CN112882498B - Triaxial photoelectric searching and tracking device and method with image rotation inhibiting function - Google Patents
Triaxial photoelectric searching and tracking device and method with image rotation inhibiting function Download PDFInfo
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Abstract
The invention discloses a triaxial photoelectric searching and tracking device with an image rotation inhibiting function and a method thereof, wherein the device comprises a photoelectric sensor module, a rotary table, a gyro assembly and a motion control module, wherein the photoelectric sensor module is carried on a mobile carrier through the rotary table to detect target image information, the motion control module controls the rotary table to move on a detection axis system, the gyro assembly is used for measuring disturbance of the mobile carrier, the motion control module comprises a pitching assembly used for controlling movement in a pitching axis system, an azimuth assembly used for controlling movement in an azimuth axis system and a rolling assembly used for controlling movement in a rolling axis system, and the gyro assembly is a triaxial gyro assembly used for measuring disturbance of the mobile carrier in azimuth, pitching and rolling axes. The invention has the advantages of simple structure, low cost, high reliability and the like, and can inhibit image rotation.
Description
Technical Field
The invention relates to the technical field of photoelectric reconnaissance equipment, in particular to a triaxial photoelectric searching and tracking device and method with an image rotation inhibiting function.
Background
For example, the photoelectric reconnaissance equipment such as an infrared searching and tracking device can quickly search various air targets such as flying birds, airplanes, unmanned aerial vehicles, helicopters, missiles and the like in the air domain range, and track the targets after searching the targets so as to master the conditions of the air targets in the area. In the prior art, most of photoelectric reconnaissance equipment adopts passive defense reconnaissance to protect key areas, and the reconnaissance equipment is immovable in the range of the protection areas and has larger limitations, for example, the vehicle-mounted photoelectric reconnaissance equipment can only be used for reconnaissance and cannot accurately track targets and report target coordinates.
When searching, for example, an infrared searching and tracking device and the like usually adopts a mode of azimuth and pitching two-axis motion, and disturbance caused by azimuth and pitching swinging of a moving carrier (such as a vehicle, a ship and an airplane) is measured through a two-axis gyroscope, namely, disturbance caused by azimuth and pitching swinging of the moving carrier is measured through a two-axis gyroscope, so that the azimuth, pitching and rolling swinging of the moving carrier can be eliminated through azimuth motion, pitching motion and target off-target quantity, but because the disturbance of the rolling axis swinging of the moving carrier cannot be measured, the rolling disturbance of the moving carrier cannot be eliminated, or the elimination of the rolling swinging is very limited, and disturbance in the rolling direction is difficult to directly eliminate, so that a target picture acquired during searching can rotate, further, the target detection precision is low, and meanwhile, the target recognition and confirmation are easy to make mistakes due to the picture rotation.
For eliminating the transverse rolling disturbance of the mobile carrier, at present, the disturbance of the transverse rolling of the mobile carrier is usually measured through an inertial system of the mobile carrier, then the picture is rotated through software to partially eliminate the disturbance, but the method is not used for directly measuring the disturbance of a detection shaft system, so that the problem that the transverse rolling disturbance of the mobile carrier is decoupled to the detection shaft system exists due to the fact that the transverse rolling disturbance of the mobile carrier is required to be solved to the detection shaft system, the time delay of an elimination method is larger, the picture is caused to rotate in a larger amplitude, the panoramic picture is discontinuous, and the target detection accuracy is further reduced sharply, so that the method is only suitable for systems with low requirements on the time delay, 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.
Practitioners propose that aiming at mobile search tracking, a triaxial stable platform is added at the bottom of the photoelectric equipment and the installation position of the vehicle, the stable platform corrects the installation posture of the photoelectric on the vehicle, and the stable platform acquires the dynamic vehicle body posture through installation inertial navigation and adjusts the posture of the photoelectric in real time so as to keep the photoelectric in a horizontal position all the time. However, as the whole photoelectric equipment is heavier, the three-axis stable platform needs to overcome larger inertia to correct the gesture, and a larger dead zone exists in control, so that delay phenomenon of unpredictable time exists in the correction effect, and the influence of vehicle shake on the photoelectric can not be eliminated in time; and the realization cost according to the steady platform can be greatly improved, meanwhile, the complexity of the system can be greatly increased, and a plurality of unreliable factors can be increased, so that 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 existing in the prior art, the invention provides the triaxial photoelectric searching and tracking device and the triaxial photoelectric searching and tracking method with the image rotation inhibiting function, which have the advantages of simple structure, low cost and high reliability.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the three-axis photoelectric searching and tracking device with the image rotation inhibiting function comprises a photoelectric sensor module, a rotary table, a gyro component and a motion control module, wherein the photoelectric sensor module is carried on a mobile carrier through the rotary table to detect target image information, the motion control module controls the rotary table to move on a detection axis system, the gyro component is used for measuring disturbance of the mobile carrier, the motion control module comprises a pitching component used for controlling movement in a pitching axis system, an azimuth component used for controlling movement in an azimuth axis system and a rolling component used for controlling movement in a rolling axis system, and the gyro component is a three-axis gyro component used for measuring disturbance of the mobile carrier in azimuth, pitching and rolling axes.
Further, the pitching assembly comprises a pitching motor and a pitching position sensor, the azimuth assembly comprises an azimuth motor and an azimuth 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 a combination of more of an infrared detector and an image sensor.
Further, a posture correcting shaft capable of moving in a rolling shaft system is further arranged at the position of the rotary table in the moving carrier, so that the installation posture of the rotary table on the moving carrier is corrected.
Further, the device also comprises a main control module which is respectively connected with the three-axis gyro assembly and the motion control module, wherein the main control module is used for carrying out coupling resolving according to the disturbance of the mobile carrier on the azimuth, the pitching and the rolling axes measured by the three-axis gyro assembly, calculating the disturbance of the azimuth, the pitching and the rolling on the detecting axes, and respectively correspondingly outputting the disturbance to the pitching assembly, the azimuth assembly and the rolling assembly for control.
Further, the system also comprises a comprehensive display control system connected with the main control module, and the comprehensive display control system is used for receiving the target detection information, performing data processing, displaying the detection result and sending a control command to the main control module.
The method for utilizing the triaxial photoelectric searching and tracking device comprises the following steps:
s1, measuring attitude disturbance of a mobile carrier on azimuth, pitching and transverse rolling shaft systems through the three-axis gyro assembly;
s2, carrying out decoupling calculation according to the attitude disturbance measured in the step S1 to obtain adjustment amounts required by the rotary table on azimuth, pitching and transverse rolling shafts;
s3, correspondingly driving the pitching assembly, the azimuth assembly and the rolling assembly to move according to the adjustment quantity calculated in the step S2.
Further, the step S2 includes:
s21, when the movable carrier moves, the movement of the movable carrier is coupled to the table body of the rotary table through the installation of the movable carrier and the geometric constraint and friction constraint of a shafting;
s22, obtaining angular velocities obtained by measuring the coupling of the triaxial gyro assembly installed in the shafting to the detection shafting, wherein the angular velocities of azimuth, pitching and rolling shafting are omega fx, omega fy and omega fz respectively;
s23, carrying out decoupling calculation on the angular velocity obtained in the step S22 to obtain control angular velocities of an azimuth motor, a pitching motor and a rolling motor, wherein the control angular velocities are ωfx, sec theta f, ωfy and ωfz respectively, and thetaf is the rotation angle of a coordinate system around a OXa axis in a pitching axis system OXfYfZf;
s24, according to the decoupling calculation result of the step S23, the control amounts of the azimuth motor, the pitch motor and the roll motor are calculated respectively, and the motors are controlled according to the calculated control amounts so as to eliminate disturbance of the mobile carrier on azimuth, pitch and roll axes.
Further, the method also comprises a target searching and tracking control method, which comprises the following steps: and (3) performing target detection and tracking according to the image detected by the photoelectric sensor module, and when the target is detected, judging whether the target moves or not by comparing front and rear frame images at the same angle position so as to realize detection of the moving target.
Further, the method also comprises a four-axis image stabilization control step, which comprises the following steps: and acquiring the rolling gesture of the movable carrier, measuring the gesture of the rotating platform through the three-axis gyroscope assembly, and correcting the installation gesture of the rotating platform in real time by a closed-loop control gesture correcting shaft, so that the visual axis of the rotating platform is kept at a horizontal position all the time, and a four-axis stable image is formed.
Compared with the prior art, the invention has the advantages that:
1. the three-frame structure of azimuth, pitching and rolling shafts is adopted, so that the three-frame structure of azimuth, pitching and rolling shafts can be simultaneously realized, the disturbance of azimuth, pitching and rolling shafts of the moving carrier can be directly measured by the three-shaft gyro assembly, the disturbance of the moving carrier on the azimuth and pitching shaft system can be eliminated after decoupling calculation, and the disturbance on the rolling shaft system can be eliminated, so that the rotation of an image can be restrained, the detection precision of a target is further improved, and the problems of large rotation delay, unsatisfactory elimination effect, poor tracking precision and the like of the image can be solved by using software in the prior art.
2. In the invention, the photoelectric sensor module can perform the triaxial movement of the roll in addition to the horizontal pitching movement, so that the jolt and the roll movement generated by the moving carrier during running can be effectively compensated.
3. According to the invention, the posture correcting shaft capable of transversely rolling is arranged on the movable carrier, and the posture correcting shaft and the three-shaft frame form a four-shaft frame together, so that not only can the disturbance of the azimuth, the pitching and the transverse rolling of the movable carrier be eliminated, but also the installation posture of the rotary table on the movable carrier can be corrected, the inclination posture of the movable carrier is eliminated, the precision of the rotary table influenced by the posture of the movable carrier during installation is improved, and the detection precision of a target is further improved.
Drawings
Fig. 1 is a schematic structural diagram of a triaxial photoelectric search tracking device according to the present embodiment.
Fig. 2 is a schematic structural diagram of a triaxial photoelectric searching and tracking device in a specific application embodiment of the present invention.
Fig. 3 is a schematic diagram of the roll stability control loop cancellation principle in this embodiment.
Fig. 4 is a schematic diagram of a coordinate system architecture for implementing stability control in the present embodiment.
Fig. 5 is a schematic flow chart of realizing target search in the present embodiment.
Fig. 6 is a schematic diagram of a control flow of target search in the present embodiment.
Fig. 7 is a schematic diagram of a target tracking control flow in the present embodiment.
Fig. 8 is a schematic diagram of a four-axis image stabilization control flow in the present embodiment.
Legend description: 1. a photosensor module; 2. a tri-axial gyro assembly; 3. a motion control module; 31. a pitch assembly; 311. a pitch motor; 312. a pitch position sensor; 32. an azimuth component; 321. 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 in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
As shown in fig. 1, the triaxial photoelectric search tracking device with the function of suppressing image rotation of the present embodiment includes a photoelectric sensor module 1, a turntable, a gyro assembly and a motion control module 3, wherein the photoelectric sensor module 1 is mounted on a moving carrier through the turntable to detect target image information, the motion control module 3 controls the turntable to move on a detection axis system, the gyro assembly measures disturbance of the moving carrier, the motion control module 3 includes a pitch assembly 31 for controlling movement in a pitch axis system, an azimuth assembly 32 for controlling movement in an azimuth axis system, and a roll assembly 33 for controlling movement in a roll axis system, and the gyro assembly is a triaxial gyro assembly 2 for measuring disturbance of the moving carrier in azimuth, pitch, and roll axes.
According to the embodiment, a three-frame structure of azimuth, pitching and rolling is adopted, and the pitching assembly 31, the azimuth assembly 32 and the rolling assembly 33 are arranged at the same time, so that the photoelectric sensor module 1 can realize the three-axis motion of azimuth, pitching and rolling, the disturbance of the azimuth, pitching and rolling of the moving carrier can be directly measured by the three-axis gyroscope assembly 2, the disturbance of the moving carrier on the azimuth and pitching axes can be eliminated after decoupling calculation, the disturbance on the rolling axis can be eliminated, the rotation of an image can be restrained, the target detection precision is improved, and the problems that the traditional software is used for eliminating the problems of long image rotation delay, unsatisfactory eliminating effect, poor tracking precision and the like are solved.
In this embodiment, a roll shaft is specifically disposed at the rear side of the pitch shaft, so that the pitch photoelectric sensor module 1 can perform a three-axis motion of roll in addition to a horizontal pitch motion, thereby effectively compensating for jolt and roll motions generated when the mobile carrier is running.
In this embodiment, the pitching assembly 31 specifically includes a pitching motor 311 and a pitching position sensor 312 to realize pitching motion, and further includes a pitching driver for driving, etc.; the azimuth assembly 32 includes an azimuth motor 321, an azimuth position sensor 322 to realize 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 effect roll motion, and in particular, a roll motor 331 is disposed behind the pitch axis to adjust the tilt angle of the optoelectronic search tracking device.
The triaxial gyroscope assembly 2 may specifically be a triaxial gyroscope, or a combination of a two-axis gyroscope and a single-axis gyroscope may be used, or three single-axis gyroscopes may be directly used for measurement. The gyroscope can be a sensing element for measuring an inertial coordinate system, such as a fiber-optic gyroscope, a micromechanical gyroscope, a mems gyroscope, an inertial navigation combination, a laser gyroscope and the like. The gyroscope or inertial measurement device may be mounted within the detection shaft system, either in a shaft system or directly on the mobile carrier.
In this embodiment, the photoelectric sensor module 1 includes a thermal infrared imager, a laser range finder, an infrared detector, an image sensor, or other visible light photoelectric sensors, so as to be applicable to other visible light, ultraviolet, near infrared, and other search tracking devices, which can be specifically configured according to actual requirements.
In this embodiment, a posture correction shaft capable of moving on the rolling shaft is further provided at a position of the movable carrier where the turntable is mounted, so as to correct a mounting posture of the turntable on the movable carrier. When the photoelectric searching and tracking device works, the detected target is in a space coordinate system, and the coordinate position of the target in space is calculated through the detected target distance and the photoelectric visual axis angle, wherein the visual axis angle is very easy to be influenced by the installation precision, and therefore the installation precision of the photoelectric searching and tracking device on a mobile carrier can directly influence the target detection precision. According to the embodiment, the posture correcting shaft capable of transversely rolling is arranged on the movable carrier, and the posture correcting shaft and the three-shaft frame form a four-shaft frame together, so that disturbance of the direction, the pitching and the transverse rolling of the movable carrier can be eliminated, the installation posture of the rotary table on the movable carrier can be corrected, the inclination posture of the movable carrier is eliminated, the accuracy of the rotary table affected by the posture of the movable carrier during installation is improved, and the detection accuracy of a target is further improved.
In this embodiment, the device further includes a main control module connected to the tri-axis gyro assembly 2 and the motion control module 3, where the main control module performs coupling and decoupling calculation (decoupling calculation) according to the disturbance of the mobile carrier on the azimuth, pitch and roll axes measured by the tri-axis gyro assembly 2, calculates the disturbance of the azimuth, pitch and roll on the detected axis, and outputs the disturbance to the pitch assembly 31, the azimuth assembly 32 and the roll assembly 33 correspondingly for control.
In a specific application embodiment, the disturbance of the moving carrier in the pitching, the pitching and the rolling of the detected shafting is calculated by coupling and resolving the disturbance of the moving carrier measured by the triaxial gyroscope component 2, and the system servo controller drives and controls the pitching motor 311, the azimuth motor 321 and the rolling motor 331 to move according to the resolved shafting disturbance, so that the disturbance elimination quantity can be accurately controlled by decoupling and calculating, and the pitching, the azimuth and the rolling disturbance of the moving carrier can be effectively eliminated.
In this embodiment, the system further includes a comprehensive display control system connected to the main control module, and the comprehensive display control system is configured to receive the target detection information, perform data processing, display the detection result, and send a control command to the main control module. Computers, notebooks, tablets, etc. may be employed in particular application embodiments.
As shown in fig. 2, in the specific application embodiment of the photoelectric search tracking device of the present invention, a turret structure is adopted, an infrared thermal imager 11, a laser range finder 12 and a triaxial gyro assembly 2 are configured in the turret, the triaxial gyro assembly 2 adopts a triaxial fiber gyro, a pitch assembly 31, an azimuth assembly 32 and a roll assembly 33 are arranged on the turret to form a three-frame structure of azimuth, pitch and roll, and at the same time, a sensor such as a mounting position encoder is also configured, and a posture correction shaft frame is configured on a mounting base of the turntable to form a four-axis platform with the 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 storage battery configured by the power box 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, search tracking information and upper 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 search tracking device.
In a specific application embodiment, the three-axis transmission mechanisms all adopt alternating current servo motors, a high-precision absolute encoder is used as a speed and position detection device of the system, and a controller and a motor driver are further arranged on the side panel. And the SC optical fiber and the electric hybrid slip ring are adopted as internal signal transmission to realize 360-degree rotation. The aviation plug connected with the photoelectric slip ring is connected with the control computer, the aviation plug is connected to 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 the control panel of the photoelectric tracking platform, and the control panel mainly realizes task management and coordination and servo control, so that the system meets the performance index requirement of the servo turret.
The main control module is specifically configured to receive a control command of the control computer, and implement a servo control function according to different working modes, where the main control module includes a servo controller and a servo driver, and the servo controller mainly implements task management and coordination, servo control, and a tracking algorithm, so that the system meets a requirement of a performance index of a servo turret; the servo driver receives signals output by the servo controller to drive the pitch motor 311, the bit motor 321 and the roll motor 331.
The control computer comprises a reinforcement computer, an image processing board, a communication interface, comprehensive display 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, and the comprehensive display control software is special search system information display and control software based on the reinforcement computer. The power supply module is specifically composed of an AC/DC (alternating current/direct current) adapter or a lithium battery, can supply direct current 28V to supply power to the system through the AC adapter under the condition of 220V power supply, and can supply power to the system through a 24V lithium battery in the field.
The embodiment can realize the elimination of the transverse rolling disturbance of the mobile carrier by utilizing the photoelectric searching and tracking device, as shown in fig. 3, the steps for realizing the elimination of the transverse rolling disturbance of the mobile carrier are as follows:
step 1, measuring the disturbance of the posture of a mobile carrier through a triaxial gyroscope;
step 2, calculating the influence of disturbance of the mobile carrier on the roll of the detection shaft system through coupling;
step 3, calculating through a servo controller, and calculating the adjustment quantity of the roll motor;
and 4, driving the transverse rolling motor to move, and eliminating transverse rolling disturbance of the movable carrier.
The embodiment specifically configures the servo control loops of azimuth, pitch and roll respectively so as to realize closed-loop control of azimuth, pitch and roll. The method for utilizing the triaxial photoelectric searching and tracking device in the embodiment comprises the following specific steps:
s1, measuring the attitude disturbance of a mobile carrier on azimuth, pitching and transverse rolling shaft systems through a three-shaft gyro assembly 2;
s2, carrying out decoupling calculation according to the gesture disturbance measured in the step S1 to obtain adjustment amounts required by the rotary table on azimuth, pitching and transverse roller systems;
and S3, correspondingly driving the pitching assembly 31, the azimuth assembly 32 and the rolling assembly 33 to move according to the adjustment quantity calculated in the step S2.
In the carrier moving process, when the photoelectric searching and tracking device detects a target, the steps are continuously executed, so that disturbance elimination of carrier azimuth, pitching and rolling can be realized in real time, image rotation is restrained, panoramic jigsaw is continuous, and the accuracy of target detection is ensured.
The system stability control architecture of the embodiment is shown in fig. 4, wherein a is an azimuth axis, a coordinate system is oxaayaza, and a rotation angle of the a coordinate system around a OZb axis is θa; f is a pitching axis, a coordinate system is OXfYfZf, and the rotation angle of the F coordinate system around a OXa axis is θf; r is a rolling axis, a coordinate system is OXrYrZr, and the rotation angle of the R coordinate system around a OYf axis is thetar.
The step of step S2 in this embodiment includes:
s21, when the movable carrier (the movable carrier coordinate system is B system) moves, the movement of the movable carrier is coupled to the table body of the rotary table through the installation of the movable carrier and the geometric constraint and friction constraint of a shafting;
s22, acquiring angular velocities measured by a triaxial gyroscope assembly 2 arranged in a shafting and coupled to a detection shafting, wherein the angular velocities of azimuth, pitching and rolling shafting are omega fx, omega fy and omega fz respectively;
s23, performing decoupling calculation on the angular velocities obtained in the step S22 to obtain control angular velocities of the azimuth motor 321, the pitch motor 311 and the roll motor 331, wherein the control angular velocities are ωfx, sec θf, ωfy and ωfz respectively, and θf is a rotation angle of a coordinate system around a OXa axis in a pitch axis OxfYfZf;
s24, according to the decoupling calculation result of the step S23, the control amounts of the azimuth motor 321, the pitch motor 311 and the roll motor 331 are calculated respectively, and the motors are controlled according to the calculated control amounts so as to eliminate disturbance of the moving carrier on azimuth, pitch and roll axes.
In the step S24, the control algorithm is specifically designed by analyzing the transfer functions of the azimuth, pitch and roll control loops, and then the control quantity of each motor is calculated according to the decoupling calculation result, so as to eliminate the disturbance generated by the moving carrier in azimuth, pitch and roll, thereby eliminating the influence of image rotation.
In this embodiment, the method further includes a target search tracking control method, including the steps of: and (3) performing target detection and tracking according to the image detected by the photoelectric sensor module 1, and when a target is detected, judging whether the target moves or not by comparing front and rear frame images at the same angle position so as to realize 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 (e.g. 550 degrees/second) through an azimuth axis, the imaging detector arranged in the rotating platform collects an omnidirectional 360-degree pitching 4-degree airspace image, and the pitching axis can be adjusted in each search period to realize a larger-range pitching airspace reconnaissance. And (3) the target image acquired by the infrared thermal image in the high-speed searching process enters a processing board for analysis, and the suspected target is displayed through a man-machine interaction interface of the control computer. The upper computer can send control instructions to the turntable, so that a visual effect of reconnaissance is achieved.
Since many hot objects are detected during panoramic searching, for airborne objects, there is a broken cloud of disturbances, these disturbances are relatively stationary, the real object is an aircraft, the object is moving at high speed, and the moving object is the real valuable object. According to the method, whether the target moves or not is obtained through detecting the comparison of the image of the same angle position and the previous image, so that efficient detection of the moving target can be achieved, and searching efficiency and searching accuracy are greatly improved.
In the target detection, the embodiment further performs optical compensation by matching with the swinging mirror for searching the thermal image, and can correct the image rotating at high speed, so that the finally acquired image is clear.
As shown in fig. 7, in this embodiment, after the above-mentioned photoelectric search tracking device is used to obtain the selection of the target to be tracked, the image processing board is collected by the infrared camera, the image processing board calculates the off-target amount by calculating the position of the target in the image, which is far away from the center of the image, and transfers the off-target amount to the photoelectric search platform to be converted into an angle, and then the photoelectric search platform controls the motor to control the position, so as to finally maintain the effect that the target is always in the center of the image, thereby quickly locking and tracking the target and realizing the tracking function.
The embodiment can also realize a positioning function by utilizing the photoelectric searching and tracking device: in the tracking state, a motor (a roll motor) in the roll direction of a pitching axis compensates the gesture of the moving carrier, the photoelectric searching and tracking device is kept in a horizontal state, at the moment, the azimuth angle and the pitching angle of the photoelectric searching and tracking device can accurately correspond to the heading angle and the pitch angle in the northeast sky coordinate system, 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 control terminal to display a final target positioning result, so that a positioning function is realized.
As shown in fig. 8, the present embodiment further includes a four-axis image stabilization control step, which includes: and acquiring the rolling gesture of the moving carrier and measuring the gesture of the rotating platform through the three-axis gyro assembly 2, and correcting the installation gesture of the rotating platform in real time by a closed-loop control gesture correcting shaft, so that the visual axis of the rotating platform is kept at a horizontal position all the time, and four-axis image stabilizing control is formed. The transverse rolling gesture of the movable carrier can be sensed through the single-axis gyroscope, the mounting surface gesture of the photoelectric searching and tracking device is corrected in real time through a motor closed loop, the gesture 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 at a horizontal position all the time, and a four-axis image stabilizing mechanism is formed together.
The image stabilizing function can be configured to run all the time during the use of the equipment, whether the mobile carrier runs or not, the direction of the searching and tracking device in the inertial space cannot be changed, and the problems of high-speed searching and high-precision tracking of the mobile carrier can be solved, so that the applicability is wider, and the method can adapt to more complex 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 merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a triaxial photoelectric search tracking device with restrain rotatory function of image, includes photoelectric sensor module (1), revolving stage, top subassembly and motion control module (3), photoelectric sensor module (1) pass through the revolving stage is carried on the removal carrier in order to detect target image information, motion control module (3) control the revolving stage is at detecting epaxial system motion, through the disturbance of top subassembly measurement removal carrier, its characterized in that: the motion control module (3) comprises a pitching assembly (31) for controlling the motion in a pitching axis system, an azimuth assembly (32) for controlling the motion in a azimuth axis system and a rolling assembly (33) for controlling the motion in a rolling axis system, wherein the gyro assembly is a three-axis gyro assembly (2) for measuring disturbance of a moving carrier on azimuth, pitching and rolling axis systems, the three-axis gyro assembly (2) is used for measuring disturbance of the moving carrier on azimuth, pitching and rolling axis systems, decoupling calculation is carried out according to the measured disturbance of the posture, and adjustment amounts required by the rotating platform on the azimuth, pitching and rolling axis systems are obtained, and the pitching assembly (31), the azimuth assembly (32) and the rolling assembly (33) are correspondingly driven to move.
2. The triaxial photoelectric search tracking device with an image rotation suppressing function according to claim 1, characterized in that: the pitch assembly (31) comprises a pitch motor (311) and a pitch position sensor (312), the azimuth assembly (32) comprises an azimuth motor (321) and an azimuth position sensor (322), and the roll assembly (33) comprises a roll motor (331) and a roll position sensor (332).
3. The triaxial photoelectric searching and tracking device with the function of inhibiting image rotation according to claim 1, wherein the photoelectric sensor module (1) comprises a thermal infrared imager, a laser range finder and one or more combinations of infrared detectors and image sensors.
4. The triaxial photoelectric search tracking apparatus having an image rotation suppressing function according to claim 1 or 2 or 3, characterized in that: and a posture correcting shaft which can move on the rolling shaft system is arranged at the position of the rotary table in the movable carrier so as to correct the installation posture of the rotary table on the movable carrier.
5. The triaxial photoelectric search tracking apparatus having an image rotation suppressing function according to claim 1 or 2 or 3, characterized in that: the three-axis gyroscope comprises a three-axis gyroscope assembly (2), a motion control module (3) and a main control module, wherein the main control module is respectively connected with the three-axis gyroscope assembly (2) and the motion control module, and is used for carrying out coupling calculation according to disturbance of a moving carrier on azimuth, pitching and rolling axes measured by the three-axis gyroscope assembly (2), calculating disturbance of azimuth, pitching and rolling on a detection axis, and respectively correspondingly outputting the disturbance to the pitching assembly (31), the azimuth assembly (32) and the rolling assembly (33) for control.
6. The triaxial photoelectric search tracking device with an image rotation suppressing function according to claim 5, characterized in that: the system also comprises a comprehensive display control system connected with the main control module, and the comprehensive display control system is used for receiving the target detection information, performing data processing, displaying the detection result and sending a control command to the main control module.
7. A method of using the triaxial photoelectric search tracking device according to any one of claims 1 to 6, characterized by comprising the steps of:
s1, measuring the attitude disturbance of a mobile carrier on azimuth, pitching and transverse rolling shaft systems through the three-shaft gyro assembly (2);
s2, carrying out decoupling calculation according to the attitude disturbance measured in the step S1 to obtain adjustment amounts required by the rotary table on azimuth, pitching and transverse rolling shafts;
s3, correspondingly driving the pitching assembly (31), the azimuth assembly (32) and the rolling assembly (33) to move according to the adjustment quantity calculated in the step S2.
8. The method according to claim 7, wherein the step of step S2 comprises:
s21, when the movable carrier moves, the movement of the movable carrier is coupled to the table body of the rotary table through the installation of the movable carrier and the geometric constraint and friction constraint of a shafting;
s22, acquiring angular velocities measured by the triaxial gyroscope assembly (2) installed in a shafting and coupled to a detection shafting, wherein the angular velocities of azimuth, pitching and rolling shafting are omega fx, omega fy and omega fz respectively;
s23, carrying out decoupling calculation on the angular velocity obtained in the step S22 to obtain control angular velocities of an azimuth motor (321), a pitching motor (311) and a rolling motor (331), wherein the control angular velocities are omega fx, sec theta f, omega fy and omega fz respectively, a coordinate system of an azimuth axis is OXaYaza, a coordinate system of a pitching axis is OXfYfZf, a coordinate system of a rolling axis is OXrYrZr, and theta f is a corner of a coordinate system around OXa axes in the pitching axis;
s24, according to the decoupling calculation result of the step S23, the control amounts of the azimuth motor (321), the pitch motor (311) and the roll motor (331) are calculated respectively, and the motors are controlled according to the calculated control amounts so as to eliminate disturbance of the mobile carrier on azimuth, pitch and roll axes.
9. The method according to claim 7 or 8, further comprising a target search tracking control method, the steps comprising: and (3) performing target detection and tracking according to the image detected by the photoelectric sensor module (1), and judging whether the target moves or not by comparing front and rear frame images at the same angle position when the target is detected so as to realize detection of the moving target.
10. The method of claim 7 or 8, further comprising a four-axis image stabilization control step comprising: and acquiring the rolling gesture of the movable carrier, measuring the gesture of the rotary table through the three-axis gyroscope assembly (2), and correcting the installation gesture of the rotary table in real time by a closed-loop control gesture correcting shaft, so that the visual axis of the rotary table is kept at a horizontal position all the time, and four-axis image stabilizing control is formed.
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