CN202452059U

CN202452059U - Gyroscope stable holder

Info

Publication number: CN202452059U
Application number: CN2012200131837U
Authority: CN
Inventors: 曲国福; 吴捷; 任哲
Original assignee: XI'AN RUITE MEASUREMENT CONTROL TECHNOLOGY CO LTD
Current assignee: XI'AN RUITE MEASUREMENT CONTROL TECHNOLOGY CO LTD
Priority date: 2012-01-12
Filing date: 2012-01-12
Publication date: 2012-09-26
Anticipated expiration: 2022-01-12

Abstract

The utility model discloses a gyroscope stable holder, which comprises a working platform part, a serial-inertial-navigation module and a control system, wherein the working platform comprises a suspension cabin substrate which is installed on a movable carrier, the suspension cabin substrate is sequentially connected downwards with a shock absorber, a gyroscope, an orientation motor, an orientation measuring angle and an orientation shaft, the orientation shaft is provided with a horizontal pitch axle, a camera is sleeved on the pitch axle, and two ends of the pitch axle are respectively connected with a pitch measuring angle and a pitch motor; and the structure of the control system is as follows: a central controller is respectively and simultaneously connected with the serial-inertial-navigation module, a communication interface, the orientation measuring angle, the pitch measuring angle, an orientation motor drive module, a pitch motor drive module, a power supply module and a storage device. The gyroscope stable holder has stable state, any orientation control of the holder can be realized, the automatic all-weather image collection can be realized, and good application value and prospect can be realized.

Description

The gyrostabilization The Cloud Terrace

Technical field

The utility model belongs to the The Cloud Terrace technical field of dynamic imaging, is a kind ofly under dynamic condition, can control automatically and increase steady The Cloud Terrace, is specifically related to a kind of gyrostabilization The Cloud Terrace.

Background technique

The prior electric The Cloud Terrace is applicable to scene is on a large scale carried out scanning monitoring that it can enlarge the monitoring range of vidicon camera.The high speed attitude of electric platform is to be realized by two operating motors; Motor accepts the signal of self-controller accurately to move the location; Under the effect of control signal; But the vidicon camera on the The Cloud Terrace is the automatic scan monitor area both, also can under the operator on duty's of Surveillance center manipulation, trace and monitor object.But; In a lot of occasions; Image forming machine is installed in as on vehicle, ship, the first-class removable carrier of flying body; Camera lens can depart from the predetermined picture collection position because of the change of carrier positions, and under the situation that the monitoring personnel also can not monitor in real time, will become difficulty to the IMAQ in specified position or orientation.

Summary of the invention

The purpose of the utility model provides a kind of gyrostabilization The Cloud Terrace, has solved that image forming machine is installed on the removable carrier in the existing technology, is under the current intelligence, can not aim at the appointment orientation automatically, exists the not enough problem of the IMAQ in specified position or orientation.

The technological scheme that the utility model adopted is, a kind of gyrostabilization The Cloud Terrace comprises the working platform part, based on the inertial navigation module and the control system of MEMS technology,

The structure of said working platform is; Comprise the gondola pedestal that is installed on the removable carrier, the gondola pedestal is connected with vibration damper downwards, and the vibration damper lower end is connected with gyro; Gyro is connected with azimuth axis through azimuth-drive motor, orientation angle measurement downwards successively; The elevation axis of level is installed between two arm lower ends of azimuth axis, is set with camera on the elevation axis, two terminations of elevation axis are connected with pitching angle measurement and pitching motor respectively;

The structure of said control system is; Comprise that central control unit is connected with inertial navigation module, communication interface, orientation angle measurement and pitching angle measurement, azimuth-drive motor driver module and pitching motor driver module, power module and storage respectively simultaneously; Power supply is connected power module with pitching motor with azimuth-drive motor simultaneously; The azimuth-drive motor driver module is connected with azimuth-drive motor, orientation angle measurement successively, and the pitching motor driver module is connected with pitching motor, pitching angle measurement successively.

The beneficial effect of the utility model is that the design of employing vibration damping structure in conjunction with the angle information of inertial navigation output, is added the relative angle information of two position encoders outputs; Realize step motor drive, realize any sensing control of The Cloud Terrace, general arrangement is simple; Reliable and stable, it is few to constitute device, and cost is low; Volume is little, and antijamming capability is strong, can satisfy dissimilar carrier requirements; Versatility is better, and this The Cloud Terrace can not only be to the IMAQ in specified position or orientation, and can adjust the function that current lens location is realized automatic alignment orientation automatically; Can be used in unmanned control platform, realize full-automatic round-the-clock IMAQ, have excellent application value and prospect.

Description of drawings

Fig. 1 is the mechanical structure schematic representation of the utility model gyrostabilization The Cloud Terrace;

Fig. 2 is the structural representation of the control system in the utility model device;

Fig. 3 is the working principle block diagram of the inertial navigation module in the utility model device.

Among the figure, 1. gondola pedestal, 2. vibration damper, 3. azimuth-drive motor, 4. orientation angle measurement, 5. azimuth axis; 6. camera, 7. pitching angle measurement, 8. elevation axis, 9. pitching motor, 10. gyro, 11. central control units; 12. power module, 13. inertial navigation modules, 14. storagies, 15. communication interfaces, 16. azimuth-drive motor driver modules, 19. pitching motor driver modules; 20.A/D transducer, 21. navigational computers, 22. three-axis gyroscopes, 23. three axis accelerometers, 24. 3 temperature transducers.

Embodiment

Below in conjunction with accompanying drawing and embodiment the utility model is elaborated.

The gyrostabilization The Cloud Terrace of the utility model comprises working platform part, based on the inertial navigation module and the control system of MEMS technology.

With reference to Fig. 1, the structure of working platform is to comprise the gondola pedestal 1 that is installed on the removable carrier; Gondola pedestal 1 is connected with vibration damper 2 downwards; Vibration damper 2 lower ends are connected with gyro 10, and gyro 10 is connected with azimuth axis 5 through azimuth-drive motor 3, orientation angle measurement 4 downwards successively, and the elevation axis 8 of level is installed between 5 two arm lower ends of azimuth axis; Be set with camera 6 (load) on the elevation axis 8, two terminations of elevation axis 8 are connected with pitching angle measurement 7 and pitching motor 9 respectively.Vibration damper 2 is formed around the equally distributed vibration isolator of circumference by 4.

With reference to Fig. 2; The structure of control system is; Comprise that central control unit 11 (CPU) is connected with the storage 14 that is used to store data and program with the power module 12 of the communication interface of inertial navigation module 13, RS485 15, two angle measurement modules (orientation angle measurement 4 and pitching angle measurement 7), two motor drive modules (azimuth-drive motor driver module 16 and pitching motor driver module 19) and self need of work respectively simultaneously; Power module 12 is except supplying power to returning two stepper motors (azimuth-drive motor 3 and pitching motor 9) the central control unit power supply; Azimuth-drive motor driver module 16 is connected with azimuth-drive motor 3, orientation angle measurement 4 successively; Pitching motor driver module 19 is connected with pitching motor 9, pitching angle measurement 7 successively, and motor drive module direct control step driven by motor load under the instruction of central control unit is rotated.

With reference to Fig. 3; The concrete structure of inertial navigation module 13 is; Comprise three-axis gyroscope 22 (model is the MEMS gyroscope), three axis accelerometer 23 (model is a mems accelerometer) and three temperature transducers 24; Three-axis gyroscope 22, three axis accelerometer 23, three temperature transducers 24 are connected with 16 A/D converter 20 input ends simultaneously; A/D converter 20 output terminals resolve computer (being called for short navigational computer 21 (DSP)) with strapdown and are connected, and navigational computer 21 externally connects through communication bus RS422.Navigational computer 21 is attached troops to a unit has the Flash of oneself, Watchdog, SRAM and power supply.

The inertial navigation module is based on the MEMS technology, and the inertial navigation module is resolved puocessing module, GPS receiving machine, power module, housing and navigational computer by high-precision MEMS technological Inertial Measurement Unit, three betwixt mountains magnetic quantity transducers, signal and formed.

With reference to Fig. 3; Three dimensional angular speed, linear acceleration signal and three betwixt mountains magnetic quantity transducers by the inertial measurement component sensitive carrier; Carry out strapdown and resolve through resolving navigational computer (DSP) in the puocessing module, position, speed, course and the attitude angle information of carrier is provided in real time; Position and velocity information through Kalman filtering combined GPS are revised the error that strapdown resolves, and guarantee the precision and the reliability of system, give central control unit through RS422 bus outgoing position, speed, angle and angular velocity information.

In the central control unit circuit; Adopt central processing element, gather the data that the inertial navigation module is sent, through coordinate system transformation; Obtain two axial side-play amounts; The relative angle information that combines the angle measurement module output on two axles of The Cloud Terrace again, and then, realize confirming of image forming machine position of platform to two stepper motor sending controling instructions; The angular velocity information that utilizes inertial navigation to record simultaneously, as the speed ring of Electric Machine Control, when The Cloud Terrace vibrated or mechanical disturbance after, increase the stability of control.

When device work; Because the high vibration that mobile carrier is produced in movement process can make image blur; Therefore be provided with vibration damper 2 specially; So photoelectric nacelle integral body is sitting on 4 equally distributed vibration isolators, realize the photoelectric nacelle integral vibration isolation on gondola and pedestal that the moving carrier fuselage is connected its position.

The Cloud Terrace partly is diaxon (azimuth axle and elevation axis system) control gear, and wherein azimuth axle is driven by azimuth-drive motor, and the axial position feedback adopts orientation angle measurement module; Elevation axis is that pitching motor is equipped with in end pitching driving, and the other end is then installed the angle measurement module.The mode biggest advantage that adopts stepper motor directly to drive is a faster system response.

Utilize 16 A/D converter and analog multiplexer that the output of three gyroscopes, three acceleration transducers and three temperature transducers is sampled; Obtain digital signal; Digital signal is sent among the DSP; By Digital Signal Processing (DSP) technology each sensor is carried out noise reduction, temperature correction, gamma correction, cross-couplings compensation and strapdown and resolve, finally export position, speed, three-dimensional perspective, three dimensional angular speed and the three-dimensional line acceleration of gondola with digital quantity in real time through the RS422 interface.

The control principle of master controller is; After power module 12 receives outside power supply; Carry out processing such as rectification, pressure limiting, denoising, be divided into the three-way power signal, the one tunnel is to two stepper motors and position feedback power supply; Voltage swing depends on two stepper motors and the model of the encoder of position feedback information is provided, is generally 12V or 24V; Another road is to the inertial navigation power supply, is generally 5V; Third Road is to central control unit CPU power supply, is generally 3.3V.Central control unit carries out coordinate position and changes the scheduling algorithm processing after obtaining sensor signal in real time, obtains position offset; Walk through the control step motor, realize transient equiliblium and provide the encoder of position feedback information to realize closed loop control, storage is used for storing the parameter information of a plurality of positions of setting; Be used to read and write the position of having set, make things convenient for the switching between all directions position, communication interface is to open the human-computer interaction interface interface of coming out; With upper machine communication; The transmitting-receiving control command is selected the various control pattern, realizes comprehensive multi-functional use.

Claims

1. gyrostabilization The Cloud Terrace, its characteristics are: comprise the working platform part, based on the inertial navigation module and the control system of MEMS technology,

The structure of said working platform is; Comprise the gondola pedestal (1) that is installed on the removable carrier; Gondola pedestal (1) is connected with vibration damper (2) downwards; Vibration damper (2) lower end is connected with gyro (10), and gyro (10) is connected with azimuth axis (5) through azimuth-drive motor (3), orientation angle measurement (4) downwards successively, and the elevation axis (8) of level is installed between (5) two arm lower ends of azimuth axis; Be set with camera (6) on the elevation axis (8), two terminations of elevation axis (8) are connected with pitching angle measurement (7) and pitching motor (9) respectively;

The structure of said control system is; Comprise that central control unit (11) is connected with inertial navigation module (13), communication interface (15), orientation angle measurement (4) and pitching angle measurement (7), azimuth-drive motor driver module (16) and pitching motor driver module (19), power module (12) and storage (14) respectively simultaneously; Power supply is connected power module (12) with pitching motor (9) with azimuth-drive motor (3) simultaneously; Azimuth-drive motor driver module (16) is connected with azimuth-drive motor (3), orientation angle measurement (4) successively, and pitching motor driver module (19) is connected with pitching motor (9), pitching angle measurement (7) successively.

2. gyrostabilization The Cloud Terrace according to claim 1; Its characteristics are: the structure of described inertial navigation module (13) is; Comprise three-axis gyroscope (22), three axis accelerometer (23) and three temperature transducers (24); Three-axis gyroscope (22), three axis accelerometer (23), three temperature transducers (24) are connected with A/D converter (20) input end simultaneously, and A/D converter (20) output terminal is connected with navigational computer (21), and navigational computer (21) externally connects through communication bus RS422.

3. gyrostabilization The Cloud Terrace according to claim 1, its characteristics are: described vibration damper (2) is formed around the equally distributed vibration isolator of circumference by 4.