CN117401198A - Triaxial photoelectric pod and control method thereof - Google Patents

Abstract

The invention discloses a triaxial photoelectric pod and a control method thereof, wherein the pod comprises an azimuth component and a roll component, the roll component is connected with a pitching component, the pitching component is rotationally connected with an optical cabin, the azimuth component comprises a base connecting plate and an azimuth motor connected with a conductive slip ring, the roll component comprises an L-shaped bracket and a roll motor, the roll motor is connected with a U-shaped bracket, the pitching component comprises a right side ear and a left side ear which are fixedly connected with two ends of the U-shaped bracket, and a pitching rotating shaft and a pitching motor which are respectively connected with the optical cabin, the optical cabin comprises a plurality of optical devices, and azimuth axes, rolling axes and pitching axes formed by the azimuth component, the roll component and the pitching component are mutually perpendicular and three axes are intersected at one point. According to the invention, the weight of the nacelle is reduced, the wind resistance is further reduced, the stability in the rotation process is ensured, the disturbance of the unmanned aerial vehicle carrier is isolated and the stability of the visual axis is maintained through the triaxial MEMS gyroscope and the stable servo system, and the tracking effect and the shooting effect are improved.

Description

A three-axis photoelectric pod and its control method

Technical field

The present invention relates to the technical field of UAV photoelectric pods, and in particular to a three-axis photoelectric pod and a control method thereof.

Background technique

With the development of science and technology, drone technology has developed rapidly in terms of size, endurance, control, flight control algorithm, machine vision, gimbal technology and software development capabilities. The platform mounting enables efficient operation feedback, making it popular in industries such as inspection, security, and search and rescue. In order to achieve multi-directional and multi-angle inspections, the lower pod of the drone often uses a three-axis photoelectric pod. The three-axis photoelectric pod is installed on a fixed-wing or multi-rotor drone and is equipped with a high-definition visible light camera and an infrared temperature measurement camera. , image processing module and other optoelectronic loads, it has a three-axis image stabilization function with three mechanical axes of direction, roll and pitch, which can achieve functions such as clear camera imaging, stable target tracking, and target temperature measurement during aircraft flight. After the UAV takes off, the status information and image information of the photoelectric pod are transmitted to the ground station through the airborne equipment. The ground station processes the received information and images and outputs them to the display interface.

However, the three-axis photoelectric pod currently used in UAV inspection and monitoring operations has a large photoelectric load mass and volume, which is affected by various influences during the flight of the UAV and various factors during the rotation of the photoelectric pod. The shooting and tracking functions are affected to some extent. For example, the patent document with the publication number CN217198684U discloses "a highly integrated small three-light pod", which realizes a small and compact three-axis three-light pod design, enabling small drones to drive three-light equipment and realize multiple The integration of functions. However, the outer contour size of the photoelectric pod is irregular and has a certain weight. The pod is greatly affected by wind resistance during the flight of the UAV. The rotation of the pod in the three-axis direction is unstable, resulting in tracking of targets during high-speed flight. Efficiency is affected; on the other hand, due to factors such as vibration, yaw, pitch and roll of the drone and the three-axis photoelectric pod during flight shooting, the photos taken will be blurred and distorted, seriously affecting the shooting Effect.

Contents of the invention

In order to solve the above technical problems existing in the prior art, the present invention provides a three-axis photoelectric pod and a control method thereof, which can ensure the stability of the three-axis photoelectric pod during rotation, reduce the impact of wind resistance, and improve the tracking effect. To improve the multi-directional stability of the three-axis photoelectric pod in azimuth, pitch and roll, and improve the shooting effect, the specific technical solutions of the present invention are as follows.

A three-axis photoelectric pod of the present invention includes an azimuth component connected to a UAV base and a roll component rotatably connected to the azimuth component. The roll component is rotatably connected to a pitch component, and the pitch component rotates An optical cabin is connected, and the azimuth component includes a base connecting plate and an azimuth motor fixed on the inner wall of the base connecting plate and connected to a conductive slip ring. The roll component includes an L-shaped bracket with one end connected to the azimuth motor and A roll motor is fixedly connected to the other end of the L-shaped bracket, the roll motor is connected to a U-shaped frame, and the pitch assembly includes a right ear and a left ear fixedly connected to both ends of the U-shaped frame, The inside of the right ear and the left ear are respectively provided with a pitch axis and a pitch motor connected to the optical cabin. The optical cabin includes an infrared thermal imager, a visible light camera, a laser rangefinder, a gyro module, a tracking In the middle cabin of the board and the main control board, the azimuth, roll and pitch axes formed by the azimuth component, roll component and pitch component are perpendicular to each other and the three axes intersect at one point to improve the stability of the pod in the three-axis direction. Rotational stability.

As a further technical solution, a stabilizing component is connected between the azimuth component and the rolling component, and the stabilizing component includes a stabilizing half ring equipped with a rolling groove that is connected to the right ear and the left ear through a connecting plate, so The upper end of the L-shaped bracket is fixedly connected to a positioning shaft sleeve coaxial with the azimuth component, and the universal ball provided at the lower end of the positioning shaft sleeve runs in the roll groove.

As a further technical solution, the positioning shaft sleeve includes an upper cylinder fixedly connected to the L-shaped bracket and coaxial with the azimuth component, and a lower cylinder slidably sleeved with the upper cylinder. The upper end of the cylinder is connected to the top wall of the upper cylinder through a spring.

As a further technical solution, the gyro module uses a three-axis MEMS gyro to simultaneously detect the angular velocity and angular acceleration of the pod around the azimuth axis, roll axis and pitch axis.

As a further technical solution, the optical cabin includes a front cover loaded with optical glass, a middle cabin and a back cover loaded with a balance weight.

As a further technical solution, the azimuth motor, roll motor and pitch motor all use DC brushless motors, and are integrated with encoders and servo drive boards.

The invention also includes a control method for a three-axis photoelectric pod, which includes the following steps:

S1: Adjust the zero position deviation of the pod's three-axis MEMS gyroscope through the drift of azimuth and pitch;

S2: After the pod flies on the aircraft, the angular velocity and angular acceleration of the pod around the azimuth axis, roll axis and pitch axis are detected in real time through the three-axis MEMS gyroscope;

S3: According to the control instructions from the ground control terminal, the control instructions are sent to the main control board. The main control board issues attitude adjustment instructions according to the control instructions, and the attitude adjustment instructions are sent to the servo drive board;

S4: The servo drive board sends drive instructions to the servo motor based on the attitude adjustment instructions of the main control board and the angle data of the encoder;

S5: Feedback the adjustment results to the ground control terminal.

As a further technical solution, in step S3, the main control board issues an attitude adjustment instruction according to the control instruction, including calculating the attitude of the angular velocity and angular acceleration of the azimuth axis, roll axis and pitch axis detected in real time in step S2, Obtain the pod's direction attitude angle, roll attitude angle and pitch attitude angle data, and issue attitude adjustment instructions based on the position information, angular velocity and angular acceleration of the three axes.

As a further technical solution, the control instructions of the ground control terminal in step S3 include tracking instructions for the target and shooting instructions for images.

As a further technical solution, when the control instruction from the ground control terminal is an image shooting instruction, the main control board issues an instruction to the laser rangefinder to obtain the target distance, and issues an instruction to the tracking board, which is controlled by a visible light camera or infrared thermal imager. Shoot the target and use weak control of the roll axis during shooting.

The beneficial effects of the present invention are that the azimuth component, roll component and pitch component of the three-axis photoelectric pod of the present invention integrate the servo drive board and encoder into the brushless motor. The motor has its own bearing, so the pitch motor, roll motor No additional bearings are added to the azimuth motor, which greatly reduces the weight of the pod, further reduces wind resistance and improves the image stabilization performance of the product. The azimuth axis, roll axis and pitch axis are perpendicular to each other and the three axes intersect at one point. At the same time, the stabilizing half ring, roll groove and positioning axis sleeve can further ensure the stability of the three-axis photoelectric pod during rotation and improve tracking. effects and shooting effects. Visible light cameras, infrared thermal imaging cameras and laser rangefinders are reasonably installed in the optical cabin, and are matched with balance blocks to ensure the stability of the optical cabin. Under the control of the main control board and tracking board, through the three-axis MEMS gyroscope and stable servo The system is used to isolate the disturbance of the UAV carrier and maintain the stability of the visual axis. The roll component can enhance the stability of the pod when shooting, so that the picture of the pod is stable and does not shake with the aircraft, and prevents vibration and deflection during flight shooting. Improve the shooting effect of images and videos by eliminating shooting failures caused by factors such as navigation, pitch, and roll.

Description of the drawings

Figure 1 is a schematic diagram of the three-axis system of the three-axis photoelectric pod of the present invention;

Figure 2 is a schematic three-dimensional structural diagram of the three-axis photoelectric pod of the present invention;

Figure 3 is a schematic structural diagram of the three-axis photoelectric pod of the present invention from another perspective;

Figure 4 is a schematic diagram of the optical cabin of the three-axis photoelectric pod of the present invention;

Figure 5 is an exploded schematic diagram of a partial structure of the three-axis photoelectric pod of the present invention;

Figure 6 is a schematic diagram of the position of the gyroscope of the three-axis photoelectric pod of the present invention;

Figure 7 is a schematic diagram of the rolling assembly of the three-axis photoelectric pod of the present invention;

Figure 8 is a schematic diagram of the stable half ring of the three-axis photoelectric pod of the present invention;

Figure 9 is a schematic diagram of the positioning shaft sleeve of the three-axis photoelectric pod of the present invention;

In the picture: 1-azimuth component; 101-base connecting plate; 102-SMA two-way interface; 103-HD interface; 104-conductive slip ring; 105-azimuth motor; 2-roll component; 201-L-shaped bracket; 202-Reinforcing ribs; 203-Cable channel; 204-Roll motor; 205-U-shaped frame; 3-Pitch component; 301-Right ear; 302-Left ear; 303-Pitch motor; 304-Pitch axis; 4-Optical cabin; 401-front cover; 402-middle cabin; 403-rear cover; 404-optical frame; 5-infrared thermal imaging camera; 6-visible light camera; 7-laser range finder; 8-gyro module; 9 -Tracking board; 10-main control board; 11-connecting plate; 12-stabilizing half ring; 13-roll groove; 14-positioning shaft sleeve; 1401-upper cylinder; 1402-lower cylinder; 15-spring; 16-Universal ball bearing.

Detailed ways

In order to make the purpose, usage, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be understood that the terms "upper" and "lower" are based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present invention and simplify the description. It should be noted that in the following description, The embodiments and features in the embodiments of the present invention can be combined with each other as long as the technical features do not conflict with each other.

As shown in Figure 1, the overall structural form of the three-axis photoelectric pod of the present invention is a three-axis three-frame image stabilization platform, which is installed at the lower part of the UAV. The three-axis refers to the azimuth axis, the roll axis, and the pitch axis. The three-frame refers to Outer frame, middle frame, inner frame. The three frame axes are perpendicular to each other and intersect at one point. The inner frame is rotationally connected to the middle frame, and the middle frame shaft is rotationally connected to the outer frame, forming three axis systems with three degrees of rotational freedom: inner, middle, and outer. The specific technical solution of the universal frame assembly is as follows.

As shown in Figures 2 and 3, a three-axis photoelectric pod of the present invention includes an azimuth component 1 connected to a UAV base and a rolling component 2 rotatably connected to the azimuth component 1. The rolling component The component 2 is rotatably connected to the pitch component 3, and the pitch component 3 is rotatably connected to the optical cabin 4. The axis of rotation of the azimuth component 1 is the azimuth axis, the axis of rotation of the roll component 2 is the roll axis, and the axis of rotation of the pitch component 3 is the pitch axis. The three axes of azimuth, roll and pitch are perpendicular to each other and intersect at one point, which can significantly improve the stability of the three-axis photoelectric pod during rotation.

The rotation ranges of the azimuth axis, roll axis and pitch axis mentioned above are as follows. The rotation range of the azimuth axis is -170°~+170° (taking the heading direction as 0°, the direction perpendicular to the mounting surface, and the clockwise angle as positive, Counterclockwise is negative), the pitch axis rotation range is -20°~+110°, (vertical view is considered as 0°, the nose direction is positive), the roll axis rotation range is -30°~+30° (with The horizontal direction is 0°, turning right is positive, turning left is negative). The rotation of the roll axis can enhance the stability of the pod and keep the picture stable without shaking with the aircraft. Of course, the rotation range of the above three axes is not limited to the above description. Its rotation range can also be adjusted according to actual needs.

As shown in Figures 2, 5 and 7, the azimuth component 1 includes a base connection plate 101 connected to the base of the drone and an azimuth motor fixed on the inner wall of the base connection plate 101 and connected to a conductive slip ring 104. 105. One side of the base connection board 101 is provided with an SMA dual-pass interface 102 and a high-definition interface 103, which are used to receive flight parameter data from the UAV flight control and receive load control instructions from the data link and download them with synchronization numbers. payload telemetry information. The roll assembly 2 includes an L-shaped bracket 201 with one end connected to the azimuth motor 105 and a roll motor 204 fixedly connected with the other end of the L-shaped bracket 201. The L-shaped bracket 201 has two ends that can accommodate the azimuth motor 105. and the accommodation cavity of the roll motor 204 so that the axes of the azimuth motor 105 and the roll motor 204 are perpendicular to each other. The roll motor 204 is connected to a U-shaped frame 205 , and the U-shaped frame 205 is connected to the pitch assembly 3 . The pitching assembly 3 includes a right ear 301 and a left ear 302 fixedly connected to both ends of the U-shaped frame 205. The right ear 301 and the left ear 302 are respectively provided with inner sides connected to the optical cabin 4. The tilting shaft 304 and the tilting motor 303 control the rotation of the optical cabin 4.

The lower array of the L-shaped bracket 201 is provided with a number of reinforcing ribs 202, and the cable channel 203 provided in the L-shaped bracket 201 is located inside the reinforcing ribs 202, which improves the stability of the L-shaped bracket 201 in flight. The bracket 201 can be a structure as shown in the figure, or can be an L-shaped cylindrical structure, which can reduce wind resistance during flight and rotation and improve the stability of the pod when shooting.

In a preferred embodiment, the azimuth motor 105, roll motor 204 and pitch motor 303 all use DC brushless motors, and are integrated with encoders and servo drive boards. Since the bearing in the pitch direction mainly bears radial force, and the structure has high vibration requirements, a deep groove ball bearing is used to connect the right ear 301 to reduce the risk of bearing failure due to vibration. Its installation On one side of the pitch axis 304. Since the selected motors have their own bearings, no additional bearings are needed for the azimuth motor 105, the roll motor 204, and the pitch motor 303. The above structure greatly reduces the weight of the pod, further reduces wind resistance and improves the image stabilization performance of the product. The azimuth axis, roll axis and pitch axis are perpendicular to each other and the three axes intersect at one point, ensuring the stability of the three-axis photoelectric pod during rotation. Stability, improve tracking and shooting effects.

As shown in Figures 4 and 6, in a preferred embodiment, the optical cabin 4, the right ear 301 and the left ear 302 form a spherical-like structure to reduce wind resistance during flight. The optical cabin 4 includes a front cover 401, a middle cabin 402 and a back cover 403. The front cover 401 is provided with various optical glasses, and the back cover 403 is provided with a balance block to ensure the stability of the entire optical cabin. The middle cabin 402 is equipped with an infrared thermal imager 5, a visible light camera 6, a laser range finder 7, a gyro module 8, a tracking board 9 and a main control board 10. Gyro module 8 uses a three-axis MEMS gyroscope to simultaneously detect the angular velocity and angular acceleration data of the pod around the azimuth axis, roll axis and pitch axis, so that the visual axis remains stable in three directions. The tracking board 9 is connected to the infrared thermal imaging camera 5, the visible light camera 6 and the laser range finder 7, and is used to receive tracking instructions to track or photograph the target. The main control board 10 is used to realize the functions of receiving external control command transmission and controlling the overall process of the pod, and controlling the work of the pod. The above-mentioned infrared thermal imaging camera 5, visible light camera 6, laser range finder 7, gyro module 8, tracking board 9 and main control board 10 all adopt existing structures and will not be described in detail.

As shown in Figures 8 and 9, in a preferred embodiment, a stabilizing component is connected between the azimuth component 1 and the rolling component 2. The stabilizing component includes two connecting plates 11. They are respectively connected to the right ear 301 and the left ear 302. The upper parts of the two connecting plates 11 are connected to a stabilizing half ring 12. The upper part of the stable half ring 12 is provided with a rolling groove 13. The length of the rolling groove 13 meets the requirements of the rolling assembly 2. The roll angle shall prevail. Preferably, the center position of the top of the roll groove 13 is on the axis of the azimuth component 1, and the upper end of the L-shaped bracket 201 is fixedly connected with a positioning shaft sleeve 14 coaxial with the azimuth component 1. The positioning shaft sleeve 14 includes an upper cylinder 1401 fixedly connected to the L-shaped bracket 201. The axis of the upper cylinder 1401 is coaxial with the azimuth component 1. The inner wall of the upper cylinder 1401 is slidably sleeved with a lower cylinder 1402. The upper end of the lower cylinder 1402 is connected to the top wall of the upper cylinder 1401 through a spring 15 . The universal ball 16 provided at the lower end of the positioning shaft sleeve 14 travels in the rolling groove 13 . Therefore, when the azimuth component 1 rotates, since the coaxial positioning shaft sleeve 14 is coaxial with the azimuth component 1 and its lower end is in the roll groove 13, the rotation of the azimuth component 1 can be more stable; at the same time, When the rolling assembly 2 rolls, the rolling groove 13 matches the universal ball 16 at the lower end of the positioning shaft sleeve 14. The rolling action is simultaneously limited by the rolling assembly 2 and the rolling groove 13, making the rolling action more stable and thus Ensure the stability of the three-axis photoelectric pod during rotation.

A control method for a three-axis photoelectric pod of the present invention includes the following steps:

S1: Adjust the zero position deviation of the pod's three-axis MEMS gyroscope through the drift of azimuth and pitch. The drift adjustment of the azimuth and pitch angle can be adjusted using the ground control terminal, such as a joystick or a smart terminal. This adjustment needs to be made before boarding the aircraft for flight.

S2: After the pod flies on the aircraft, the angular velocity and angular acceleration of the pod around the azimuth axis, roll axis and pitch axis are detected in real time through the three-axis MEMS gyroscope.

S3: According to the control instructions from the ground control terminal, the control instructions are sent to the main control board. The main control board issues attitude adjustment instructions according to the control instructions, and the attitude adjustment instructions are sent to the servo drive board;

S4: The servo drive board sends drive instructions to the servo motor based on the attitude adjustment instructions of the main control board and the angle data of the encoder;

S5: Feedback the adjustment results to the ground control terminal.

In step S3, the main control board issues an attitude adjustment instruction according to the control instruction, including calculating the attitude of the angular velocity and angular acceleration of the azimuth axis, roll axis, and pitch axis detected in real time in step S2 to obtain the pod's direction attitude angle. , roll attitude angle and pitch attitude angle data, and issue attitude adjustment instructions based on the position information, angular velocity and angular acceleration of the three axes.

The control instructions of the ground control terminal in step S3 include tracking instructions for the target and shooting instructions for images. When the control instruction from the ground control terminal is an image shooting instruction, the main control board issues an instruction to the laser rangefinder to obtain the target distance, and issues an instruction to the tracking board. During the shooting process, the roll axis is weakly controlled to enhance the flight process. In the stability of the pod, the target is photographed by a visible light camera or an infrared thermal imaging camera.

The preferred specific implementation modes and examples of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above-mentioned implementation modes and examples. Within the scope of knowledge possessed by those skilled in the art, other modifications may be made without departing from the present invention. Various changes or equivalent substitutions may be made without considering the inventive concept. Therefore, the present invention is not limited by the specific embodiments and implementation modes disclosed here. All embodiments falling within the scope of the claims of this application are It falls within the scope of protection of the present invention.

Claims (10)

1. The utility model provides a triaxial optoelectronic pod, include with unmanned aerial vehicle pedestal connection's azimuth subassembly (1) and with azimuth subassembly (1) roll subassembly (2) of rotating and being connected, roll subassembly (2) rotate and are connected with every single move subassembly (3), every single move subassembly (3) rotate and are connected with optical cabin (4), its characterized in that: the azimuth subassembly (1) includes base connecting plate (101) and fixes azimuth motor (105) that are connected with conductive slip ring (104) at base connecting plate (101) inner wall, roll subassembly (2) include one end with L type support (201) that azimuth motor (105) are connected and with roll motor (204) of L type support (201) other end fixed connection, roll motor (204) are connected with U type frame (205), pitch subassembly (3) include with right side ear (301) and left side ear (302) of U type frame (205) both ends fixed connection, right side ear (301) and left side ear (302) inboard be equipped with respectively with pitch pivot (304) and pitch motor (303) that optical cabin (4) are connected, optical cabin (4) including be equipped with thermal infrared imager (5), visible light camera (6), laser range finder (7), gyro module (8), tracking board (9) and main control board (10) middle cabin (402), azimuth subassembly (1), pitch subassembly and pitch subassembly (2) and three-axis and three-phase horizontal axis direction crossing each other and the mutual stability of every single-phase nacelle (3) formation.

2. The triaxial optoelectronic pod of claim 1, wherein: the bearing assembly is characterized in that a stabilizing component is connected between the bearing assembly (1) and the transverse rolling assembly (2), the stabilizing component comprises a stabilizing semi-ring (12) which is connected with a right side lug (301) and a left side lug (302) through a connecting plate and is provided with a transverse rolling groove (13), the upper end of the L-shaped support (201) is fixedly connected with a positioning shaft sleeve (14) which is coaxial with the bearing assembly (1), and a universal ball (16) arranged at the lower end of the positioning shaft sleeve (14) walks in the transverse rolling groove (13).

3. The triaxial optoelectronic pod of claim 1, wherein: the positioning shaft sleeve (14) comprises an upper cylinder body (1401) fixedly connected with the L-shaped support (201) and coaxial with the azimuth component (1) and a lower cylinder body (1402) which is in sliding sleeve connection with the upper cylinder body (1401), and the upper end of the lower cylinder body (1402) is connected with the top wall of the upper cylinder body (1401) through a spring (15).

4. The triaxial optoelectronic pod of claim 1, wherein: the gyro module (8) adopts a triaxial MEMS gyro and is used for simultaneously detecting the angular speed and the angular acceleration of the nacelle around an azimuth axis, a transverse rolling axis and a pitching axis.

5. The triaxial optoelectronic pod of claim 1, wherein: the optical cabin (4) comprises a front cover (401) for loading optical glass, a middle cabin (402) and a rear cover (403) for loading a balance weight, wherein the middle cabin (402) is provided with a thermal infrared imager (5), a visible light camera (6), a laser range finder (7), a gyro module (8), a tracking plate (9) and a main control board (10).

6. The triaxial optoelectronic pod of claim 1, wherein: the azimuth motor (105), the roll motor (204) and the pitch motor (303) all adopt DC brushless motors, and are integrated with encoders and servo drive plates.

7. The control method of the triaxial photoelectric pod is characterized by comprising the following steps of:

s1: the zero offset of the triaxial MEMS gyroscope of the nacelle is adjusted through the drifting of azimuth and pitching;

s2: after the nacelle flies on the aircraft, detecting the angular speed and the angular acceleration of the nacelle around the azimuth axis, the transverse rolling axis and the pitching axis in real time through a triaxial MEMS gyroscope;

s3: according to the control instruction of the ground control end, the control instruction is sent to the main control board, the main control board sends out an attitude adjustment instruction according to the control instruction, and the attitude adjustment instruction is sent to the servo driving board;

s4: the servo driving board sends a driving instruction to the servo motor according to the attitude adjustment instruction of the main control board and the angle data of the encoder;

s5: and feeding back the adjustment result to the ground control end.

8. The control method of the triaxial electro-optical pod according to claim 7, characterized by: in the step S3, the main control board sends out a posture adjustment instruction according to the control instruction, which includes performing posture calculation on the angular speeds and the angular accelerations of the azimuth axis, the transverse rolling axis and the pitching axis detected in real time in the step S2, obtaining the posture angle of the nacelle direction, the posture angle of the transverse rolling axis and the posture angle of the pitching axis, and sending out a posture adjustment instruction according to the position information, the angular speeds and the angular accelerations of the three axes.

9. The control method of the triaxial electro-optical pod according to claim 7, characterized by: the control instructions of the ground control end in the step S3 comprise tracking instructions of targets and shooting instructions of images.

10. The control method of the triaxial optoelectronic pod according to claim 9, characterized by: when the control instruction of the ground control end is an image shooting instruction, the main control board sends an instruction to the laser range finder to acquire a target distance, and sends an instruction to the tracking board, the visible light camera or the thermal infrared imager shoots the target, and weak control is adopted for the roll shaft in the shooting process.