CN110645311B - Formula of sweeping photoelectricity stabilising arrangement that takes photo by plane - Google Patents
Formula of sweeping photoelectricity stabilising arrangement that takes photo by plane Download PDFInfo
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- CN110645311B CN110645311B CN201911010561.9A CN201911010561A CN110645311B CN 110645311 B CN110645311 B CN 110645311B CN 201911010561 A CN201911010561 A CN 201911010561A CN 110645311 B CN110645311 B CN 110645311B
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- 230000005622 photoelectricity Effects 0.000 title claims description 3
- 230000003019 stabilising effect Effects 0.000 title claims description 3
- 238000013016 damping Methods 0.000 claims abstract description 65
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- 239000011229 interlayer Substances 0.000 claims abstract description 11
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- 238000003384 imaging method Methods 0.000 abstract description 19
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- 230000000087 stabilizing effect Effects 0.000 abstract description 11
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Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
- F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/08—Sensor arrangement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
Abstract
The invention discloses a swinging scanning type aerial photo photoelectric stabilizing device, and relates to the technical field of auxiliary shooting of unmanned aerial vehicle carrying platforms. The external vibration damping mechanism is connected with the carrier through a connecting plate, the outer frame system is connected with the external vibration damping mechanism through an outer azimuth shaft, the inner frame system is connected with the outer frame system through a screw fastening mode, and a heat preservation interlayer and an electromagnetic shielding film are arranged between the outer frame system and the inner frame system. The invention has the advantages that the external vibration reduction mechanism can effectively isolate the vibration generated by the carrier and other natural environments through the electromagnetic vibration reduction device, the outer frame system can realize the pose compensation of the photoelectric stabilizing device, the inner frame system performs large-range, wide-range cover and high-quality scanning imaging through rotating the swing mirror, the heat preservation interlayer is used for maintaining the temperature of the inner frame system and inhibiting the influence of temperature change on the surface type precision of the reflecting mirror, and the electromagnetic shielding film can reduce the influence of the natural environment and the electromagnetic interference generated by the photoelectric stabilizing device on the inner frame system.
Description
Technical Field
The invention relates to the technical field of auxiliary shooting of unmanned aerial vehicle carrying platforms, in particular to a swinging and sweeping type aerial photo photoelectric stabilizing device.
Background
Along with the continuous development of science and technology, unmanned aerial vehicle that takes photo by plane in recent years constantly rises, the stability of airborne platform also receives people's attention, airborne platform is the support equipment who is used for installation and fixed camera equipment, the direction of rotation for controlling camera or other equipment, the operational environment that unmanned aerial vehicle is complicated causes very big influence to airborne equipment's stability, it is great to lead to the vibration that unmanned aerial vehicle flight in-process produced, thereby the quality of taking photo by plane has been influenced, consequently airborne platform cuts down the vibration and carries out vibration compensation's ability especially important.
Unmanned aerial vehicle flight in-process screw, the engine, moving part such as rotor, can produce continuously on the fuselage, the vibration of each direction, the operating condition of the platform is carried to the influence that the vibration can be very big machine, angle modulation is inaccurate between the frame has been led to, sensing system sends wrong signal, speculum face type precision changes and then has influenced the shooting quality, probably cause the components and parts to damage when serious, therefore, need a damping system to cut down the vibration that the carrier direction transmitted, with stability and the security that improves unmanned aerial vehicle flight in-process. In addition, most of the existing swinging type photoelectric pod adopts a complete machine swinging mode to scan the ground, such as the mode proposed in the journal of people like poplar and the like, airborne swinging type wide-width hyperspectral imaging technical research, but the mode has large weight, can only perform small-angle side swinging and pitching, reduces the imaging sensitivity of the camera, and the maneuvering imaging process of the camera is difficult to control, has poor stability and low precision, so that the problem of large-field imaging cannot be well solved, thereby affecting the imaging quality. Unmanned aerial vehicle also can receive the influence of ambient temperature change in the course of the work, and the temperature mainly produces heat altered shape to the influence mode of ray apparatus structure, and the optical mirror face takes place to warp, perhaps changes in mutual position between the optical element to influence camera optical system imaging quality, and the electromagnetic interference that meets in the flight electromagnetic interference that strong electromagnetic interference and the electronic equipment of platform itself produced also influences the performance of machine-carried optical element, thereby has influenced the quality of taking photo by plane.
For the above reasons, the problems faced by the existing airborne platform include the following:
(1) in current airborne platform, the vibration of all directions that unmanned aerial vehicle flight in-process can produce airborne platform, and the vibration can lead to between the frame angle modulation inaccurate, sensing system send wrong signal, speculum face type precision change and probably cause the components and parts to damage even, cause the influence to whole airborne platform's operating condition.
(2) In current airborne platform, the formation of image is swept to the majority pendulum is swept the wide-angle pendulum through whole machine, wherein the system installation is swept to the pendulum on the roll frame, sweep through the pendulum to the roll-over roll frame, this mode weight is big, can only carry out the side pendulum and the every single move of small angle, the sensitivity of camera formation of image has been reduced, and the difficult control of the mobile imaging process of camera moreover, poor stability, the precision is low, consequently can not be fine solution wide view field imaging's problem, thereby influence the imaging quality.
(3) In the existing airborne platform, the optical mirror surface is deformed due to the influence of the change of the external temperature on the optical machine system in the working process, or the mutual position of optical elements is changed, so that the imaging quality of the optical system of the camera is influenced.
(4) In the existing airborne platform, external strong electromagnetic interference and strong electromagnetic interference generated when other electronic components of the platform work also affect optical equipment in the nacelle, so that the imaging quality is reduced.
Disclosure of Invention
The invention provides a sweep type aerial photo photoelectric stabilizing device based on a three-axis six-frame mechanism, which is used for solving the influences of the vibration and the impact of a machine body and the disturbance of the external environment in the flying process of a carrier, and the influences of factors such as temperature change, strong electromagnetic interference and the like generated by the environment.
The technical scheme includes that the vibration damping device comprises an external vibration damping mechanism, an outer frame system and an inner frame system, the external vibration damping mechanism is connected with an aerial carrier through bolts, the outer frame system is connected with the external vibration damping mechanism through an outer azimuth shaft, and the inner frame system is connected with the outer frame system through screws.
The external vibration damping mechanism comprises a connecting plate, a spherical hinge, a first vibration damping frame, a second vibration damping frame, a first pin shaft, a first universal hinge, a second universal hinge, a central shaft, a third universal hinge, a base, an electromagnetic vibration damping device, a second pin shaft, a third pin shaft and an inertial navigation system, wherein the connecting plate is connected with a carrier through a screw, the first vibration damping frame is connected with the connecting plate through the spherical hinge, the spherical hinge is fixed on the connecting plate through a screw, the second vibration damping frame is connected with the first vibration damping frame through the first pin shaft, the base is connected with the second vibration damping frame through the first universal hinge, the upper end of the central shaft is connected with the connecting plate through the second universal hinge, the lower end of the central shaft is connected with the base through the third universal hinge, the first universal hinge is fixedly connected with the base through welding, and the second universal hinge is fixedly connected with the connecting plate, the universal hinge III is fixedly connected with the base through welding, the upper end of the electromagnetic vibration damper is connected with the vibration damping frame through a pin shaft II, the lower end of the electromagnetic vibration damper is connected with the vibration damping frame II through a pin shaft III, and the inertial navigation system is fixed on the base through screws.
The electromagnetic vibration damper comprises a first rotating block, a piston, a laser ranging sensor, a baffle, an electromagnetic coil, a working cavity, a second rotating block and a return spring, wherein the piston is fixedly connected with the first rotating block through welding and is arranged in the working cavity, four pores are uniformly distributed on the piston, the laser ranging sensor is fixed at the upper end of a piston rod through a screw, the baffle is fixed in the working cavity through welding, the electromagnetic coil is arranged in the piston, the working cavity is fixedly connected with the second rotating block through welding, and the upper end and the lower end of the return spring are respectively fixed between the first rotating block and the second rotating block through welding.
The outer frame system comprises an outer orientation frame, an outer pitching frame, an outer rolling frame, an outer orientation shaft, an outer pitching shaft, an outer transverse rolling shaft, an outer pitching bearing, an outer rolling bearing, a servo motor I and a servo motor II, wherein the outer orientation frame is connected with an outer vibration reduction mechanism through the outer orientation shaft, the outer pitching frame is connected with the outer orientation frame through the outer pitching shaft, the outer pitching bearing is installed at the connection position, the outer rolling frame is connected with the outer pitching frame through the outer transverse rolling shaft, the outer rolling bearing is installed at the connection position, the outer pitching shaft is directly connected with the servo motor I, the outer transverse rolling shaft is directly connected with the servo motor II, the servo motor I is fixedly connected with the outer orientation frame through screws, and the servo motor II is fixedly connected with the outer pitching frame through screws.
The outer square frame comprises a bearing plate, a slewing bearing gear, a servo motor III, a transmission gear, a motor groove and a lightweight groove, wherein the bearing plate is fixed on the outer square shaft in a welding mode, an outer ring of the slewing bearing gear is fixedly connected with the bearing plate through a screw, an inner ring of the slewing bearing gear is fixedly connected with the outer square frame through a screw, the servo motor III is fixed in the motor groove through a screw, the transmission gear is fixedly connected to the servo motor III through a key, and the transmission gear is meshed with the slewing bearing gear.
The outer rolling frame comprises a heat-insulating interlayer and an electromagnetic shielding film, wherein a phase-change material is placed in the heat-insulating interlayer, and the electromagnetic shielding film is coated inside the outer rolling frame.
The inner frame system comprises an inner frame, a servo motor, an inner transverse rolling shaft, an inner transverse rolling bearing, a reflecting mirror groove, a reflecting mirror, a camera groove, a CCD camera, a bearing frame and a plane lens, wherein the inner azimuth frame is connected with the outer transverse rolling frame through screws, the servo motor is connected with the inner frame through screws and is directly connected with the inner transverse rolling shaft, the inner transverse rolling shaft is connected with the reflecting mirror groove through welding, the reflecting mirror is fixed in the reflecting mirror groove through gluing, the camera groove is fixedly connected with the inner frame through screws, the CCD camera is fixed in the camera groove through screws, the bearing frame is fixed on the inner frame through screws, and the plane lens is fixed on the bearing frame through gluing.
The invention has the advantages that:
(1) the invention adopts the external vibration reduction mechanism to reduce the vibration in all directions generated by the carrier and other natural factors, the carrier is a main vibration source, the central shaft of the external vibration reduction mechanism can independently reduce the axial vibration generated in the direction of the carrier, the electromagnetic vibration reduction device is adopted, the size of a magnetic field is changed by changing the current flowing through the electromagnetic coil, the change of the magnetic field influences the curing degree of the magnetorheological fluid, and the size of the damping is changed, and the electromagnetic vibration reduction device is also provided with a laser ranging sensor and an inertial navigation system, so that the response speed of the electromagnetic vibration reduction device is faster and more accurate.
(2) The unmanned aerial vehicle aerial photography supporting device adopts the rotary reflector to carry out aerial scanning, the camera is fixed on the frame, the mirror is supported by the aerial scanning shaft, the aerial scanning shaft is relatively independent and is relatively small in interference, the bearing load of the aerial scanning shaft is small in quality, the precision is high, the requirements of the unmanned aerial vehicle aerial photography on a large-view-field and wide-range cover can be well met, the stability is greatly improved, the three-shaft three-frame system can achieve pose compensation of the photoelectric pod and is used for playing an auxiliary role in aerial scanning imaging, and the unmanned aerial vehicle aerial photography is more accurate and higher in quality.
(3) Be provided with the heat preservation intermediate layer between the formula optoelectronic stabilization device that takes photo by plane in the pendulum, be provided with phase change material in the heat preservation intermediate layer, when ambient temperature changes, phase change material realizes absorbing or releasing the heat through the material state that changes self to the realization keeps warm to inside ray apparatus system, does benefit to phase change material heat absorption or heat release.
(4) Electromagnetic shielding films are coated between the inner frame and the outer frame of the swing scanning type aerial photo photoelectric stabilizing device, strong electromagnetic interference from the outside and strong electromagnetic interference generated by electronic equipment of the platform can be shielded, and the influence of the strong electromagnetic interference on the optical equipment inside the platform is avoided, so that the imaging quality is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention
FIG. 2 is an isometric view of the present invention
FIG. 3 is a schematic view of an external damping mechanism according to the present invention
FIG. 4 is a schematic view of an electromagnetic damping device of the present invention
FIG. 5 is a cross-sectional view of an electromagnetic damping device of the present invention
FIG. 6 is a cross-sectional view of the piston of the present invention
FIG. 7 is a front cross-sectional view of the outer frame system of the present invention
FIG. 8 is a side cross-sectional view of the outer frame system of the present invention
FIG. 9 is a cross-sectional view of the outer frame of the present invention
FIG. 10 is a view showing the construction of a slewing bearing gear of the present invention
FIG. 11 is a top view of the outer orientation frame of the present invention
FIG. 12 is a cross-sectional view of the outer roll frame of the present invention
FIG. 13 is a schematic view of an inner frame system of the present invention
FIG. 14 is a schematic view of a reflector structure according to the present invention
FIG. 15 is a schematic view of a planar lens structure according to the present invention
Description of reference numerals: the device comprises an external vibration reduction mechanism 1, an external frame system 2, an internal frame system 3, a connecting plate 1-1, a spherical hinge 1-2, a vibration reduction frame I1-3, a vibration reduction frame II 1-4, a pin shaft 1-5, a universal hinge I1-6, a universal hinge II 1-7, a universal hinge III 1-8, a central shaft 1-9, a base 1-10, an electromagnetic vibration reduction device 1-11, an inertial navigation system 1-12, a pin shaft II 1-13, a pin shaft III 1-14, a rotating block I1-11-1, a piston 1-11-2, a fine hole 1-11-2-1, a baffle plate 1-11-3, an electromagnetic coil 1-11-4, a working cavity 1-11-5, a rotating block II 1-11-6, a reset spring 1-11-7, a piston, 1-11-8 parts of laser ranging sensor, 2-1 parts of outer orientation frame, 2-2 parts of outer pitching frame, 2-3 parts of outer rolling frame, 2-1-1 parts of outer orientation shaft, 2-2-1 parts of outer pitching shaft, 2-3-1 parts of outer rolling shaft, 2-2-2 parts of outer pitching bearing, 2-3-2 parts of outer rolling bearing, 2-2-3 parts of servo motor I, 2-3-3 parts of servo motor II, 2-1-6 parts of slewing bearing gear, 2-1-2 parts of transmission gear, 2-1-3 parts of servo motor III, 2-1-4 parts of motor groove I, 2-1-5 parts of bearing plate, 2-1-7 parts of lightweight groove, 2-3-4 parts of heat-preserving interlayer, 2-3-5 parts of electromagnetic shielding film, 3-1 parts of inner frame, 3-2 parts of servo motor, 3-3 parts of inner transverse rolling shaft, 3-4 parts of inner transverse rolling bearing, 3-5 parts of reflector groove, 3-6 parts of reflector, 3-7 parts of camera groove, 3-8 parts of CCD camera, 3-9 parts of bearing frame and 3-10 parts of plane lens.
Detailed Description
As shown in fig. 1 and fig. 2, the present invention provides a sweep-type aerial photo-electric stabilization device, which comprises an external vibration reduction mechanism 1, an external frame system 2 and an internal frame system 3, wherein the external vibration reduction mechanism 1 is fixed on a carrier through a connecting plate 1-1,can be paired with The multidirectional vibration generated by the carrier and the natural environment during the flight process is quickly reduced in real time,the outer frame system 2 is fixed below the external vibration damping mechanism 1 through the external orientation shaft 2-1-1,winding for pendulum sweep type aerial photo photoelectric stabilizing device The outer azimuth axis 2-1-1, the outer pitch axis 2-2-1 and the outer roll axis 2-3-1 perform wide-range field adjustment,the inner frame system 3 is connected with the outer frame system 2 through screws and is used for scanning and imaging with large view field, wide coverage and high quality.
As shown in fig. 3 and 4, the external vibration damping mechanism 1 includes a connecting plate 1-1, a spherical hinge 1-2, a vibration damping frame 1-3, a vibration damping frame two 1-4, a pin shaft one 1-5, a universal hinge one 1-6, a universal hinge two 1-7, a universal hinge three 1-8, a central shaft 1-9, a base 1-10, an electromagnetic vibration damping device 1-11, an inertial navigation system 1-12, a pin shaft two 1-13 and a pin shaft three 1-14, the connecting plate 1-1 is connected with a vehicle through a screw for fixing the swinging and sweeping type aerial photo photoelectric stabilizer on the vehicle, the spherical hinge 1-2 is fixed on the connecting plate 1-1 through a screw, the vibration damping frame one 1-3 is connected with the connecting plate 1-1 through the spherical hinge 1-2, the second vibration damping frame 1-4 is connected with the first vibration damping frame 1-3 through a pin shaft 1-5, when the carrier generates vibration and transmits the vibration to the external vibration damping frame 1, the angle between the first vibration damping frame 1-3 and the second vibration damping frame 1-4 is changed to form relative rotation around the pin shaft 1-5, and the aim of the relative rotation is to transmit the vibration to the external vibration damping frame 1Delivering to an electromagnetic vibration damper 1-11, connecting a vibration damper II 1-4 with a base 1-10 through a universal hinge I1-6, connecting the universal hinge I1-6 with the base 1-10 through welding, connecting the upper end of a central shaft 1-9 with a connecting plate 1-1 through a universal hinge II 1-7, connecting the universal hinge II 1-7 with the connecting plate 1-1 through welding, connecting the lower end of the central shaft 1-9 with the base 1-10 through a universal hinge III 1-8, connecting the universal hinge III 1-8 with the base 1-10 through welding, and connecting the central shaft 1-9 with the base 1-10 through weldingUsed for reducing the axial vibration transmitted from the direction of the carrier,six damping mechanisms are arranged in a ring shape by taking the central shafts 1-9 as the shafts,mainly used for carrying out vibration in all directions generated by a carrier and other factors The weight is reduced, and the function of weight dispersion is achieved,the upper end of the electromagnetic vibration damper 1-11 is connected with the vibration damping frame I1-3 through a pin shaft II 1-13, the lower end of the electromagnetic vibration damper is connected with the vibration damping frame II 1-4 through a pin shaft III 1-14, the inertial navigation system 1-12 is fixed on the base 1-10 through a screw, when the carrier generates vibration,axial force generated by vibration presses the first damping frame 1-3 and the second damping frame 1-4 to damp The angle between the first vibration frame 1-3 and the second vibration frame 1-4 is reduced, so that the axial force is transmitted to the electromagnetic vibration damping device 1-11 through the electromagnetic vibration damping device The vibration damping devices 1 to 11 damp vibrations. In the flight process of the unmanned aerial vehicle, the aircraft and other natural factors can vibrate and vibrate The motion is transmitted to the electromagnetic vibration damping devices 1-11 through the vibration damping frames 1-3 and the vibration damping frames 1-4 and is performed by the electromagnetic vibration damping devices 1-11 Six-freedom vibration reduction, because the carrier is the main vibration source, the central shaft 1-9 can independently carry out axial vibration transmitted from the direction of the carrier The cutting-down is carried out,the spherical hinge 1-2 and the universal hinge 1-6 on the external vibration damping mechanism 1 can move in a certain range along the vibration direction, thereby protecting the device.
As shown in figures 5 and 6, the electromagnetic vibration damper 1-11 comprises a first rotating block 1-11-1, a piston 1-11-2, a fine hole 1-11-2-1, a baffle 1-11-3, an electromagnetic coil 1-11-4, a working chamber 1-11-5, a second rotating block 1-11-6, a return spring 1-11-7 and a laser ranging sensor 1-11-8, wherein the piston 1-11-2 is fixedly connected with the first rotating block 1-11-1 through welding and is arranged in the working chamber 1-11-5, and the piston 1-11-2 is fixedly connected with the first rotating block 1-11-1 through welding and is arranged in the working chamber 1-11-5The number of the fine holes 1-11-2-1 is four, the magnetorheological fluid in the working cavity 1-11-5 is uniformly distributed on the piston 1-11-2, the magnetorheological fluid in the working cavity 1-11-5 is circulated through the fine holes 1-11-2-1 on the piston 1-11-2, the laser distance measuring sensor 1-11-8 is fixed at the upper end of the rod of the piston 1-11-2 through screws, the distance between the laser distance measuring sensor and the baffle plate 1-11-3 is measured through laser, vibration information is collected and a signal is sent, the baffle plate 1-11-3 is welded in the working cavity 1-11-5, the magnetorheological fluid is prevented from flowing out of the working cavity 1-11-5, the electromagnetic coil 1-11-4 is arranged in the piston 1-11-2, and the working cavity 1-11-5 is welded with the rotating block two 1-11-5 6 is fixedly connected and used for storing magnetorheological fluid, the return spring 1-11-7 is sleeved outside the working cavity 1-11-5, when vibration is transmitted to the return spring through the rotating block II 1-11-6, the elastic deformation of the return spring 1-11-7 can give a reverse force to the rotating block II 1-11-6 for return, and simultaneously plays a role in passive reduction of vibration,when the carrier generates vibration due to the interference of complex environment and transmits the vibration to the external vibration damping mechanism 1, the vibration damping mechanism is mounted on a piston 1-11-8 laser ranging sensor at upper end of 1-11-2 rod for collecting vibration information and calculating the vibration information from 1-11-8 laser ranging sensor The distance to the baffle 1-11-3, the amplitude, the frequency and other information of the vibration are sent to the inertial navigation system 1-12 for processing The inertial navigation system 1-12 sends the processed data to the signal processing unit, and the signal processing unit sends the signal to the controller Making unit, and controlling by control unit, releasing current flowing through electromagnetic coil 1-11-4, and current flowing through electromagnetic coil 1-11-4 A magnetic field is generated during the process, so that the magnetorheological fluid presents the characteristics of a Bingham body with high viscosity and low fluidity, and the magnetorheological fluid is increased to pass Damping of the pores 1-11-2-1 can be precisely controlled by controlling the magnitude of the current, thereby suppressing vibration The magnetorheological fluid flows instantly under the action of the magnetic field, so that the vibration can be quickly reduced,in conclusion, the device can quickly and accurately inhibit the vibration in real time, and particularly has a better vibration effect on larger amplitude.
As shown in fig. 7 and 8, the outer frame system 2 includes an outer orientation frame 2-1, an outer pitch frame 2-2, an outer roll frame 2-3, and an outer orientation frameThe device comprises a shaft 2-1-1, an outer pitching shaft 2-2-1, an outer rolling shaft 2-3-1, an outer pitching bearing 2-2-2, an outer rolling bearing 2-3-2, a servo motor I2-2-3 and a servo motor II 2-3-3, wherein the outer orientation frame 2-1 is connected with an outer vibration damping mechanism 1 through the outer orientation shaft 2-1-1, the outer pitching frame 2-2 is connected with the outer orientation frame 2-1 through the outer pitching shaft 2-2-1, the outer pitching bearing 2-2-2 is arranged at the connection part, the outer pitching shaft 2-2-1 is driven to drive the outer pitching frame 2-2 to rotate through the servo motor I2-2-3,used for carrying out visual field adjustment on the swing scanning type aerial photo photoelectric stabilizing device in the pitch axis direction Pose compensationThe first servo motor 2-2-3 is fixedly connected with the outer square frame 2-1 through a screw, the outer pitching shaft 2-2-1 is directly connected with the first servo motor 2-2-3, the outer rolling frame 2-3 is connected with the outer pitching frame 2-2 through the outer rolling shaft 2-3-1, an outer rolling bearing 2-3-2 is arranged at the joint, the outer rolling shaft 2-3-1 is driven by the second servo motor 2-3-3 to drive the outer rolling frame 2-3 to rotate,used for carrying out visual field adjustment and position adjustment on the swinging type aerial photo photoelectric stabilizing device in the direction of a transverse rolling shaft Attitude compensationThe servo motor II 2-3-3 is fixedly connected with the outer pitching frame 2-2 through a screw, and the outer transverse roller 2-3-1 is directly connected with the servo motor II 2-3-3.
As shown in fig. 9, 10 and 11, the outer orientation frame 2-1 includes a bearing plate 2-1-5, a slewing bearing gear 2-1-6, a motor groove 2-1-4, a servo motor three 2-1-3, a transmission gear 2-1-2 and a lightening groove 2-1-7, the bearing plate 2-1-5 is fixedly connected with the outer orientation shaft 2-1-1 by welding, an outer ring of the slewing bearing gear 2-1-6 is fixedly connected with the bearing plate 2-1-5 by a screw, an inner ring thereof is fixedly connected with the outer orientation frame 2-1 by a screw, the servo motor three 2-1-3 is fixed to the motor groove 2-1-4 by a screw, the transmission gear 2-1-2 is fixedly connected to the servo motor III 2-1-3 through a key, the transmission gear 2-1-2 is meshed with the slewing bearing gear 2-1-6, the servo motor III 2-1-3 drives the transmission gear 2-1-2, as the outer ring of the slewing bearing gear 2-1-6 is fixed, a reverse force is given to the transmission gear 2-1-2, the transmission gear 2-1-2 and the servo motor III 2-1-3 push the outer orientation frame 2-1 to rotate around the slewing bearing gear 2-1-6, the inner ring of the slewing bearing gear 2-1-6 is fixed with the outer orientation frame 2-1, and the inner ring of the slewing bearing gear 2-1-6 rotates along with the outer orientation frame 2-1, a bearing is arranged between the inner ring and the outer ring of the slewing bearing gear 2-1-6, so that the outer orientation frame 2-1 can move conveniently, and the rotation of the outer orientation frame 2-1 is used for carrying out view field adjustment and pose compensation on the sweep type aerial photo photoelectric stabilizing device in the azimuth axis direction.
As shown in fig. 12, the outer roll frame 2-3 includes a thermal insulation interlayer 2-3-4 and an electromagnetic shielding film 2-3-5, the thermal insulation interlayer 2-3-4 is a hollow structure, a phase change material is placed in the thermal insulation interlayer 2-3-4, when the external temperature changes, the state of the phase change material changes, and the phase change material absorbs or releases a large amount of latent heat during the process,thereby realizing The interior of the heat-insulating box is subjected to heat preservation,the electromagnetic shielding film 2-3-5 is coated between the outer rolling frame 2-3 and the heat preservation interlayer 2-3-4, and the electromagnetic shielding film 2-3-5 can effectivelySuppressing electromagnetic interference generated by outside and electronic element in platform Influence of electromagnetic interference generated by the member on the inner frame system 3. As shown in fig. 13, 14 and 15, the inner frame system 3 includes an inner frame 3-1, a servo motor four 3-2, an inner roller 3-3, an inner roller bearing 3-4, a mirror groove 3-5, a mirror 3-6, a camera groove 3-7, a CCD camera 3-8, a carriage 3-9 and a flat lens 3-10, the inner frame 3-1 is connected to the outer roller frame 2-3 by a screw for carrying the mirror 3-6 and the CCD camera 3-8, the servo motor four 3-2 is connected to the inner frame 3-1 by a screw for driving the inner roller 3-4 to perform a sweep and is directly connected to the inner roller 3-4, the inner roller 3-4 is connected to the mirror groove 3-5 by welding, the reflecting mirror 3-6 is fixed in the reflecting mirror groove 3-5 through cementing, the light transmitted from the plane lens 3-10 is reflected to the CCD camera 3-8, the camera groove 3-7 is fixedly connected with the inner frame 3-1 through screws, the CCD camera 3-8 is fixed in the camera groove 3-7 through screws, the bearing frame 3-9 is fixed on the inner frame 3-1 through screws and used for bearing the plane lens 3-10, the plane lens 3-10 is fixed on the bearing frame 3-9 through cementing, the light is emitted by the plane lens 3-10 below, the light is reflected through the reflecting mirror 3-6 and finally emittedAnd entering a CCD camera 3-8, and driving the inner transverse rolling shaft 3-3 to rotate by the servo motor four 3-2 to perform swinging scanning, thereby realizing scanning imaging of the large-range and wide-width cover on the ground.
In conclusion, in the flying process, the aircraft and other natural factors can generate multi-directional vibration, the vibration can greatly affect the aerial photography quality, when the vibration is transmitted to the external vibration reduction mechanism 1, the laser ranging sensors 1-11-8 measure the distance between the laser ranging sensors and the baffle plates 1-11-3, and further measure the intensity degree of the vibration, the laser ranging sensors 1-11-8 send signals, the signals are received by the inertial navigation system 1-12 and are controlled, the intensity of the magnetic field is changed by adjusting the current flowing through the electromagnetic coils 1-11-4, so that the curing degree of the magnetorheological fluid is changed, the vibration reduction effect is achieved, in addition, other natural factors easily affect the position and the posture of the swing scanning type aerial photography photoelectric stabilizing device in the flying process, the outer frame system 2 is used for compensating the posture, the inner frame system 3 is used for swinging and sweeping imaging, most swinging and sweeping imaging devices use the frame to perform swinging and sweeping, the weight is large, only small-angle side swinging and pitching can be performed, the imaging sensitivity of a camera is reduced, the maneuvering imaging process of the camera is difficult to control, the stability is poor, and the precision is low.
Claims (5)
1. The utility model provides a formula of sweeping photoelectricity stabilising arrangement that takes photo by plane which characterized in that: the vibration damping device comprises an external vibration damping mechanism, an outer frame system and an inner frame system, wherein the external vibration damping mechanism is connected with a carrier through a bolt, the outer frame system is connected with the external vibration damping mechanism through an external azimuth shaft, and the inner frame system is connected with the outer frame system through a screw;
the external vibration damping mechanism comprises a connecting plate, a spherical hinge, a first vibration damping frame, a second vibration damping frame, a first pin shaft, a first universal hinge, a second universal hinge, a central shaft, a third universal hinge, a base, an electromagnetic vibration damping device, a second pin shaft, a third pin shaft and an inertial navigation system, wherein the connecting plate is connected with an camera through screws, the first vibration damping frame is connected with the connecting plate through the spherical hinge, the spherical hinge is fixed on the connecting plate through screws, the second vibration damping frame is connected with the first vibration damping frame through the first pin shaft, the base is connected with the second vibration damping frame through the first universal hinge, the upper end of the central shaft is connected with the connecting plate through the second universal hinge, the lower end of the central shaft is connected with the base through the third universal hinge, the first universal hinge is fixedly connected with the base through welding, the second universal hinge is fixedly connected with the connecting plate through welding, and the third universal hinge is fixedly, the upper end of the electromagnetic vibration damper is connected with the vibration damping frame through a pin shaft II, the lower end of the electromagnetic vibration damper is connected with the vibration damping frame II through a pin shaft III, and the inertial navigation system is fixed on the base through a screw;
outer frame system include outer orientation frame, outer every single move frame, outer roll frame, outer orientation axle, outer every single move axle, outer roll shaft, outer every single move bearing, outer roll bearing, servo motor one and servo motor two, outer orientation frame be connected with outside damping mechanism through outer orientation axle, outer every single move frame be connected with outer orientation frame through outer every single move axle, and the outer every single move bearing of junction installation, outer roll frame be connected with outer every single move frame through outer roll shaft, and the outer roll bearing of junction installation, outer every single move axle with servo motor one directly link and connect, outer roll shaft with servo motor two directly link and connect, servo motor one through screw and outer orientation frame fastening connection, servo motor two through screw and outer every single move frame fastening connection.
2. The pendulum-scan aerial photo photostabilizer of claim 1, wherein: the electromagnetic vibration damper comprises a first rotating block, a piston, a laser ranging sensor, a baffle, an electromagnetic coil, a working cavity, a second rotating block and a reset spring, wherein the piston is fixedly connected with the first rotating block in a welding mode and is arranged in the working cavity, four pores are uniformly distributed on the piston, the laser ranging sensor is fixed at the upper end of the piston rod through screws, the baffle is fixed inside the working cavity in a welding mode, the electromagnetic coil is arranged inside the piston, the working cavity is fixedly connected with the second rotating block in a welding mode, and the upper end and the lower end of the reset spring are fixed between the first rotating block and the second rotating block respectively in a welding mode.
3. The pendulum-scan aerial photo photostabilizer of claim 1, wherein: the outer square frame include loading board, slewing bearing gear, servo motor three, drive gear, motor groove and lightweight groove, the loading board pass through welded fastening in outer azimuth epaxial, slewing bearing gear's outer loop pass through screw and loading board fixed connection, its inner ring passes through screw and outer square frame fixed connection, servo motor three pass through the screw and be fixed in the motor groove, drive gear be fixed in servo motor three through the key-type connection, and drive gear and slewing bearing gear meshing.
4. The pendulum-scan aerial photo photostabilizer of claim 1, wherein: the outer rolling frame comprises a heat-insulating interlayer and an electromagnetic shielding film, wherein a phase-change material is placed in the heat-insulating interlayer, and the electromagnetic shielding film is coated inside the outer rolling frame.
5. The pendulum-scan aerial photo photostabilizer of claim 1, wherein: the inner frame system include inner frame, servo motor four, interior roll axis bearing, speculum groove, speculum, camera groove, CCD camera, bear frame and planar lens, the inner frame pass through the screw with outer roll frame attach, servo motor four-way cross screw and internal frame attach, and directly link with interior roll axis, interior roll axis pass through welding and speculum groove connection, the speculum fix in the speculum groove through the gluing, the camera groove pass through screw and inner frame fixed connection, the CCD camera pass through the fix with screw in the camera groove, bear the frame on the frame through the fix with screw, planar lens be fixed in and bear on the frame through the gluing.
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| CN115325404B (en) * | 2022-08-19 | 2023-06-02 | 上海航遥信息技术有限公司 | Auxiliary lifting device of swing-scanning aerial camera of aerial camera system |
| CN115639713A (en) * | 2022-12-23 | 2023-01-24 | 中国科学院长春光学精密机械与物理研究所 | Frame structure for installing aerial camera and image shooting system |
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