CN112882498A - Three-axis photoelectric search tracking device and method with image rotation inhibiting function - Google Patents
Three-axis photoelectric search tracking device and method with image rotation inhibiting function Download PDFInfo
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Abstract
The invention discloses a three-axis photoelectric searching and tracking device with an image rotation inhibiting function and a method thereof, the device comprises a photoelectric sensor module, a rotating platform, a gyro component and a motion control module, wherein the photoelectric sensor module is arranged on a mobile carrier through the rotating platform to detect target image information, the motion control module controls the rotating platform to move on a detection axis system, the disturbance of the mobile carrier is measured through the gyro component, the motion control module comprises a pitching component for controlling the motion on the pitching axis system, an orientation component for controlling the motion on the orientation axis system and a rolling component for controlling the motion on the rolling axis system, and the gyro component is a three-axis gyro component for measuring the disturbance of the mobile carrier on the orientation, the pitching and the rolling axis systems. The invention has the advantages of simple structure, low cost, high reliability and the like, and can inhibit the image rotation.
Description
Technical Field
The invention relates to the technical field of photoelectric reconnaissance equipment, in particular to a triaxial photoelectric search tracking device and method with an image rotation inhibiting function.
Background
Photoelectric reconnaissance equipment such as an infrared search tracking device and the like can quickly search various aerial targets such as birds, airplanes, unmanned planes, helicopters, missiles and the like in an airspace range, and track the targets after the targets are searched, so that the aerial target condition in the area is mastered. Most photoelectric reconnaissance equipment in the prior art adopts passive defense reconnaissance to protect key areas, and the reconnaissance equipment is mounted in a protection area range and cannot move, so that the photoelectric reconnaissance equipment has great limitation, for example, vehicle-mounted photoelectric reconnaissance equipment can only be used for reconnaissance, and cannot accurately track a target and report a target coordinate.
For example, when an infrared search tracking device and the like are used for searching, a direction and pitching two-axis motion mode is usually adopted, a two-axis gyroscope is used for measuring the disturbance caused by the direction and pitching oscillation of a system moving carrier (such as a vehicle, a ship and an airplane), namely, the two-axis gyroscope is used for respectively measuring the disturbance caused by the direction and pitching oscillation of the moving carrier, so that the direction, pitching oscillation and rolling oscillation of the system moving carrier can be eliminated through the direction motion, pitching motion and miss-target amount of a target, but the disturbance caused by the rolling axis oscillation of the moving carrier can not be measured, the rolling disturbance of the moving carrier can not be obtained, the disturbance of the rolling axis can not be eliminated, or the elimination of the rolling oscillation is very limited, and the disturbance in the rolling direction can not be directly eliminated, so that a target image obtained during searching can rotate, and the target detection precision is low, meanwhile, due to the fact that the picture rotates, errors are prone to occurring when the target is identified and confirmed.
For the elimination of the roll disturbance of the moving carrier, the roll disturbance of the moving carrier is usually measured by an inertial system of the moving carrier at present, and then the picture is partially eliminated by a software rotation mode, but the roll disturbance of the moving carrier needs to be solved to a detection axis system because the roll disturbance of the moving carrier is not directly measured, so that the problem that the roll disturbance of the moving carrier is decoupled to the detection axis system exists, and the elimination method has larger delay, so that the image rotates to a larger extent, the panorama is discontinuous, and the target detection accuracy is further reduced sharply, so that the method is only suitable for systems with low time delay requirements, such as a low-speed search system with the search speed lower than 100 DEG/S, and cannot be used for systems with higher search speed.
According to the mobile search and tracking, a triaxial stabilizing table is added at the bottom of photoelectric equipment and the installation position of a vehicle, the mounting posture of the photoelectric equipment on the vehicle is corrected by the stabilizing table, the dynamic vehicle body posture is acquired by the stabilizing table through the installation inertial navigation, and the photoelectric posture is adjusted in real time to be kept at a horizontal position all the time. However, since the whole photoelectric device is heavy, the three-axis stabilized platform needs to overcome a large inertia to correct the posture, and a large dead zone exists in control, so that a delay phenomenon of unpredictable time exists in the correction effect, and the influence of vehicle shaking on the photoelectricity cannot be eliminated in time; and the realization cost can be greatly improved according to the stabilized platform, the complexity of the system can be greatly increased, a plurality of unreliable factors can be increased, and the reliability of the system is reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a triaxial photoelectric search tracking device and method with the function of inhibiting image rotation, which are simple in structure, low in cost and high in reliability.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides a triaxial photoelectric search tracking means with restrain image rotation function, includes photoelectric sensor module, revolving stage, gyro component and motion control module, the photoelectric sensor module passes through the revolving stage is carried on removing the carrier in order to survey target image information, motion control module control the revolving stage is in the motion of detection shafting, through gyro component measures the disturbance of removing the carrier, motion control module is including being used for controlling at the every single move subassembly of every single move shafting motion, being used for controlling at the orientation subassembly of orientation shafting motion and being used for controlling at the roll subassembly of roll shafting motion, gyro component is triaxial gyro component to be used for measuring the disturbance of removing the carrier on position, every single move, roll.
Further, the pitching assembly comprises a pitching motor and a pitching position sensor, the orientation assembly comprises an orientation motor and an orientation position sensor, and the rolling assembly comprises a rolling motor and a rolling position sensor.
Further, the photoelectric sensor module comprises a thermal infrared imager 11, a laser range finder 12 and one or more combinations of an infrared detector and an image sensor.
Furthermore, a posture correction shaft capable of moving in a rolling shaft system is further arranged at the position where the rotating table is installed in the moving carrier, so that the installation posture of the rotating table on the moving carrier is corrected.
The main control module is used for coupling and resolving the disturbance of the mobile carrier on the azimuth, pitch and roll axes measured by the three-axis gyro assembly, calculating the disturbance of the azimuth, pitch and roll on the detection axes, and correspondingly outputting the disturbance to the pitch assembly, the azimuth assembly and the roll assembly for control.
And the comprehensive display control system is connected with the main control module and is used for receiving target detection information, processing data, displaying detection results and sending control commands to the main control module.
A method for searching a tracking device by utilizing the three-axis photoelectric device comprises the following steps:
s1, measuring attitude disturbance of a mobile carrier on azimuth, pitch and roll axis systems through the three-axis gyroscope assembly;
s2, performing decoupling calculation according to the attitude disturbance measured in the step S1 to obtain the required adjustment quantity of the rotating table on the azimuth, pitch and roll axis systems;
and S3, correspondingly driving the pitching assembly, the azimuth assembly and the rolling assembly to move according to the adjustment amount calculated in the step S2.
Further, the step of step S2 includes:
s21, when the movable carrier moves, the movement of the movable carrier is coupled to a table body of the rotating table through installation of the movable carrier and geometric constraint and friction constraint of a shaft system;
s22, obtaining angular velocities obtained by coupling the triaxial gyro assembly arranged in a shaft system to a detection shaft system for measurement, wherein the angular velocities of the azimuth, pitch and roll shaft systems are omega fx, omega fy and omega fz respectively;
s23, carrying out decoupling calculation on the angular speed obtained in the step S22 to obtain control angular speeds of an azimuth motor, a pitch motor and a roll motor which are respectively omega fx sec theta f, omega fy and omega fz, wherein the theta f is a rotation angle of a coordinate system around a OXa axis in a pitch axis OXfYfZf;
and S24, respectively calculating the control quantities of the azimuth motor, the pitch motor and the roll motor according to the decoupling calculation result of the step S23, and controlling the motors according to the calculated control quantities to eliminate the disturbance of the mobile carrier on the azimuth, pitch and roll axes.
Further, the method also comprises a target searching and tracking control method, and the steps comprise: and when the target is detected, whether the target moves is judged by comparing front and rear frame images at the same angle position so as to realize the detection of the moving target.
Further, the method also comprises four-axis image stabilization control steps, wherein the four-axis image stabilization control steps comprise: the method comprises the steps of obtaining the rolling posture of a mobile carrier and measuring the posture of a rotating platform through a three-axis gyro assembly, and correcting the installation posture of the rotating platform in real time through a closed-loop control posture correction shaft, so that the visual axis of the rotating platform is always kept at a horizontal position to form four-axis image stabilization.
Compared with the prior art, the invention has the advantages that:
1. the invention adopts a three-axis structure of azimuth, pitch and roll, can simultaneously realize three-axis motions of azimuth, pitch and roll, directly measures the disturbance of azimuth, pitch and roll of the mobile carrier by a three-axis gyroscope component, and not only can eliminate the disturbance of the mobile carrier on the azimuth and pitch axes, but also can eliminate the disturbance on the roll axis after decoupling calculation, thereby inhibiting image rotation, further improving target detection precision, and solving the problems of large image rotation delay, unsatisfactory elimination effect, poor tracking precision and the like in the traditional elimination of the image rotation through software.
2. The photoelectric sensor module can perform three-axis movement of rolling besides horizontal pitching movement, so that the pitching and rolling movement of the mobile carrier during driving can be effectively compensated.
3. The invention further arranges a posture correction shaft capable of rolling transversely on the movable carrier to form a four-shaft frame together with the three-shaft frame, thereby not only eliminating the disturbance of the orientation, pitching and rolling of the movable carrier, but also correcting the installation posture of the rotating platform on the movable carrier, eliminating the inclined posture of the movable carrier, improving the precision of the rotating platform influenced by the posture of the movable carrier during installation, and further improving the detection precision of the target.
Drawings
Fig. 1 is a schematic structural principle diagram of a three-axis photoelectric search tracking device according to this embodiment.
Fig. 2 is a schematic structural principle diagram of a three-axis photoelectric search tracking device in an embodiment of the present invention.
Fig. 3 is a schematic diagram of the roll stability control loop cancellation principle in the present embodiment.
Fig. 4 is a schematic diagram of a coordinate system architecture for implementing stable control in the present embodiment.
Fig. 5 is a schematic flow chart of the implementation of the target search in the present embodiment.
Fig. 6 is a control flow diagram of the object search in the present embodiment.
Fig. 7 is a schematic flow chart of the target tracking control in the present embodiment.
Fig. 8 is a schematic diagram of a four-axis image stabilization control flow in the present embodiment.
Illustration of the drawings: 1. a photosensor module; 2. a triaxial gyro assembly; 3. a motion control module; 31. a pitch assembly; 311. a pitch motor; 312. a pitch position sensor; 32. an orientation component; 321. an azimuth motor; 322. an azimuth position sensor; 33. a roll assembly; 331. a roll motor; 332. a roll position sensor.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the three-axis photoelectric search and tracking apparatus with the image rotation suppression function of the present embodiment includes a photoelectric sensor module 1, a rotating platform, a gyro component and a motion control module 3, the photoelectric sensor module 1 is mounted on a mobile carrier through the rotating platform to detect target image information, the motion control module 3 controls the rotating platform to move on a detection axis, and the disturbance of the mobile carrier is measured through the gyro component, the motion control module 3 includes a pitch component 31 for controlling the motion on the pitch axis, an orientation component 32 for controlling the motion on the orientation axis and a roll component 33 for controlling the motion on the roll axis, and the gyro component is a three-axis gyro component 2 for measuring the disturbance of the mobile carrier on the orientation, pitch and roll axes.
This embodiment adopts the position, the every single move, three frame construction of roll triaxial, through setting up every single move subassembly 31 simultaneously, position subassembly 32 and roll subassembly 33, make the photoelectric sensor module 1 can realize the position, the every single move, roll triaxial motion, by the disturbance of triaxial gyro assembly 2 direct measurement mobile carrier position, the every single move, roll, not only can eliminate the disturbance of mobile carrier in the position after the decoupling computation, on the every single move shafting, can also eliminate the disturbance on the roll shafting, thereby can restrain the image rotation, and then improve the target detection precision, solve the tradition and eliminate the image rotation delay through software and be big, eliminate the unsatisfactory and tracking precision subalternation problem of effect.
In this embodiment, a roll shaft is specifically disposed at the rear side of the pitch shaft, so that the pitching photosensor module 1 can perform a roll three-axis motion in addition to a horizontal pitch motion, thereby effectively compensating for the pitching and roll motions of the mobile carrier during traveling.
In this embodiment, the pitch component 31 specifically includes a pitch motor 311, a pitch position sensor 312 to implement pitch motion, and a pitch driver for driving; the azimuth assembly 32 includes an azimuth motor 321, an azimuth position sensor 322 to implement azimuth movement, an azimuth driver for driving, and the like; the roll assembly 33 includes a roll motor 331, a roll position sensor 332 to implement roll motion, and specifically the roll motor 331 is disposed behind the pitch axis to adjust the tilt angle of the electro-optical search and tracking device.
The triaxial gyro assembly 2 may specifically employ a triaxial gyro, or use a combination of a two-axis gyro and a single-axis gyro, or directly use three single-axis gyros for measurement. The gyroscope can specifically adopt sensing elements for measuring an inertial coordinate system such as a fiber-optic gyroscope, a micro-mechanical gyroscope, a mems gyroscope, an inertial navigation combination, a laser gyroscope and the like. The gyroscope or the inertia measuring device can be arranged in a detection shaft system, can also be arranged in a certain shaft system, or can be directly arranged on a movable carrier.
In this embodiment, the photoelectric sensor module 1 includes a thermal infrared imager and a laser range finder, and may also adopt an infrared detector, an image sensor, or other visible light photoelectric sensors to be suitable for search and tracking devices of other visible light, ultraviolet, near infrared, and the like, and may be specifically configured according to actual requirements.
In this embodiment, a posture correction shaft capable of moving in a traverse axis system is further disposed at a position where the rotating table is mounted in the moving carrier, so as to correct a mounting posture of the rotating table on the moving carrier. When the photoelectric searching and tracking device works, a detected target is in a space coordinate system, and the coordinate position of the target in the space is calculated through the detected target distance and the photoelectric visual axis angle, wherein the visual axis angle is very easily influenced by the installation precision, so the installation precision of the photoelectric searching and tracking device on the mobile carrier directly influences the target detection precision. In the embodiment, the posture correcting shaft capable of rolling transversely is arranged on the movable carrier, and the movable carrier and the three-shaft frame jointly form the four-shaft frame, so that the disturbance of the orientation, pitching and rolling of the movable carrier can be eliminated, the installation posture of the rotating platform on the movable carrier can be corrected, the inclined posture of the movable carrier is eliminated, the precision of the rotating platform affected by the posture of the movable carrier during installation is improved, and the detection precision of the target is further improved.
In this embodiment, the device further includes a main control module connected to the three-axis gyro assembly 2 and the motion control module 3, and the main control module performs coupling calculation (decoupling calculation) according to the disturbance of the mobile carrier on the azimuth, pitch, and roll axes measured by the three-axis gyro assembly 2, calculates the disturbance of the azimuth, pitch, and roll on the detection axes, and outputs the calculated disturbance to the pitch assembly 31, the azimuth assembly 32, and the roll assembly 33 for control.
In a specific application embodiment, the disturbance of the orientation, the pitch and the roll of the mobile carrier measured by the three-axis gyro component 2 is subjected to coupling calculation, the disturbance amount of the disturbance of the mobile carrier in the pitch, the orientation and the roll of a detection shafting is calculated, and the system servo controller drives and controls the pitch motor 311, the orientation motor 321 and the roll motor 331 to move according to the calculated disturbance amount of the shafting, so that the decoupling calculation accurate control disturbance elimination amount can be utilized, and the disturbance of the pitch, the orientation and the roll of the mobile carrier is effectively eliminated.
In this embodiment, the system further includes a comprehensive display control system connected to the main control module, and configured to receive the target detection information, perform data processing, display a detection result, and send a control command to the main control module. In the embodiment of the application, a computer, a notebook, a tablet and the like can be adopted.
As shown in fig. 2, in the embodiment of the present invention, a turret structure is adopted, an infrared thermal imager 11, a laser range finder 12 and a three-axis gyro component 2 are arranged in the turret, the three-axis gyro component 2 adopts a three-axis fiber optic gyro, a pitching component 31, an azimuth component 32 and a rolling component 33 are arranged on the turret to form an azimuth, pitching and rolling three-frame structure, and a sensor such as a mounting position encoder is also arranged, an attitude correction shaft frame is arranged on a mounting base of the turret, and forms a four-axis platform with a photoelectric turret platform; the functions of panoramic search, sector search, single-target tracking, multi-target positioning information extraction of a search airspace, single-target tracking information processing and the like are completed through system servo control; the power box can convert 220V commercial power into 28V direct current power or utilize a self-configured storage battery to provide power for the system; the comprehensive display control system is used as an information processing and control center and comprises a control computer and control software, and is used for receiving digital video information, searching and tracking information and upper-level system directional positioning information, resolving and outputting target system positioning information, monitoring the working state of the whole system, outputting system state information, turret control commands and video images, and realizing various functions of the searching and tracking device.
In the specific application embodiment, the three-shaft transmission mechanisms all adopt alternating current servo motors, high-precision absolute encoders are used as speed and position detection devices of the system, and a controller and a motor driver are further installed on the side panel. SC optical fiber and electric hybrid slip ring are used for internal signal transmission to realize 360-degree rotation. The aerial plug is connected with the control computer through the aerial plug connected with the photoelectric slip ring, the aerial plug is connected with the electronic box and the control computer, and the electronic box is used for supplying power to the photoelectric searching and tracking device and collecting image information downloaded by the optical fiber to the image processing board. The control computer sends a control command to a control panel of the photoelectric searching and tracking platform, and the control panel mainly realizes task management and coordination and servo control, so that the system meets the performance index requirements of the servo turret.
The main control module is specifically used for receiving control commands for controlling a computer and realizing a servo control function according to different working modes, and comprises a servo controller and a servo driver, wherein the servo controller mainly realizes task management and coordination, servo control and a tracking algorithm, so that the system meets the performance index requirements of the servo turret; the servo driver receives the signals output by the servo controller to drive the pitch motor 311, the bit motor 321, and the roll motor 331.
The control computer body comprises a ruggedized computer, an image processing board, a communication interface, comprehensive display and control software and the like, and mainly realizes the functions of displaying target information and state information, managing and controlling a system, setting working parameters, switching working modes and the like, wherein the comprehensive display and control software is special search system information display and control software based on the ruggedized computer. The power module is composed of an AC/DC AC adapter or a lithium battery, can provide direct current 28V for supplying power to the system through the AC adapter under the condition of alternating current 220V power supply, and can supply power to the system through a 24V lithium battery in the field.
In this embodiment, the photoelectric search tracking apparatus can eliminate the roll disturbance of the mobile carrier, as shown in fig. 3, the step of eliminating the roll disturbance of the mobile carrier is as follows:
step 1, measuring attitude disturbance of a mobile carrier through a three-axis gyroscope;
and 4, driving a rolling motor to move, and eliminating the rolling disturbance of the moving carrier.
In this embodiment, the servo control loops of the azimuth, pitch, and roll are specifically configured, respectively, to implement closed-loop control of the azimuth, pitch, and roll. The method for searching the tracking device by using the three-axis photoelectric method in the embodiment specifically comprises the following steps:
s1, measuring attitude disturbance of a mobile carrier on azimuth, pitch and roll axis systems through a triaxial gyro assembly 2;
s2, performing decoupling calculation according to the attitude disturbance measured in the step S1 to obtain the required adjustment quantity of the rotating platform on the azimuth, pitch and roll axis systems;
and S3, correspondingly driving the pitching assembly 31, the azimuth assembly 32 and the rolling assembly 33 to move according to the adjustment amount calculated in the step S2.
In the carrier movement process, when the photoelectric searching and tracking device carries out target detection, the steps are continuously executed, and the disturbance elimination of the carrier direction, the pitching and the rolling can be realized in real time, so that the image rotation is inhibited, the panoramic jigsaw is continuous, and the target detection precision is ensured.
The system stability control architecture of the present embodiment is shown in fig. 4, where a is an orientation axis, a coordinate system is OXaYaZa, and a rotation angle of the coordinate system around OZb axis is θ a; f is a pitch axis system, a coordinate system is OXfYfZf, and a rotation angle of the F coordinate system around an OXa axis is theta F; r is a transverse rolling axis system, a coordinate system is OXRYRZr, and the rotating angle of the R coordinate system around an OYf axis is theta R.
The step S2 in this embodiment includes:
s21, when the movable carrier (the coordinate system of the movable carrier is a system B) moves, the movement of the movable carrier is coupled to the table body of the rotating table through the installation of the movable carrier and the geometric constraint and the friction constraint of the system;
s22, obtaining angular velocities obtained by coupling the triaxial gyro assembly 2 arranged in the shafting to a detection shafting for measurement, wherein the angular velocities of the azimuth, pitch and roll shafting are omega fx, omega fy and omega fz respectively;
s23, performing decoupling calculation on the angular speed obtained in the step S22 to obtain control angular speeds of the azimuth motor 321, the pitch motor 311 and the roll motor 331 which are respectively omega fx-sec theta f, omega fy and omega fz, wherein the theta f is a rotation angle of a coordinate system around a OXa axis in a pitch axis OXfYfZf;
and S24, respectively calculating the control quantities of the azimuth motor 321, the pitch motor 311 and the roll motor 331 according to the decoupling calculation result in the step S23, and controlling the motors according to the calculated control quantities to eliminate the disturbance of the mobile carrier on the azimuth, pitch and roll axes.
In step S24, a control algorithm is specifically designed by analyzing transfer functions of the azimuth, pitch, and roll control loops, and then control quantities of the motors are calculated according to the decoupling calculation result, so as to eliminate disturbances of the moving carrier in the azimuth, pitch, and roll, thereby eliminating the influence of image rotation.
In this embodiment, the method further includes a target search tracking control method, and the steps include: and (3) carrying out target detection tracking according to the image detected by the photoelectric sensor module 1, and judging whether the target moves or not by comparing the front frame image and the rear frame image at the same angle position when the target is detected so as to realize the detection of the moving target.
In a specific application embodiment, as shown in fig. 5 and 6, the photoelectric search tracking device rotates at a high speed (for example, 550 degrees/second) through the azimuth axis, the imaging detector arranged in the rotating platform acquires an all-directional 360-degree elevation 4-degree airspace image, and the elevation axis is adjusted for realizing a wider elevation airspace reconnaissance range in each search period. And target images acquired by infrared thermography in the high-speed searching process can enter a processing board for analysis, and suspected targets are displayed through a human-computer interaction interface of an operation control computer. The host computer can send the control instruction to the revolving stage to reach the visual effect of reconnaissance.
Because many hot targets are detected during panoramic search, for aerial targets, the interference of a cloud layer exists, the interference items are relatively static, the true target is an aircraft and belongs to a target moving at a high speed, and the moving target is a true valuable target. According to the moving target detection method, whether the target at the position is moved or not is obtained by detecting the comparison between the image at the current time and the image at the previous time at the same angle position, so that the high-efficiency detection of the moving target can be realized, and the searching efficiency and precision are greatly improved.
In the embodiment, when the target is detected, the optical compensation is further performed by matching with a swing mirror for searching the thermal image, so that the image rotating at a high speed can be corrected, and the finally acquired image is clear.
As shown in fig. 7, in this embodiment, after the selection of the target to be tracked is obtained by using the above-mentioned photoelectric search tracking apparatus, the image processing board is collected from the image by the infrared camera, the image processing board calculates the miss distance by calculating the position of the target in the image from the image center, and after the miss distance is transferred to the photoelectric search and tracking platform and converted into an angle, the photoelectric search and tracking platform controls the motor to control the position, and finally, the effect that the target is always at the image center is maintained, so that the target can be quickly locked and tracked, and the tracking function can be realized.
In this embodiment, the positioning function can also be realized by using the above-mentioned photoelectric search and tracking apparatus: in a tracking state, a motor (a roll motor) in the roll direction of a pitch axis can compensate the posture of the mobile carrier, the photoelectric searching and tracking device is kept in a horizontal state, the azimuth angle and the pitch angle of the photoelectric searching and tracking device can accurately correspond to the heading angle and the pitch angle in a coordinate system between the northeast and the north of the east, and the inclination angle is always zero. After the accurate distance of the target is obtained, the longitude and latitude of the target can be accurately calculated, and the obtained longitude and latitude of the target can be transmitted to a display and control terminal to display a final target positioning result so as to realize a positioning function.
As shown in fig. 8, this embodiment further includes four-axis image stabilization control steps, including: the rolling posture of the mobile carrier is obtained, the posture of the rotating platform is measured through the three-axis gyro assembly 2, and the installation posture of the rotating platform is corrected in real time through the posture correction shaft under closed-loop control, so that the visual shaft of the rotating platform is kept in a horizontal position all the time, and four-axis image stabilization control is formed. Specifically, the transverse rolling posture of the moving carrier can be sensed through the single-axis gyroscope, the installation surface posture of the photoelectric searching and tracking device is corrected in real time through a motor closed loop, the posture of the photoelectric searching and tracking device is collected through the three-axis gyroscope assembly 2, the visual axis of the photoelectric searching and tracking device is kept in a horizontal position all the time, and a four-axis image stabilizing mechanism is formed jointly.
The image stabilizing function can be configured to operate all the time during the use of the equipment, the moving carrier does not change when running, and the direction of the searching and tracking device in the inertial space does not change, so that the problems of high-speed searching and high-precision tracking of the moving carrier can be solved, the applicability is wider, and the device can adapt to more complicated terrains.
The mobile carrier can be a vehicle, an unmanned aerial vehicle and the like, and can be suitable for various mobile search tracking scenes such as the vehicle, the unmanned aerial vehicle and the like.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. The utility model provides a triaxial photoelectric search tracking means with restrain image rotation function, includes photoelectric sensor module (1), revolving stage, gyro component and motion control module (3), photoelectric sensor module (1) passes through the revolving stage is carried on moving the carrier in order to survey target image information, motion control module (3) control the revolving stage is at the detection shafting and is gone up the motion, through gyro component measures the disturbance that moves the carrier, its characterized in that: the motion control module (3) comprises a pitching assembly (31) used for controlling motion in a pitching axis system, an orientation assembly (32) used for controlling motion in an orientation axis system and a rolling assembly (33) used for controlling motion in a rolling axis system, and the gyro assembly is a three-axis gyro assembly (2) used for measuring disturbance of the mobile carrier on the orientation, pitching and rolling axis systems.
2. The three-axis photoelectric search tracking device with image rotation suppression function according to claim 1, characterized in that: the pitching assembly (31) comprises a pitching motor (311) and a pitching position sensor (312), the orientation assembly (32) comprises an orientation motor (321) and an orientation position sensor (322), and the rolling assembly (33) comprises a rolling motor (331) and a rolling position sensor (332).
3. The three-axis photoelectric search and tracking device with the image rotation inhibiting function according to claim 1, wherein the photoelectric sensor module (1) comprises a thermal infrared imager, a laser range finder and one or more of an infrared detector and an image sensor.
4. The three-axis photoelectric search tracking device with image rotation suppression function according to claim 1, 2 or 3, wherein: and a posture correction shaft capable of moving in a transverse rolling shaft system is further arranged at the position of the movable carrier where the rotating table is installed so as to correct the installation posture of the rotating table on the movable carrier.
5. The three-axis photoelectric search tracking device with image rotation suppression function according to claim 1, 2 or 3, wherein: the main control module is connected with the three-axis gyro assembly (2) and the motion control module (3) respectively, and the main control module performs coupling calculation according to the disturbance of the mobile carrier measured by the three-axis gyro assembly (2) on an azimuth, a pitch and a roll axis system, calculates the disturbance of the azimuth, the pitch and the roll on the detection axis system, and correspondingly outputs the disturbance to the pitch assembly (31), the azimuth assembly (32) and the roll assembly (33) for control.
6. The three-axis photoelectric search tracking device with image rotation suppression function according to claim 5, characterized in that: the system also comprises a comprehensive display control system connected with the main control module and used for receiving target detection information, processing data, displaying detection results and sending control commands to the main control module.
7. A method for using the three-axis optoelectronic search tracking device of any one of claims 1-6, comprising the steps of:
s1, measuring attitude disturbance of a mobile carrier on an azimuth, pitch and roll axis system through the three-axis gyroscope component (2);
s2, performing decoupling calculation according to the attitude disturbance measured in the step S1 to obtain the required adjustment quantity of the rotating table on the azimuth, pitch and roll axis systems;
and S3, correspondingly driving the pitching assembly (31), the azimuth assembly (32) and the rolling assembly (33) to move according to the adjustment amount calculated in the step S2.
8. The method according to claim 7, wherein the step of step S2 includes:
s21, when the movable carrier moves, the movement of the movable carrier is coupled to a table body of the rotating table through installation of the movable carrier and geometric constraint and friction constraint of a shaft system;
s22, obtaining angular velocities obtained by measuring the three-axis gyro assembly (2) coupled to a detection shaft system, wherein the angular velocities of the azimuth, the pitch and the roll shaft system are omega fx, omega fy and omega fz respectively;
s23, carrying out decoupling calculation on the angular speed obtained in the step S22 to obtain control angular speeds of an orientation motor (321), a pitching motor (311) and a rolling motor (331) which are respectively omega fx sec theta f, omega fy and omega fz, wherein a coordinate system of an orientation axis system is OXaYaza, a coordinate system of a pitching axis system is OXfYfZf, a coordinate system of a rolling axis system is OXrYrZr, and theta f is a rotation angle of a pitch axis system around a OXa axis;
s24, according to the result of the decoupling calculation in the step S23, the control quantities of the azimuth motor (321), the pitching motor (311) and the rolling motor (331) are respectively calculated, and the motors are controlled according to the calculated control quantities to eliminate the disturbance of the moving carrier on the azimuth, pitching and rolling shaft systems.
9. The method according to claim 7 or 8, further comprising a target search tracking control method, the steps comprising: and (2) carrying out target detection tracking according to the image detected by the photoelectric sensor module (1), and judging whether the target moves or not by comparing the front frame image and the rear frame image at the same angle position when the target is detected so as to realize the detection of the moving target.
10. The method of claim 7 or 8, further comprising a four-axis image stabilization control step comprising: the rolling posture of the moving carrier is obtained and measured through the three-axis gyro component (2), the posture of the rotating platform is corrected in real time through the closed-loop control posture correction shaft, the installation posture of the rotating platform is corrected, the visual axis of the rotating platform is kept at the horizontal position all the time, and four-axis image stabilization control is formed.
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