CN112051656A - Bidirectional stable reflector device for image acquisition - Google Patents
Bidirectional stable reflector device for image acquisition Download PDFInfo
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- CN112051656A CN112051656A CN202011069411.8A CN202011069411A CN112051656A CN 112051656 A CN112051656 A CN 112051656A CN 202011069411 A CN202011069411 A CN 202011069411A CN 112051656 A CN112051656 A CN 112051656A
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- reflector
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
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- Optics & Photonics (AREA)
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Abstract
The invention discloses a bidirectional stable reflector device for image acquisition, which comprises a pitching frame nested on a rolling frame through a bearing, wherein a gyro component and a reflector are respectively arranged on two parallel gyro shafts and reflector shafts of the pitching frame; the gyroscope component comprises a double-shaft gyroscope arranged in a suspension frame on a gyroscope shaft, and the mirror surface of the reflector faces to a detector for collecting images; the gyro shaft and the reflector shaft on one side of the pitching frame are connected through a rotating wheel and a steel belt transmission mechanism according to the transmission ratio of 1/2, and the gyro shaft is connected with an output shaft of the pitching motor through a transmission belt; the other side of the pitching frame is also provided with an angle measurement sensor connected with the double-shaft gyroscope; the roll frame is provided with a roll motor which can drive the pitching frame to rotate and an orientation sensor connected with the double-shaft gyroscope. The reflector of the invention can relatively perform two-dimensional motions of rolling and pitching, and the stabilization of the visual axis of the flight detector is skillfully realized.
Description
Technical Field
The invention belongs to the technical field of flight detection, and relates to a bidirectional stable reflector device for image acquisition.
Background
In recent years, with the vigorous development of flight technologies including unmanned aerial vehicles, the importance of the unmanned aerial vehicles is increasingly prominent in the national economic field and the national defense and military; among them, flight photography or aerial photography is one of the important applications. Objects of different temperatures have distinct characteristics in the infrared band, with lower temperatures being darker in color. The infrared optical system detects the self radiation of the target, and compared with a visible light optical system, the infrared optical system has the advantages of all-weather observation, no environmental influence and strong penetrating power. For example, the environment monitoring is carried out by adopting the unmanned aerial vehicle infrared and visible light synchronous remote sensing technology, and the drainage blind hole hidden in the grass on both banks of the river can be effectively checked.
However, there is a problem that rolling with the flight shake may form an S-shaped arrangement of pictures when shooting continuously in flight, and thus stabilization of the shooting visual axis is required. The three-dimensional frame is used for stabilizing, is a scheme adopted by many products, is very complex in three-dimensional stability, is suitable for large-scale high-value equipment such as a platform type inertial navigation system and the like, and is difficult to bear by a common camera shooting or photographing stabilizing system.
Disclosure of Invention
The invention aims to provide a bidirectional stable reflector device for image acquisition, which can perform roll/pitch two-dimensional rotation relative to an aircraft, can isolate vibration and keep the visual axis of a detector stable.
The invention is realized by the following technical scheme:
a bidirectional stable reflector device for image acquisition comprises a pitching frame which is nested on a rolling frame through a bearing, and a gyro component and a reflector are respectively arranged on two parallel gyro shafts and reflector shafts of the pitching frame; the gyroscope component comprises a double-shaft gyroscope arranged in a suspension frame on a gyroscope shaft, and the mirror surface of the reflector faces to a detector for collecting images;
the gyro shaft and the reflector shaft on one side of the pitching frame are connected through a rotating wheel and a steel belt transmission mechanism according to the transmission ratio of 1/2, and the gyro shaft is connected with an output shaft of the pitching motor through a transmission belt; the other side of the pitching frame is also provided with an angle measurement sensor connected with the double-shaft gyroscope;
the roll frame is provided with a roll motor which can drive the pitching frame to rotate and an orientation sensor connected with the double-shaft gyroscope;
the angle measuring sensor and the azimuth sensor are respectively connected with the signal input end of the reflector control unit, and the signal output end of the reflector control unit is connected with the pitching motor and the rolling motor through the PWM driving module.
The suspension frame is positioned in the center of the pitching frame, the gyro assembly detects the angular velocity generated by the suspension frame when the attitude of the carrier changes, and the angle measuring sensor and the azimuth sensor respectively send detected pitching position signals and azimuth position signals to the reflector control unit; the reflector control unit generates a driving instruction for keeping the visual axis of the reflector stable, and sends the driving instruction to the pitching motor and the rolling motor through the PWM driving module.
When the carrier pitching direction changes, the angle measuring sensor outputs a pitching signal corresponding to the change of the angle to the reflector control unit, the reflector control unit sends a driving instruction to the driving motor, so that the gyroscope shaft rotates reversely relative to the carrier by the same angle, and the gyroscope component does not change relative to the inertial space;
when the carrier transverse rolling direction is changed in angle, the orientation sensor outputs an orientation signal corresponding to the change in angle to the reflector control unit, and the reflector control unit sends a driving instruction to the driving motor, so that the gyroscope shaft rotates reversely by the same angle relative to the carrier, and the gyroscope assembly is unchanged relative to the inertial space.
When the gyro set shaft rotates relative to the carrier, the steel belt transmission mechanism drives the reflector shaft to rotate by half an angle, so that the visual axis of the reflector keeps stable effect in the inertial space.
The pitching frame comprises a cross arm provided with a rotating shaft and tuning fork type longitudinal arms arranged at two sides of the cross arm, and a gyroscope shaft and a reflector shaft which are parallel are arranged between the tuning fork type longitudinal arms; wherein, a square suspension frame is arranged on the gyro shaft and used for installing the gyro component.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a bidirectional stable reflector device for image acquisition, which is characterized in that a reflector is erected on a pitching frame through a rotating shaft, the pitching frame is arranged on a rolling frame through the rotating shaft, so that the reflector can perform rolling/pitching two-dimensional rotation relative to a carrier, the reflector can be decoupled from a flying carrier, and then the reflector is always kept at a reasonable inclination angle through the driving of a motor, so that an object or a scene is transmitted into a detector through a reflecting light path, an input light beam and an image surface light beam are kept relatively stable, the limitation of the carrier on the aspects of space and inertia is well overcome, and the visual axis of the detector is kept stable;
the two-way stable reflector device for image acquisition provided by the invention has the advantages that the reflector can relatively perform two-dimensional motions of rolling and pitching, the pitching range is-5 degrees to +5 degrees, and the rolling range is-40 degrees to +40 degrees; when the aircraft rolls across, the reflector rotates reversely around the mirror axis, and when the rolling range is less than minus 30 degrees to plus 30 degrees, the visible light imaging and thermal image light path is hardly influenced; when the left roll is 40 degrees, the incident energy of the thermal image light path is reduced by 5 percent, and the visible light is not influenced; when the roller is rolled at 40 degrees on the right side, the incident energy of a thermal image light path is reduced by 5 percent, and the incident energy of a visible light path is reduced by 25 percent; the visual axis stability of the flight detector is ingeniously realized.
Drawings
FIG. 1 is a schematic optical path (boresight) diagram of a mirror and detector of the present invention;
FIG. 2 is a schematic diagram of a frame structure for fixing the reflector;
FIG. 3 is a schematic structural diagram of a mirror and a mirror driving mechanism;
FIG. 4 is a second schematic view of the structure of the reflector and the reflector driving mechanism;
FIG. 5 is a third schematic view of the reflector and the driving mechanism of the reflector;
FIG. 6 is a fourth schematic view of the structure of the reflector and the reflector driving mechanism;
FIG. 7 is a schematic diagram of a control signal flow for the mirror drive mechanism;
the device comprises a pitching frame 1, a rolling frame 2, a reflector 3, a steel belt transmission mechanism 4, an angle measuring sensor 5, a gyro assembly 6, a pitching motor 7, an orientation sensor 8 and a rolling motor 9.
Detailed Description
The present invention will now be described in further detail with reference to the following examples, which are intended to be illustrative, but not limiting, of the invention.
Referring to fig. 1 to 6, a bidirectional stable reflector device for image acquisition includes a pitching frame 1 nested on a roll frame 2 through a bearing, a gyro assembly 6 and a reflector 3 respectively disposed on two parallel gyro shafts and reflector shafts of the pitching frame 1; the gyroscope component 6 comprises a double-shaft gyroscope arranged in a suspension frame on a gyroscope shaft, and the mirror surface of the reflector 3 faces to a detector for collecting images;
the gyro shaft and the reflector shaft on one side of the pitching frame 1 are also connected with a transmission ratio of 1/2 through a rotating wheel and a steel belt transmission mechanism 4, and the gyro shaft is also connected with an output shaft of a pitching motor 7 through a transmission belt; the other side of the pitching frame 1 is also provided with an angle measuring sensor 5 connected with the double-shaft gyroscope;
the roll frame 2 is provided with a roll motor 9 which can drive the pitching frame 1 to rotate and an orientation sensor 8 connected with the double-shaft gyroscope;
the angle measuring sensor 5 and the azimuth sensor 8 are respectively connected with the signal input end of the reflector control unit, and the signal output end of the reflector control unit is connected with the pitching motor 7 and the rolling motor 9 through the PWM driving module.
The suspension frame is positioned in the center of the pitching frame 1, the gyro assembly 6 detects the angular velocity generated by the suspension frame when the attitude of the carrier changes, and the angle measuring sensor 5 and the azimuth sensor 8 respectively send the detected pitching position signal and azimuth position signal to the reflector control unit; the reflector control unit generates a driving instruction for keeping the visual axis of the reflector stable, and sends the driving instruction to the pitching motor 7 and the rolling motor 9 through the PWM driving module.
Specifically, when the carrier pitch direction changes, the angle measuring sensor 5 outputs a pitch signal corresponding to the change of the angle to the reflector control unit, the reflector control unit sends a driving instruction to the driving motor, so that the gyroscope shaft rotates in the opposite direction relative to the carrier by the same angle, and the gyroscope assembly 6 is unchanged relative to the inertial space;
when the carrier rolling direction changes, the azimuth sensor 8 outputs an azimuth signal corresponding to the angle change to the reflector control unit, and the reflector control unit sends a driving instruction to the driving motor, so that the gyroscope shaft rotates reversely relative to the carrier by the same angle, and the gyroscope assembly 6 is unchanged relative to the inertial space.
When the gyro set shaft rotates relative to the carrier, the steel belt transmission mechanism 4 drives the reflector shaft to rotate by half an angle, so that the visual axis of the reflector 3 keeps stable effect in the inertial space.
Specifically, the pitching frame 1 comprises a cross arm provided with a rotating shaft and tuning fork type longitudinal arms arranged at two sides of the cross arm, and a gyroscope shaft and a reflector shaft which are parallel are arranged between the tuning fork type longitudinal arms; wherein, a square suspension frame is arranged on the gyro shaft and used for installing the gyro component.
According to the attitude change condition of the flying carrier, the mirror shaft is controlled to carry out two-dimensional reverse rotation of roll/pitch relative to the carrier, so that the visual axis of a detector for collecting images can be decoupled from the flying carrier, and the mirror in the light path is kept stable (the mirror keeps an inclination angle of 45 degrees, and the visual axis of an object or a scene is always vertically downward), so that the input light beam and the image plane light beam are kept relatively stable, and the limit of the carrier on the aspects of space and inertia is better overcome; the vibration can be isolated, the stability of the visual axis (vertical downward) is kept, and the shaking is avoided, so that the shot series of pictures are arranged linearly instead of S-shaped arrangement.
The reflector can relatively perform two-dimensional motions of rolling and pitching, wherein the pitching range is-5 degrees to +5 degrees, and the rolling range is-40 degrees to +40 degrees:
when the aircraft rolls across, the reflector rotates reversely around the mirror axis, and when the rolling range is less than minus 30 degrees to plus 30 degrees, the visible light imaging and thermal image light path is hardly influenced;
when the left roll is 40 degrees, the incident energy of the thermal image light path is reduced by 5 percent, and the visible light is not influenced;
when the roller is rolled at 40 degrees on the right side, the incident energy of a thermal image light path is reduced by 5 percent, and the incident energy of a visible light path is reduced by 25 percent;
the invention adopts a reflector mechanism to realize the inertial stability of the visual axis, occupies smaller space than the platform type stability, and the visible light/thermal image sensor for collecting images is fixed, and the reflector with the square of 60mm can rotate to realize the stability of the shooting axis in the inertial space.
The transverse arm bearing supports a cantilever type tuning fork to form a transverse rolling frame, a gyroscope shaft and a reflector shaft are fixed between the two tuning fork arms, and a square suspension frame is arranged on the gyroscope shaft and used for mounting a gyroscope.
The roll frame and the pitching frame can move in two dimensions relative to the carrier under the action of the motor, and can release the coupling of the carrier and move freely relative to the carrier.
Specifically, the gyroscope is arranged in the center of the pitching frame, when the posture of the carrier changes, the friction torque of a frame bearing drives the gyroscope frame to generate angular motion, the gyroscope detects the angular velocity, and a detection signal is sent by the angle measurement sensor 5; the reflector control unit sends a driving instruction to the driving motor, so that the gyroscope shaft rotates reversely by the same angle relative to the carrier, and the gyroscope component 6 is unchanged relative to the inertial space;
referring to fig. 4, the gyroscope and the reflector are mounted on two parallel shafts of the same frame, and the two are connected by a steel belt with 1/2 transmission ratio, namely, the gyroscope shaft rotates by one degree, and the reflector rotates by half.
When the pitching direction changes by an angle, the gyroscope immediately outputs a corresponding signal, and then the motor is driven to do reverse motion, so that the gyroscope reversely rotates by the same angle relative to the carrier, and as a result, the gyroscope component is unchanged relative to the inertia space.
When the gyro assembly rotates relative to the carrier, the 1/2 transmission mechanism drives the reflector to rotate by half an angle, according to the geometric optics principle of the reflector, incident light is fixed, the normal line of the reflector rotates by half, emergent light rotates by one degree, and the stability of the visual axis in the inertial space is ensured.
The rolling direction reflecting mirror rotates once, and the visual axis also rotates once, so the rolling direction gyro and the reflecting mirror are directly and fixedly connected, and when the gyro component is stable in the inertial space, the visual axis is also stable.
Referring to fig. 7, the mirror control unit collects the signal of the gyro/sensor, and the driving instruction outputs a PWM square wave through the H-type amplifier module after analog-to-digital conversion and PID correction; the motor is controlled to run and stop by applying PWM square waves in the positive direction and the negative direction to the motor according to the change of the duty ratio, and the motor has enough disturbance resistance and enough rigidity at any stop position.
The electrical connections are as follows:
the reflector control unit (DSP module) is connected with the gyroscope through a serial port bus, and the serial port communication of the DSP and the gyroscope adopts a master-slave mode. And when the DSP is communicated with the gyroscope, the other group of serial ports is utilized to communicate with the flying station, and a control instruction and a servo control instruction of the system are received. And the DSP performs servo control according to the received control instruction and the gyro signal.
The PWM waveform output by the reflector control unit is converted into a PWM waveform of TTL level after passing through a buffer chip, and then the waveform is directly input into a power driving module and is amplified to drive a direct current torque motor. The power driving module is directly driven by the PWM waveform of TTL level, so that the interference of the power circuit to the digital circuit is prevented.
Through a general digital IO port of the DSP, the DSP module receives a power-on signal of a servo system, an upper limit signal and a lower limit signal of a pitch axis and the like, and outputs a system self-checking signal, a serial port communication state signal and the like.
The embodiments given above are preferable examples for implementing the present invention, and the present invention is not limited to the above-described embodiments. Any non-essential addition and replacement made by the technical characteristics of the technical scheme of the invention by a person skilled in the art belong to the protection scope of the invention.
Claims (5)
1. A bidirectional stable reflector device for image acquisition is characterized by comprising a pitching frame (1) which is nested on a rolling frame (2) through a bearing, wherein a gyro component (6) and a reflector (3) are respectively arranged on two parallel gyro shafts and reflector shafts of the pitching frame (1); the gyroscope component (6) comprises a double-shaft gyroscope arranged in a suspension frame on a gyroscope shaft, and the mirror surface of the reflector (3) faces to a detector for collecting images;
the gyro shaft and the reflector shaft on one side of the pitching frame (1) are also connected through a rotating wheel and a steel belt transmission mechanism (4) according to the transmission ratio of 1/2, and the gyro shaft is also connected with an output shaft of a pitching motor (7) through a transmission belt; the other side of the pitching frame (1) is also provided with an angle measurement sensor (5) connected with the double-shaft gyroscope;
the roll frame (2) is provided with a roll motor (9) which can drive the pitching frame (1) to rotate and an orientation sensor (8) connected with the double-shaft gyroscope;
the angle measuring sensor (5) and the azimuth sensor (8) are respectively connected with the signal input end of the reflector control unit, and the signal output end of the reflector control unit is connected with the pitching motor (7) and the rolling motor (9) through the PWM driving module.
2. The bi-directionally stabilized mirror device for image capture as claimed in claim 1, wherein said suspension frame is located at the center of said pitch frame (1), said gyro assembly (6) will detect the angular velocity generated by said suspension frame when the attitude of the carrier changes, said angle sensor (5) and said orientation sensor (8) will send the detected pitch position signal and orientation position signal to the mirror control unit respectively; the reflector control unit generates a driving instruction for keeping the visual axis of the reflector stable, and sends the driving instruction to the pitching motor (7) and the rolling motor (9) through the PWM driving module.
3. The mirror apparatus for image acquisition as claimed in claim 2, wherein when the carrier pitch direction changes angularly, the angle sensor (5) outputs a pitch signal corresponding to the angular change to the mirror control unit, the mirror control unit sends a driving command to the driving motor to rotate the gyro shaft in the opposite direction by the same angle with respect to the carrier, and the gyro assembly (6) is unchanged with respect to the inertial space;
when the carrier transverse rolling direction is changed in angle, the azimuth sensor (8) outputs an azimuth signal corresponding to the change in angle to the reflector control unit, the reflector control unit sends a driving instruction to the driving motor, so that the gyroscope shaft rotates in the opposite direction relative to the carrier by the same angle, and the gyroscope assembly (6) is unchanged relative to the inertial space.
4. A mirror device for image acquisition bi-directionally stabilized as claimed in claim 3, wherein when the gyro shaft rotates relative to the carrier, the steel belt transmission mechanism (4) drives the mirror shaft to rotate half of the angle, so that the apparent axis of the mirror (3) maintains a stable effect in the inertial space.
5. The mirror device for image acquisition with bilateral stabilization according to claim 1, characterized in that the tilting frame (1) comprises a cross arm with a rotation axis and tuning fork type longitudinal arms arranged on both sides of the cross arm, between which parallel gyro axis and mirror axis are arranged; wherein, a square suspension frame is arranged on the gyro shaft and used for installing the gyro component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011069411.8A CN112051656A (en) | 2020-09-30 | 2020-09-30 | Bidirectional stable reflector device for image acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011069411.8A CN112051656A (en) | 2020-09-30 | 2020-09-30 | Bidirectional stable reflector device for image acquisition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112051656A true CN112051656A (en) | 2020-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011069411.8A Pending CN112051656A (en) | 2020-09-30 | 2020-09-30 | Bidirectional stable reflector device for image acquisition |
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| Country | Link |
|---|---|
| CN (1) | CN112051656A (en) |
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2020
- 2020-09-30 CN CN202011069411.8A patent/CN112051656A/en active Pending
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