on the rotation of traditional motors. The non-contact electromagnetic actuation is used to finely control the monitoring ball 2, greatly improving the response speed of the system and enabling rapid response. The number of mechanical parts and electrical components that are prone to damage in traditional systems is reduced, enhancing the overall system's durability and resistance to environmental erosion, and providing high reliability. Moreover, the removal of a large number of mechanical structure components and electrical elements makes the entire system more lightweight, facilitating installation and maintenance. The use of a static seal with higher reliability and better sealing effect effectively prevents the problem of medium penetration caused by insufficient dynamic sealing efficiency, especially in marine salt spray corrosion environments, where electrochemical corrosion can cause permanent magnet motor winding insulation failure and gyroscope signal drift. At the same time, the problem of traditional turntables concentrating load on bearings is also solved, reducing the load borne by the bearings and thus prolonging the service life of the equipment.

[0042] Optionally, as shown in Fig. 2 The electromagnetic drive structure includes a pitch electromagnet assembly 42, an azimuth electromagnet assembly 43, and a roll electromagnet assembly 41. The front of the monitoring box 1 is provided with an annular raised ring 3, and the part of the monitoring ball 2 protruding from the containing groove 11 is located within the annular raised ring 3. The roll electromagnet assembly 41 includes multiple roll electromagnets, which are arranged at intervals on the inner side of the annular raised ring 3. The pitch electromagnet assembly 42 includes multiple pitch electromagnets, which are arranged at intervals on the inner wall of the containing groove 11 in the pitch direction. The azimuth electromagnet assembly 43 includes multiple azimuth electromagnets, which are arranged at intervals on the inner wall of the containing groove 11 in the azimuth direction. The electrical signal excitation of each electromagnet in the pitch electromagnet assembly 42, the azimuth electromagnet assembly 43, and the roll electromagnet assembly 41 is dynamically adjusted according to the data from the gyroscope 6, thereby changing the magnetic field strength to achieve more precise stability adjustment.

[0043] It can be understood that the roll electromagnet assembly 41 can control the rotation of the monitoring ball 2 along its own axis. The azimuth electromagnet assembly 43 can control the rotation of the monitoring ball 2 in the azimuth direction, and the pitch electromagnet assembly 42 can control the rotation of the monitoring ball 2 in the pitch direction.

[0044] Optionally, the monitoring unit includes an infrared camera 91 and a visible camera 92, which are arranged at intervals on the front of the monitoring ball 2. The high-performance infrared camera 91 and visible camera 92 can maintain high-precision tracking and monitoring of the target under various sea conditions.

[0045] Optionally, the photoelectric monitoring stability system based on non-contact electromagnetic actuation further includes a power supply 7, which is arranged in the containing cavity. The electromagnetic drive structure, the gyroscope 6, and the control unit 5 are all connected to the power supply 7. The power supply 7 is used to provide electrical energy.

[0046] Optionally, the photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation further comprises a wind cooling device arranged in the accommodating cavity.

[0047] Optionally, the two opposite side walls of the monitoring box 1 are respectively provided with an air inlet 13 and an air outlet 12.

[0048] Optionally, the side wall of the monitoring box 1 is provided with an electrical interface 14.

[0049] Optionally, the accommodating groove 11 is semispherical, which can match the shape of the monitoring ball 2.

[0050] Optionally, the photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation further comprises a mechanical arm 8, a base and a mounting plate, one end of the mechanical arm 8 is fixedly arranged on the base, the other end is connected with the mounting plate, and the back of the monitoring box 1 is fixedly connected with the mounting plate.

[0051] Optionally, a vibration isolation pad is arranged between the mounting plate and the monitoring box 1.

[0052] Obviously, the above disclosed embodiments of the utility model are only used for helping to set forth the utility model. The embodiments do not describe all the details, and also do not limit the utility model to the specific implementation mode. According to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments, in order to better explain the principle and practical application of the utility model, so that the person skilled in the art can well understand and utilize the utility model. Here, it is not necessary and also impossible to exhaust all the implementation modes.

Claims

1. A photoelectric monitoring and stabilizing system based on non-contact electromagnetic actuation, characterized by, include: The monitoring box (1) has a receiving cavity inside and a receiving groove (11) on the front side; The monitoring ball (2) has a monitoring unit on its front side and part of the monitoring ball (2) is located in the receiving groove (11); The electromagnetic drive structure, gyroscope (6) and control unit (5) are arranged in the cavity. The gyroscope (6) and the electromagnetic drive structure are both connected to the control unit (5). The electromagnetic drive structure is arranged between the monitoring ball (2) and the monitoring box (1) to drive the monitoring ball (2) to rotate in the pitch direction, rotate in the azimuth direction and rotate around its own central axis.

2. The opto-electronic monitoring and stabilisation system based on contactless electromagnetic actuation according to claim 1, characterised in that: The electromagnetic drive structure includes a pitch electromagnet assembly (42), an azimuth electromagnet assembly (43), and a roll electromagnet assembly (41). The front of the monitoring box (1) is provided with an annular protrusion ring (3). The part of the monitoring ball (2) protruding from the receiving groove (11) is located inside the annular protrusion ring (3). The roll electromagnet assembly (41) includes multiple roll electromagnets, which are spaced apart on the inner side of the annular protrusion ring (3). The pitch electromagnet assembly (42) includes multiple pitch electromagnets, which are spaced apart along the pitch direction on the inner wall of the receiving groove (11). The azimuth electromagnet assembly (43) includes multiple azimuth electromagnets, which are spaced apart along the azimuth direction on the inner wall of the receiving groove (11).

3. The opto-electronic monitoring and stabilizing system based on contactless electromagnetic actuation according to claim 1, characterized in that: The monitoring unit includes an infrared camera (91) and a visible camera (92), which are spaced apart on the front of the monitoring ball (2).

4. The opto-electronic monitoring and stabilization system based on contactless electromagnetic actuation of claim 1, wherein: It also includes a power supply (7), which is located inside the cavity. The electromagnetic drive structure, gyroscope (6) and control unit (5) are all connected to the power supply (7).

5. The opto-electronic monitoring and stabilization system based on contactless electromagnetic actuation according to claim 1, characterized in that: It also includes an air-cooling device, which is located inside the receiving cavity.

6. The opto-electronic monitoring and stabilization system based on contactless electromagnetic actuation of claim 1, wherein: The monitoring box (1) has an air inlet (13) and an air outlet (12) on its two opposite side walls.

7. The opto-electronic monitoring and stabilization system based on contactless electromagnetic actuation of claim 1, wherein: The monitoring box (1) has an electrical interface (14) on its side wall.

8. The opto-electronic monitoring and stabilization system based on contactless electromagnetic actuation of claim 1, wherein: The receiving groove (11) is hemispherical.

9. The opto-electronic monitoring and stabilization system based on contactless electromagnetic actuation of claim 1, wherein: It also includes a robotic arm (8), a base and a mounting plate. One end of the robotic arm (8) is fixedly mounted on the base and the other end is connected to the mounting plate. The back of the monitoring box (1) is fixedly connected to the mounting plate.

10. The opto-electronic monitoring and stabilisation system based on contactless electromagnetic actuation according to claim 9, characterised in that: A vibration isolation pad is provided between the mounting plate and the monitoring box (1).

Images