CN101624091B - High-elevation angle submarine photoelectric alertness detection device - Google Patents
High-elevation angle submarine photoelectric alertness detection device Download PDFInfo
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- CN101624091B CN101624091B CN 200810048381 CN200810048381A CN101624091B CN 101624091 B CN101624091 B CN 101624091B CN 200810048381 CN200810048381 CN 200810048381 CN 200810048381 A CN200810048381 A CN 200810048381A CN 101624091 B CN101624091 B CN 101624091B
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Abstract
The invention relates to a high-elevation angle large-space submarine photoelectric alertness detection device, which comprises a photoelectric detecting head and a support tube in sealing connection with the photoelectric detecting head, wherein the photoelectric detecting head mainly comprises a pressure resistant shell and a photoelectric imaging detecting device; the photoelectric imaging detecting device comprises a rectangular plane pressure resistant protection optical window, a pitching reflecting mirror and a photoelectric sensor; and the lower end of the photoelectric detecting headis connected with a vertical turn drive device arranged in the support tube. The device is characterized in that the optic axis of the photoelectric sensor of the photoelectric imaging detecting device inclines relatively to the vertical turn axial line, and the range of the inclination angle is between 10 and 30 degrees. The device has the advantages that: 1, by the easier structural change, thealertness detection altitude space range of the photoelectric alertness detection equipment for a submarine can be effectively improved; and 2, the sealing device adopts a double sealing structure, so that the device has the characteristics of compact structure, small volume and high reliability.
Description
Technical field
The present invention relates to a kind of high elevation angle, large spatial domain submarine photoelectric alertness detection device, belong to the photoelectric alertness technical field.
Background technology
Diving with photoelectric alertness detection device is submarine is guarded against detection to the water surface and aerial target visual plant.Dive with the photoelectric alertness detecting devices from the optics omniscope of initial appearance, experienced the evolution of optics omniscope, ray machine omniscope, optoelectronic periscope and optronics mast.
Existingly latently draw together photodetector head assembly and support tube with photoelectric alertness detecting devices ship outer part; photodetector head assembly mainly is comprised of pressure casing, photoelectronic imaging detector; the photoelectronic imaging detector mainly comprises the withstand voltage protection optical window of rectangle plane, pitching catadioptre (plane mirror or prism) and opto-electronic pickup (optical lens+infrared detector or TV), changes the photoelectric alertness in the certain spatial domain of realization by driving the revolution of photoelectronic imaging detector and control catadioptre pitch angle.Because existing dive generally adopted the structure of the opto-electronic pickup optical axis of photoelectronic imaging detector or coincidence parallel with its vertical axis of revolution with electro-optical equipment, it is limited to survey altitude range so that dive with the warning of photoelectricity imaging detecting device, generally speaking, maximum elevation is limited between 30 °～50 °.In order to enlarge the altitude range of diving with the electro-optical equipment detection imaging, someone proposes the technical scheme that the photoelectronic imaging detector is overlapped in stagger arrangement more, the deficiency of this scheme is complex structure, as showing in real time image, then needs many cover display control devices or a cover display control device to switch and shows local scene.
Summary of the invention
Technical matters to be solved by this invention is the deficiency that exists for above-mentioned prior art, provides a kind of simple in structure, warning to survey the larger high elevation angle of altitude range, large spatial domain submarine photoelectric alertness detection device.
The present invention is that the technical scheme that the problem of the above-mentioned proposition of solution adopts is: comprise photodetector head assembly and the support tube that links to each other with the photodetector head assembly sealing; photodetector head assembly is mainly by pressure casing; the photoelectronic imaging detector forms; described photoelectronic imaging detector comprises the withstand voltage protection optical window of rectangle plane; pitching catadioptre and opto-electronic pickup; the photodetector head assembly lower end links to each other with vertical device for revolving and driving in being installed in support tube; its difference is the relatively vertically rotation axis inclination of opto-electronic pickup optical axis of described photoelectronic imaging detector, and range of tilt angles is 10 °～30 °.
Press such scheme, described photodetector head assembly links to each other with the support tube sealing by sealing arrangement, and described sealing arrangement comprises end face dynamic sealing device and circumferential seal device, consists of double-sealing device.
Press such scheme, described circumferential seal device disposes the seal ring automatic compacting device.
Press such scheme, described opto-electronic pickup comprises optical lens and infrared detector, perhaps optical lens and Visible-light CCD.
Press such scheme, described vertical device for revolving and driving comprises azimuth axis and the torque motor that links with rotor, and the lower end of azimuth axis disposes magslip and conducting slip ring.
Beneficial effect of the present invention is: 1, by comparatively simple structural change, Effective Raise latent warning with the photoelectric alertness detecting devices survey height spatial domain scope; 2, sealing arrangement is double sealing structure, has compact conformation, volume is little, reliability is high characteristics; 3, diving with electro-optical equipment detection viewing field and linear vignetting under the constant prerequisite, can greatly reduce the length (reducing about 30%) of catadioptre, thereby make photo-cell scanning detecting head size and weight reducing; Or survey under the constant condition of spatial domain and mirror length with electro-optical equipment diving, the withstand voltage protection optical window of rectangle plane length dimension is reduced, and then reduce the thickness of withstand voltage protection optical window, be conducive to improve the luminous energy transmitance.
Description of drawings
Fig. 1 is the main structure chart of one embodiment of the invention.
Fig. 2 is the cutaway view of the withstand voltage protection optical window of rectangle plane in the one embodiment of the invention.
Fig. 3 is sealing arrangement and vertical device for revolving and driving full sectional view partly in the one embodiment of the invention.
Fig. 4 is the B section enlarged drawing among Fig. 3.
Fig. 5, Fig. 6 are respectively Coordinate system definition and the diagram of the Definition of Vector in the horizon system of coordinates of line-of-sight stabilization control mathematical model of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are described in further detail.
Comprise photodetector head assembly and the support tube that links to each other with the photodetector head assembly sealing, the photodetector head assembly work of can surfacing, be 7 to form by pressure casing, photoelectronic imaging detector, azimuth axle 5, pitch axis mainly, described photoelectronic imaging detector comprises the withstand voltage protection optical window of rectangle plane, pitching catadioptre 2 and opto-electronic pickup 3, wherein the withstand voltage protection optical window of rectangle plane is installed in upper end one side of pressure casing 10, be made of rectangular window glass 1, trim ring 8 and tightening seal washer 9, tightening seal washer is arranged on the interior outer face of rectangular window glass; The pitching catadioptre is installed in the upper end in the pressure casing, and is corresponding with the withstand voltage protection optical window of rectangle plane; Install opto-electronic pickup 3 below in pressure casing, described opto-electronic pickup comprises optical lens and infrared detector, perhaps optical lens and Visible-light CCD.The photodetector head assembly lower end links to each other with sealing with support tube 6 with the sealing arrangement of its phase configuration by revolving bed 4, and link to each other with vertical device for revolving and driving in being installed in support tube, drive the rotation of photodetection head erect, the opto-electronic pickup optical axis Z2 of the described photoelectronic imaging detector relatively vertically rotation axis Z1 of device for revolving and driving tilts 20 °, and rectangle plane is withstand voltage protection optical window is rotation respective angles upwards also; The sealing arrangement of described photodetector head assembly lower end and revolving bed 4 phase configuration comprises end face dynamic sealing device and circumferential seal device, is double-sealing device.Wherein the end face dynamic sealing device comprises the end face dynamic seal ring 15 that links with revolving bed 4 and the end face static sealing ring 16 that links with support tube 6 upper ends, end face dynamic seal ring and end face static sealing ring are metal o-ring, made by Q alloy, lower surface and end face static sealing ring upper surface by the end face dynamic seal ring fit, and the upper and lower end face is the mirror plane, consists of the end face dynamic sealing device; The circumferential seal device comprises two O RunddichtringOs 17 that are arranged in the support tube endoporus seal groove, 19, be equipped with the live metal spacer ring 18 that moves up and down between the two O RunddichtringOs, the revolution periphery phase configuration of the circumferential and revolving bed 4 of two O RunddichtringOs, consist of the circumferential seal device, below the circumferential seal device, dispose the seal ring automatic compacting device, the seal ring automatic compacting device comprises the trim ring that is arranged on O RunddichtringO lower end, the lower end of trim ring is furnished with ball 21, the ball below is provided with the feeding swivel nut, feeding swivel nut lower end is provided with all-in-one-piece gear that links with it, gear and gear driven mechanism engagement, so that the feeding swivel nut can axially moving up and down along the support tube endoporus, effect by ball and trim ring, regulate two O RunddichtringOs 17,19 pairs by the compaction degree of sealing member, to realize the circumferential seal in the different external pressure situations under water; Gear driven mechanism is comprised of driven wheel 20 and sealed electric-motor.The photodetector head assembly lower end links to each other with vertical device for revolving and driving in being installed in support tube via revolving bed, described vertical device for revolving and driving comprises azimuth axis 11 and the torque motor 12 that links with rotor, the upper end of azimuth axis is connected with revolving bed 4, the rotation of driving revolving bed, the lower end of azimuth axis disposes magslip 14 and conducting slip ring 13, and conducting slip ring and signal wire (SW) and power line join.Vertically device for revolving and driving drives photodetector head assembly rotates to adjust the observation warning around vertical rotation axis orientation.
The base portion of the submarine photoelectric alertness equipment that opto-electronic pickup optical axis of the present invention is tilting is at the surface photoelectronic imaging detector of work of periscope depth, support tube length determines according to the latent prestige power of submarine, Imaging Detection System also comprises power module and indication control board, power module and indication control board place in the submarine bay, are submarine bay internal standardization device (or module).
Existing diving generally adopted the two-axis design of above-mentioned azimuth rotation axle and pitching rotating shaft with electro-optical equipment.In order to realize stable observe or to the tracking aiming of target, mostly adopt digital platform to obtain the servo-actuated control of diaxon, digital platform is so-called multi-coordinate transformation model, need to be take the angle of oscillation of submarine horizontal attitude benchmark as input.Tilting 20 ° of embodiment of the invention sensor optical axis is used electro-optical equipment so that the servo-actuated control figure platform of diaxon is different from existing diving, and the derivation of its math modeling is as follows:
Referring to shown in Figure 5, set up the sensor optical axis when tilting the multi-coordinate transformation equation and resolve azimuth axis, pitch axis is the prerequisite that realizes line-of-sight stabilization control.System of axes and symbol definition are as follows.
Horizon system of coordinates o-x
oy
oz
o---right-handed helix system of axes, oy
oAxle be parallel to the carrier fore and aft line and point to bow to; Ox
oAxle horizontal points to the carrier starboard; Oz
oAxle points to zenith direction.
Deck coordinate system o-x
cy
cz
c---right-handed helix system of axes, oy
cAxle be parallel to the carrier fore and aft line and point to bow to; Ox
cAxle points to the carrier starboard; Oz
cAxle is vertical with the carrier deck plane.
Sensor coordinate system o '-xyz---right-handed helix system of axes, fixed with the equipment sensor, the origin of coordinates places the catadioptre center of gyration; O ' x axle is consistent with the catadioptre axis of revolution; O ' z axle is consistent with the sensor optical axis; O ' yz plane is consistent with the equipment inspection surface.
Reference frame o
1-x
1y
1z
1---the right-handed helix system of axes, fixed with photoelectric scanning head, turn round together in company with photoelectric scanning head.o
1x
1Axle is parallel to the axis of revolution of catadioptre; o
1z
1Axle is consistent with the vertical axis of revolution of photoelectric scanning head; o
1y
1z
1The plane is consistent with the equipment inspection surface.
P---mobile carrier pitch angle, the mobile carrier bow is to raising as just.
R---mobile carrier roll angle, mobile carrier starboard have a down dip as just.
Q---the electric scanning head turns over the azimuth, and to counting, cw is for just from the carrier bow.
H---catadioptre pitch angle, more than the carrier deck plane for just.
Δ q---realize the azimuth axis offset angle amount when stablize the visual field.
Δ h---realize the pitch axis offset angle amount when stablize the visual field, Δ h value is timing, and catadioptre is adjusted around ox axle cw, and when Δ h value was negative, catadioptre was adjusted around ox axle conter clockwise, and adjusting the angle amount is (h+ Δ h)/2.
β---the oblique angle of the vertical axis of revolution of sensor optical axis and photoelectric scanning head, β=20 °.
A---incident ray vector; A '---emergent ray vector.
B---kine bias steering volume;
B '---during line-of-sight stabilization, the projection of B in the sensor imaging surface.
The reflection matrix of M---plane mirror.
The normal line vector of N '---plane mirror.
Δ θ---realize that the electronics when stablize the visual field disappears as the corner amount.
Multi-coordinate transformation matrix equation is:
Can find the solution azimuth axis and the pitch axis deviation compensation angle amount that realizes line-of-sight stabilization by formula (1); Can be in the hope of picture angle of rotation amount by formula (2).
In formula (1), (2)
G
Ox, βCompensation matrix (the mobile carrier deck coordinate system x-x that-sensor optical axis is tilting 20 °
cy
cz
c→ sensor coordinate system o '-xyz gets transformation matrix)
Multi-coordinate transformation equation solution is:
Δθ＝arccos{sin(q+Δq)[sinPcosh-cosPsinhcosq]-cos(q+Δq)[cosRsinhsinq+sinRsinPsinhcosq+sinRcosPcosh]}
Claims (8)
1. high-elevation angle submarine photoelectric alertness detection device; comprise photodetector head assembly and the support tube that links to each other with the photodetector head assembly sealing; photodetector head assembly is by mainly by pressure casing; the photoelectronic imaging detector; azimuth axle; pitch axis system forms; described photoelectronic imaging detector comprises the withstand voltage protection optical window of rectangle plane; pitching catadioptre and opto-electronic pickup; the photodetector head assembly lower end links to each other with vertical device for revolving and driving in being installed in support tube; it is characterized in that the relatively vertically rotation axis inclination of device for revolving and driving of opto-electronic pickup optical axis of described photoelectronic imaging detector, range of tilt angles is 10 °～30 °.
2. by high-elevation angle submarine photoelectric alertness detection device claimed in claim 1, it is characterized in that described photodetector head assembly links to each other with the support tube sealing by sealing arrangement, described sealing arrangement comprises end face dynamic sealing device and circumferential seal device, consists of double-sealing device.
3. by high-elevation angle submarine photoelectric alertness detection device claimed in claim 2, it is characterized in that described circumferential seal device disposes the seal ring automatic compacting device.
4. by claim 1 or 2 described high-elevation angle submarine photoelectric alertness detection devices, it is characterized in that described opto-electronic pickup comprises optical lens and infrared detector, perhaps optical lens and Visible-light CCD.
5. by claim 1 or 2 described high-elevation angle submarine photoelectric alertness detection devices, it is characterized in that described vertical device for revolving and driving comprises azimuth axis and the torque motor that links with rotor, the lower end of azimuth axis disposes magslip and conducting slip ring.
6. by high-elevation angle submarine photoelectric alertness detection device claimed in claim 3, it is characterized in that below the circumferential seal device, disposing the seal ring automatic compacting device, the seal ring automatic compacting device comprises the trim ring that is arranged on O RunddichtringO lower end, the lower end of trim ring is furnished with ball, the ball below is provided with the feeding swivel nut, feeding swivel nut lower end is provided with all-in-one-piece gear that links with it, gear and gear driven mechanism engagement.
7. by claim 1 or 2 described high-elevation angle submarine photoelectric alertness detection devices, it is characterized in that the withstand voltage protection optical window of rectangle plane is installed in upper end one side of pressure casing, be made of rectangular window glass, trim ring and tightening seal washer, tightening seal washer is arranged on the interior outer face of rectangular window glass; The pitching catadioptre is installed in the upper end in the pressure casing, and is corresponding with the withstand voltage protection optical window of rectangle plane; Install opto-electronic pickup below in pressure casing.
8. by high-elevation angle submarine photoelectric alertness detection device claimed in claim 1; the opto-electronic pickup optical axis that the it is characterized in that described photoelectronic imaging detector relatively vertically rotation axis of device for revolving and driving tilts 20 °, and rectangle plane is withstand voltage protection optical window is rotation respective angles upwards also.
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| CN 200810048381 CN101624091B (en) | 2008-07-11 | 2008-07-11 | High-elevation angle submarine photoelectric alertness detection device |
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| CN 200810048381 CN101624091B (en) | 2008-07-11 | 2008-07-11 | High-elevation angle submarine photoelectric alertness detection device |
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| CN101624091B true CN101624091B (en) | 2013-03-20 |
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| CN104298249A (en) * | 2013-11-27 | 2015-01-21 | 中国航空工业集团公司洛阳电光设备研究所 | Over-roof prevention installation structure between photoelectric cabin and motion carrier |
| CN106394840B (en) * | 2016-09-09 | 2018-04-10 | 上海遨拓深水装备技术开发有限公司 | A kind of underwater imaging apparatus protect-ing frame structure |
| CN111077666B (en) * | 2019-12-09 | 2022-12-30 | 河北汉光重工有限责任公司 | Compact combined type gyration detecting head |
| CN115339598B (en) * | 2022-07-06 | 2023-05-12 | 中国船舶科学研究中心 | Non-rotary window seat structure for manned cabin of manned submersible and installation method |
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| US3352618A (en) * | 1954-12-22 | 1967-11-14 | Abraham C S Van Heel | Periscope for use in submarines |
| EP0123627A1 (en) * | 1983-04-26 | 1984-10-31 | Societe D'optique, Precision Electronique Et Mecanique - Sopelem | Image stabilisation device for submarine periscope |
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2008
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| GB1062710A (en) * | 1953-11-27 | 1967-03-22 | Bernard Eugene Adrien Mariegun | Improvements in periscopes |
| US3352618A (en) * | 1954-12-22 | 1967-11-14 | Abraham C S Van Heel | Periscope for use in submarines |
| GB953420A (en) * | 1955-11-01 | 1964-03-25 | Barr & Stroud Ltd | Improvements in or relating to optical viewing instruments and more particularly to periscopes |
| EP0123627A1 (en) * | 1983-04-26 | 1984-10-31 | Societe D'optique, Precision Electronique Et Mecanique - Sopelem | Image stabilisation device for submarine periscope |
| CN2658763Y (en) * | 2003-09-19 | 2004-11-24 | 苏州信达光电科技有限公司 | Deflection lens capable of changing observation angle |
Non-Patent Citations (4)
| Title |
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| 德国SERO 400 潜望镜系统研制概况;陆炳哲;《舰船电子工程》;20041020(第143期);第47-48页，第72页 * |
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