CN102679114B - Hoisting chamber - Google Patents
Hoisting chamber Download PDFInfo
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- CN102679114B CN102679114B CN201110415721.5A CN201110415721A CN102679114B CN 102679114 B CN102679114 B CN 102679114B CN 201110415721 A CN201110415721 A CN 201110415721A CN 102679114 B CN102679114 B CN 102679114B
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- housing
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- gondola
- servo
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Abstract
The invention discloses a hoisting chamber. The hoisting chamber comprises a housing for installing an imaging sensor and further comprises a connecting plate which is connected with a downwards overhung support, wherein the housing is connected on the support; an azimuth motor for driving the support to rotate is arranged on the connecting plate; the housing is arranged between two connecting arms and respectively assembled to two connecting arms in a rotating way by surrounding a horizontal rotation axis; a pitching motor for driving the housing to rotate around the horizontal axis is fixed in the housing; a housing revolving shaft arranged coaxially with the rotation axis of the housing is arranged on the connecting arm; the revolving shaft of the housing is in transmission connection with the pitching motor through a planetary gear pair, which can drive the pitching motor to rotate relative to the housing in a pitching way. According to the hoisting chamber, the support with symmetric Y-shaped structure is adopted to improve the strength of the whole hoisting chamber; and the support and the housing can be individually rotated through two frame shaft systems.
Description
Technical field
The present invention relates to monitoring equipment.
Background technology
Of the prior art some be arranged on aerospace vehicle, vehicle, naval vessel and fixed building for gathering the imager of video information, need to use gondola to realize the adjusting in imager alignment lens orientation, and existing gondola generally can only be realized the adjusting of luffing angle, can not meet the needs of requirements at the higher level.
Summary of the invention
The object of the present invention is to provide and a kind ofly not only can but also can realize around vertical axes and rotate the gondola regulating around the pitch regulation of horizontal shaft.
Technical scheme of the present invention is: a kind of gondola, comprise the housing for being mounted to image-position sensor, also comprise the connecting panel that is connected with the support overhanging downwards, described housing is connected on support, described support is inverted Y-shaped structure, support comprise the neck shape coordinating around vertical pivot axis with connecting panel of upper end support shaft, be connected in support shaft bottom shoulder shape crossbeam and from crossbeam two ends, overhang downwards and symmetrical connecting arm spaced apart, connecting panel is provided with the azimuth motor for driving arm rotation; Described housing is arranged between two connecting arms and around pivot center and two connecting arms of level and rotates respectively assembling, in housing, be fixed with the pitching motor rotating around horizontal axis for drive shell, described connecting arm is provided with the housing rotating shaft arranging with the coaxial of housing, and this housing rotating shaft is in transmission connection and realizes the driving of pitching motor to the action of housing pitch rotation with the output shaft of described pitching motor by Planetary Gear Transmission is secondary.
Described housing structure spherical in shape, the annular spherical zone of housing in the middle of comprising and be fixedly connected on respectively the domed front spherical shell of butt and the domed rear spherical shell of annular spherical zone rear and front end, the butt part of front spherical shell front end reserves window and transparency cover is installed.
Described support is provided with the groove that the connecting arm to both sides extends from crossbeam.
Between described support and connecting panel and/or the normal-running fit part of support and housing rotary electric connector is installed.
Described gondola also comprises two-freedom gondola control system, this system comprises pick up camera, described azimuth motor and pitching motor, azimuth motor and pitching motor be corresponding the first servo-drive plate and the second servo-drive plate of controlling them for driving of being provided with respectively, pick up camera comprises visible light sensor, infrared pickoff and the camera control panel that carries out work for switching visible light sensor and infrared pickoff, on the output shaft of azimuth motor and pitching motor, be respectively equipped with the first coder and the second coder, two coder outputs connect corresponding servo-drive plate; It is characterized in that, control system also comprises master control board, and the primary controller output on master control board is controlled, input sample connects described the first servo-drive plate and the second servo-drive plate; Primary controller is camera control panel described in control linkage also, master control board is provided with a video switch circuit that is controlled by primary controller, this video switch circuit input connects the two-way view data output port of described visible light sensor and infrared pickoff, output connects described primary controller, and selected Yi road image data transmission is arrived to primary controller.
Described video switch circuit comprises HEF4052BT chip and peripheral circuit thereof.
Described primary controller is character superpositing unit of control linkage also, and the output of described character superpositing unit is connected to imaging display device, and the graphicinformation gathering for information that described coder is gathered and described sensor shows in real time.
Described character superpositing unit comprises MAX7456 chip and peripheral circuit thereof.
Described azimuth motor and pitching motor are DC servo motor.
Described primary controller is also connected with the memory device for storing image data.
The present invention adopts two gimbal axis system to realize the independent rotation of support, housing, and adopts the support of symmetrical Y-shaped structure and improved the bulk strength of gondola.The present invention can be used for the tasks such as round-the-clock execution information, reconnaissance and surveillance.Gondola is collected video information and data, and data can be stored in aircraft, also can send in real time surface work station, makes that staff is efficient must complete scouting, scan task.The stability that has improved control system, cost is low, except equipment aircraft, also can be vehicle-mounted or carrier-borne, rescuing, follow the trail of the aspects such as scouting, forest fire protection, marine anti-smuggling, traffic monitoring, digital city construction at sea has great development prospect.
Accompanying drawing explanation
Fig. 1 is control system block diagram of the present invention;
Fig. 2 is primary controller of the present invention and relevant communicating circuit figure;
Fig. 3 is OSD of the present invention and video switch circuit figure
Fig. 4 is video output circuit of the present invention;
Fig. 5 is the physical construction schematic diagram of gondola;
Fig. 6 is the left view of Fig. 5.
The specific embodiment
As shown in Fig. 1-Fig. 6, the embodiment of gondola of the present invention, comprise connecting panel 1, on connecting panel 1, be rotatably equipped with the support 2 overhanging downwards, support 2 is inverted Y-shaped structure, support 2 comprise upper end the support shaft 21 that passes through the neck shape that bearing coordinates around vertical pivot axis with connecting panel 1, be connected in support shaft bottom shoulder shape crossbeam 22 and from crossbeam two ends, overhang downwards and symmetrical connecting arm 23 spaced apart, it is for expendable weight that crossbeam 22 is provided with groove, and connecting arm 23 is provided with the groove for cabling.On connecting panel, be provided with the azimuth motor 3 rotating for driving arm 1, the output shaft of azimuth motor 3 is in transmission connection by the support shaft 21 of gear pair speed reduction gearing and support 2, certainly in other embodiments of the invention, also can adopt the other forms of transmission device in routine techniques to realize the transmission of azimuth motor power to support shaft, such as chain, band transmission.In addition, between support shaft 21 and connecting panel 1, rotary electric connector 6 is installed, by the conduction bearing fit of the conducting slip ring in rotary electric connector and brush, realize electric power transmission to support 2 by connecting panel 1, guarantee that support 2 can 360 ° of continuous rotations and can not twist the electric wire in disconnection fishplate bar 1 and support 2.
The connecting arm 23 of support 2 by corresponding bearing around the pivot axis of level be equipped be located between two connecting arms 23 for being mounted to the housing 4 of image-position sensor, housing 4 structure spherical in shape, annular spherical zone 41 in the middle of housing 4 comprises and employing screw are connected to the domed front spherical shell 42 of butt and the domed rear spherical shell 43 of annular spherical zone 41 rear and front ends, the butt part of front spherical shell front end reserves window and transparency cover 44 is installed, and meets photographing request.In housing 4, be fixed with the pitching motor 5 rotating around horizontal axis for drive shell 4, the connecting arm 23 of described support 2 is provided with the housing rotating shaft 231 arranging with the coaxial of housing 4, this housing rotating shaft 231 is in transmission connection and realizes the driving of pitching motor 5 to housing 4 pitch rotation actions with the output shaft of described pitching motor 5 by Planetary Gear Transmission is secondary, in the present embodiment, Planetary Gear Transmission pair comprises the miniature gears 72 being in transmission connection with pitching motor 5 that is fixed on the big gear wheel 71 of centre of gration and rotates around big gear wheel, certainly in other embodiments of the invention, also can adopt the other forms of planetary wheel pair in routine techniques, as with sun wheel, the comparatively complicated planet circular system forming with pinion carrier and the external toothing of multiple satellite gears.In addition, stop gear is set on pitching frame, guarantee the angular range of luffing, anti-locking system occurs while not switching on exceeding the rotation of 360 ° and twists power-off line, certainly in other embodiments of the invention, also can rotary electric connector be set at the normal-running fit place of housing and support, making in electric wire in housing and support electric wire be rotated electric coupler is split up into and not only conducts electricity but also two parts of transmitting torque not, if do not need the occasion of 360 degree rotations, also can the adopting stop gear of support and connecting panel and do not use rotary electric connector.
In addition, in order to realize collection and the control to support 2, housing 4 rotational angle information, the mouth of azimuth motor, pitching motor using and the corresponding rotating shaft of the rotatable parts that are in transmission connection on the sensor of rotary encoder as position feedback control is all installed.
The above embodiment of the present invention in use, the motion that gondola can be realized has two to rotatablely move: one is the rotation of housing 3 and interior imageing sensor thereof, housing 3 can rotate with respect to support 2, in rotation, big gear wheel is motionless, miniature gears rotates round big gear wheel, drive pitching motor, imageing sensor, housing to rotate simultaneously, by the pitching motor in housing 3 and respective teeth wheel set, realize the rotation of housing 3 with respect to support 2, complete photographing request.Another one is the rotation of support 2 with respect to connecting panel 1, by connecting panel 1 azimuth motor driving arm 2 above, realizes 360 ° of rotations.
The accurate control regulating in order to realize the two-freedom of gondola, embodiments of the invention also adopt following two-freedom gondola control system, this system comprises pick up camera, the orthogonal azimuth motor of turning cylinder and pitching motor, azimuth motor and pitching motor all adopt servomotor, servomotor is provided with servo-drive plate, in the present invention, adopt DC servo motor, respectively the first servo-drive plate (the servo-drive plate 1 in figure) and the second servo-drive plate (the servo-drive plate 2 in figure) in corresponding diagram 1; Pick up camera, except comprising camera lens, also comprises the visible light sensor and the infrared pickoff that are suitable for respectively day and night work, and controls the camera control panel that switches two kinds of working sensors; Two kinds of sensors can be by captured image data transmission to primary controller.Above-mentioned motor, servo-drive plate, pick up camera, sensor all have the Related product can choice for use, so do not repeat them here.
As Fig. 1, on the output shaft of azimuth motor and pitching motor, be respectively equipped with for gathering second coder around horizontal axis rotational angle (coder 2 in figure) of gondola around first coder (coder 1 of figure) of vertical axis rotational angle and collection gondola, two coders outputs connect corresponding servo-drive plate.Coder adopts photoelectric encoder, and the angle turning over is turned and calculated as the communications such as velocity location are to servo-drive plate, for master control board, takes.Certainly in other embodiments of the invention, the first coder and the second coder also can be arranged in other rotating shafts that can gather gondola angular signal, as gondola rotating shaft, support shaft or be arranged in the respective axes of rotation in the speed reduction gearing that motor output end is in transmission connection.
As Fig. 2, primary controller U201 and peripheral circuit thereof are all arranged on described master control board, primary controller U201 and the first servo-drive plate and the corresponding connection of the second servo-drive plate, primary controller U201 sends control command to servo-drive plate moves motor accordingly, and by the coder corresponding signal of sampling.(primary controller U201 is P21, P22, P42, P25, P26 and P43 to servo-drive plate output control signal, and input sample signal comprises P20, P23 and P24, P27.) the primary controller U201 control core that is native system, select the STC12C5A32S2 in ATmega128 chip or Fig. 2 of atmel corp.U200 and U203 are RS-422 communication IC, and U200 is responsible for carrying out communication with camera control panel, and U203 is responsible for carrying out communication with upper computer, and U202 is eeprom memory, stores the data that power-off is possibly preserved.S201 is the master cock that downloads, and J201 is download online routine interface, and S200 is reserved.D200 and D201 are status indicator lamp.
As Fig. 3, on master control board, be also provided with a video switch circuit that is controlled by primary controller, video switch circuit is take the video output switching IC of U300 as acp chip, by primary controller U201, control selection, U300 input connects the two-way view data output port VIDEO1 of visible light sensor and infrared pickoff, VIDEO2, outputs to primary controller U201, and selected Yi road image data transmission is arrived to primary controller U201.U300 selects HEF4052BT, with these two pins of P34, P35 (VIDEOA or VIDEOB) of micro controller system, controls selection, and Y0～Y3 is video data input end.
Location information that primary controller U201 gathers the video information of VIDEO1 or VIDEO2 and coder etc. outputs to a character superpositing unit (OSD) by corresponding port (P40, the P41 of U201, P44, P45) and superposes, realize osd function, the i.e. information such as overlapping system action, state in vision signal, with forms such as character, numeral, icons, at the correct position of video image, show in real time.OSD chip is U301 (selecting chip MAX7456).As Fig. 4, OSD chip U301 output (mouth VOUT) is to a video output circuit, i.e. isolating amplifier circuit, is divided into two-way output (VIDEOOUT1, VIDEOOUT2) to imaging display device.
As Fig. 1, control system also comprises power unit, by the 14VDC of outside input, through voltage stabilizing, is converted to 12VDC and 5VDC, is respectively motor, servo-drive plate, master control board, sensor power supply.
The present invention also has following characteristics:
The closed loop control of Negotiation speed ring realizes the rate request motion (velocity amplitude can be set and adjust in real time by system command within the scope of 0～60 °/s) of kinematic mechanism as prescribed under the mode of operations such as manual scanning, automatic scan.
By position ring closed loop control, realize kinematic mechanism angle position stability under the mode of operations such as direction-locking, collection protection, and according to actual condition, automatically shut down servo circuit output (60s attonity, nothing order), with energy-saving mode work.Speed closed loop and position closed loop are all by the feedback information of coder.
Horizontal direction (rotating around vertical axes) range of movement: 360 ° of continuous rotations.
Pitch orientation range of movement :-100 °～+ 80 °, electronic limit is established at two ends.
Level, pitch orientation kinematic velocity: 0～60 °/s is adjustable, the output of two motors all has drop-gear box, approximately 273.5 times of decelerations.
Set up position transduser (Hall type or photoelectric type), be contained on connecting arm, the angle turning over for measuring camera lens, fit increments formula encoder index signal, accurately locates orientation, pitch orientation angle zero-bit (precision 2mrad).
Can measure in real time output orientation, pitch angle, and by video image character Overlapping display, angle accuracy 1mrad.
Take the measures such as photoelectricity isolation, electromagnetic screening, filtering, avoid external source, signal and this control circuit that video image is formed and disturbed.
Claims (8)
1. a gondola, comprise the housing for being mounted to image-position sensor, also comprise the connecting panel that is connected with the support overhanging downwards, described housing is connected on support, described support is inverted Y-shaped structure, support comprise the neck shape coordinating around vertical pivot axis with connecting panel of upper end support shaft, be connected in support shaft bottom shoulder shape crossbeam and from crossbeam two ends, overhang downwards and symmetrical connecting arm spaced apart, connecting panel is provided with the azimuth motor for driving arm rotation, described housing is arranged between two connecting arms and around pivot center and two connecting arms of level and rotates respectively assembling, in housing, be fixed with the pitching motor rotating around horizontal axis for drive shell, described connecting arm is provided with the housing rotating shaft arranging with the coaxial of housing, this housing rotating shaft is in transmission connection and realizes the driving of pitching motor to the action of housing pitch rotation with the output shaft of described pitching motor by Planetary Gear Transmission is secondary, described support shaft and described housing rotating shaft are independent rotations, described housing structure spherical in shape, housing comprises middle annular spherical zone and is fixedly connected on respectively the domed front spherical shell of butt and the domed rear spherical shell of annular spherical zone rear and front end, the butt part of front spherical shell front end reserves window and transparency cover is installed, described gondola also comprises two-freedom gondola control system, this system comprises pick up camera, described azimuth motor and pitching motor, azimuth motor and pitching motor be corresponding the first servo-drive plate and the second servo-drive plate of controlling them for driving of being provided with respectively, pick up camera comprises visible light sensor, infrared pickoff and the camera control panel that carries out work for switching visible light sensor and infrared pickoff, on the output shaft of azimuth motor and pitching motor, be respectively equipped with the first coder and the second coder, two coder outputs connect corresponding servo-drive plate, it is characterized in that, control system also comprises master control board, and the primary controller output on master control board is controlled, input sample connects described the first servo-drive plate and the second servo-drive plate, primary controller is camera control panel described in control linkage also, master control board is provided with a video switch circuit that is controlled by primary controller, this video switch circuit input connects the two-way view data output port of described visible light sensor and infrared pickoff, output connects described primary controller, and selected Yi road image data transmission is arrived to primary controller.
2. gondola according to claim 1, is characterized in that, described support is provided with the groove that the connecting arm to both sides extends from crossbeam.
3. gondola according to claim 1, is characterized in that, between described support and connecting panel and/or the normal-running fit part of support and housing rotary electric connector is installed.
4. gondola according to claim 1, is characterized in that, described video switch circuit comprises HEF4052BT chip and peripheral circuit thereof.
5. gondola according to claim 1, it is characterized in that, described primary controller is character superpositing unit of control linkage also, and the output of described character superpositing unit is connected to imaging display device, and the graphicinformation gathering for information that described coder is gathered and described sensor shows in real time.
6. gondola according to claim 5, is characterized in that, described character superpositing unit comprises MAX7456 chip and peripheral circuit thereof.
7. gondola according to claim 1, is characterized in that, described azimuth motor and pitching motor are DC servo motor.
8. gondola according to claim 1, is characterized in that, described primary controller is also connected with the memory device for storing image data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110415721.5A CN102679114B (en) | 2011-12-13 | 2011-12-13 | Hoisting chamber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110415721.5A CN102679114B (en) | 2011-12-13 | 2011-12-13 | Hoisting chamber |
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| Publication Number | Publication Date |
|---|---|
| CN102679114A CN102679114A (en) | 2012-09-19 |
| CN102679114B true CN102679114B (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110415721.5A Expired - Fee Related CN102679114B (en) | 2011-12-13 | 2011-12-13 | Hoisting chamber |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102984423A (en) * | 2012-11-26 | 2013-03-20 | 中国科学院长春光学精密机械与物理研究所 | Spot scanning imaging method for trigger exposure of encoder |
| CN103395497B (en) * | 2013-08-14 | 2016-06-08 | 武汉华中天经光电系统有限公司 | A kind of small-sized shoot with video-corder gondola without man-machine |
| CN104229150A (en) * | 2014-08-27 | 2014-12-24 | 中国科学院长春光学精密机械与物理研究所 | Horizontal roller system of onboard photoelectric pod |
| CN104803004B (en) * | 2015-02-13 | 2017-05-17 | 广州市红鹏直升机遥感科技有限公司 | Shooting device for aerial photo holder |
| CN104608935A (en) * | 2015-03-09 | 2015-05-13 | 杨文昊 | Model aircraft |
| CN104976492A (en) * | 2015-06-23 | 2015-10-14 | 中山市安领星电子科技有限公司 | Omnidirectional pan-tilt |
| KR102535859B1 (en) * | 2016-06-17 | 2023-05-24 | 한화비전 주식회사 | Security camera system |
| CN106347696B (en) * | 2016-09-29 | 2019-08-02 | 武汉华中天经通视科技有限公司 | A kind of small-sized photoelectric nacelle |
| CN106742005A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of power-line patrolling photoelectric nacelle and depopulated helicopter |
| CN106523862B (en) * | 2016-12-02 | 2019-01-25 | 维高时代（北京）科技有限公司 | A kind of gyrocontrol camera chain |
| CN108105550A (en) * | 2017-12-19 | 2018-06-01 | 中国长光卫星技术有限公司 | A kind of sweep type photogrammetric apparatus for eliminating backlash |
| CN109099833A (en) * | 2018-09-03 | 2018-12-28 | 中国科学院长春光学精密机械与物理研究所 | A kind of shafting angle zero-bit for small-sized stabilized platform determines method and system |
| CN109348099B (en) * | 2018-10-15 | 2024-03-26 | 北京环境特性研究所 | Video monitoring system |
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