CN203882199U - Wide-field-of-view imaging structure combined with stabilizing platform functions - Google Patents
Wide-field-of-view imaging structure combined with stabilizing platform functions Download PDFInfo
- Publication number
- CN203882199U CN203882199U CN201420145392.6U CN201420145392U CN203882199U CN 203882199 U CN203882199 U CN 203882199U CN 201420145392 U CN201420145392 U CN 201420145392U CN 203882199 U CN203882199 U CN 203882199U
- Authority
- CN
- China
- Prior art keywords
- wide
- roll
- field
- imaging structure
- pitch axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a wide-field-of-view imaging structure combined with stabilizing platform functions. The wide-field-of-view imaging structure comprises a base, a transverse rolling ring frame, a pitch ring frame, a transverse rolling axis motor, a pitch axis motor, a 45-degree compensating mirror and an imaging instrument. According to the wide-field-of-view imaging structure of the utility model, a stabilizing platform is arranged on the wide-field-of-view imaging structure in a combined manner; the classic PID three-loop control algorithm in the control field is adopted, so that spanwise wide-field-of-view swing scan imaging and forward image shift compensation in a flight direction can be realized; the imaging instrument is configured with the stabilizing platform, and therefore, problems such as limitations on the weight and design size of the instrument when a general stabilizing platform is utilized can be solved.
Description
Technical field
This patent relates to a kind of wide view field imaging structure, is specifically related to a kind of stable composition platform feature, can realizes the wide view field imaging structure of the sweeping imaging of the wide visual field of spanwise and heading forward direction IMC.
Background technology
Having under the prerequisite of picture element requirement, be difficult to rely on single-lens non-scanning imagery to realize wide visual field (over 30 °) imaging.In the past planar array detector technology jejune age still, obtaining of wide view field image is to adopt unit or detector array, utilizes rotating scan mirror before optical system to line by line scan and realize in spanwise.Along with the development of planar array detector technology, the mode of wide view field imaging changes thereupon.In planar array detector technology increasingly mature today, adopting planar array detector is the only way of realizing wide view field imaging in spanwise complete machine sweeping, is also the development trend in the following a very long time.At this, complete machine comprises Image-forming instrument and is placed in the mirror of turning back before optical system.
Planar array detector part can increase pixel residence time, effectively promotes signal to noise ratio (S/N ratio), but meanwhile, due to the high-speed motion of motion carrier, causes the picture point of heading to move, and brings forward direction to look like the problem of moving.To move be the key factor that affect image quality to picture, although unavoidably, facts have proved that it is feasible and effective by certain measure, compensating that picture that a variety of causes produces moves, and can increase substantially image quality.
The attitude of motion carrier changes also can affect the image quality of instrument, if Image-forming instrument is unstable, even if carry out IMC, imaging effect also can be very poor, thus first to guarantee the stable of Image-forming instrument, and stable platform has just in time met this demand.
Generally Image-forming instrument is arranged on to the attitude of isolating motion carrier on general stable platform and changes the impact that imaging is caused, Image-forming instrument is separated with stable platform.Yet general stable platform is all restricted to the weight of Image-forming instrument, design size, the general stable platform PAV30 that for example Switzerland Leica company produces, useful load is restricted to 100Kg ± 3Kg, and installation dimension is 436mm, can not meet the demand of the Image-forming instrument of Different Weight and physical dimension.
Summary of the invention
In sum, how overcoming general stable platform is this patent technical matters to be solved to the restriction of the weight of Image-forming instrument and design size.Therefore, the art of this patent solution thinking is as follows:
Wide view field imaging structure is used for realizing the wide visual field sweeping imaging of spanwise and the forward direction IMC of heading, on this basis, be compounded in wide view field imaging structure the roll attitude stabilization of stable platform and pitch attitude are stable, for Image-forming instrument configuration stable platform, efficiently solve the restriction of general stable platform to the weight of Image-forming instrument and design size.Be implemented as follows:
As shown in Figure 1, the wide view field imaging structure of stable composition platform feature, comprises pedestal 1, roll ring stand 2, pitching ring stand 3,4,45 ° of compensating glass 5 of pitch axis motor, roll spindle motor 6, and Image-forming instrument 7.
Pedestal 1 is fixed on motion carrier, roll spindle motor 6 is arranged on roll axle, roll ring stand 2 is connected with pedestal 1 by roll axle, pitch axis motor 4 is arranged on pitch axis, 45 ° of compensating glass 5 are fixed on pitch axis motor 4, pitching ring stand 3 is connected with roll ring stand 2 by pitch axis, and Image-forming instrument 7 is fixed on roll ring stand 2, forms the wide view field imaging structure of stable composition platform feature.
Utilize PID tri-ring (position ring, speed ring, the electric current loop) control algolithms (Fig. 2) of control field classics, drive pitch axis motor 4 to drive 45 ° of compensating glass 5 to realize the compound control of pitch axis, drive roll spindle motor 6 to drive roll ring stand 2 to realize the compound control of roll axle:
(1) the wide view field imaging of spanwise is controlled and required to convert to roll spindle motor position ring steering order, control roll spindle motor 6 and drive roll ring stand 2 to realize wide view field imaging in the periodically round sweeping of motion carrier spanwise;
(2) heading forward direction IMC is controlled and required to convert to pitch axis motor position ring steering order, controlling pitch axis motor 4 drives 45 ° of compensating glass 5 to make scenery pursuit movement around pitch axis, the visual field that guarantees Image-forming instrument in 45 ° of compensating glass 5 compensating motion processes just in time corresponding sweeping process toward or return, realize the forward direction IMC of heading;
(3) attitude of utilizing inertial sensor to obtain motion carrier roll direction changes, using roll attitude information as roll spindle motor position ring steering order, drive roll spindle motor 6 to drive the 2 counter motion compensation of roll ring stand, realize the attitude stabilization of motion carrier roll direction;
(4) roll axle spanwise sweeping steering order and the instruction of motion carrier roll direction pose stabilization control is compound, drive roll spindle motor 6 to drive roll ring stand 2 to realize the compound control of roll axle;
(5) attitude of utilizing inertial sensor to obtain motion carrier pitch orientation changes, using 1/2 pitch attitude information as pitch axis motor position ring steering order, drive pitch axis motor 5 to drive the 6 counter motion compensation of 45 ° of compensating glass, realize the attitude stabilization of motion carrier pitch orientation;
(6) pitch axis heading forward direction IMC steering order and the instruction of motion carrier pitch orientation pose stabilization control is compound, drive pitch axis motor 5 to drive 45 ° of compensating glass 6 to realize the compound control of pitch axis.
The advantage of this patent is:
(1) this patent applying flexible, can be for the Image-forming instrument of Different Weight and design size.
According to the weight of Image-forming instrument, the wide view field imaging structure of size design, then stable platform function is compounded in wide view field imaging structure, both the wide visual field sweeping imaging of spanwise and the forward direction IMC of heading can have been realized, for Image-forming instrument configuration stable platform, efficiently solve the restricted problem such as instruments weight and design size aspect of using general stable platform to bring again.
(2) in control method, slightly change and can be used for the constant Image-forming instrument in spanwise visual field.
The Image-forming instrument that spanwise visual field is constant, does not need to carry out sweeping control.The compound control of pitch axis is constant, cancel the compound control of roll axle, only, using the attitude information of motion carrier roll direction as roll spindle motor position ring steering order, drive roll spindle motor 6 to drive the 2 counter motion compensation of roll ring stand, realize the attitude stabilization of motion carrier roll direction.After control method is revised, when realizing heading forward direction IMC, be also the constant Image-forming instrument configuration stable platform in spanwise visual field.
Accompanying drawing explanation
Fig. 1 is the wide view field imaging structure of stable composition platform feature, wherein: 1. pedestal; 2. roll ring stand; 3. pitching ring stand; 4. roll spindle motor; 5. pitch axis motor; 6.45 ° compensating glass; 7. Image-forming instrument.
Fig. 2 is the compound control schematic diagram of PID tri-ring.
Embodiment
A better example that provides this patent below in conjunction with Fig. 1, is mainly described in further detail, but not is used for limiting the scope of this patent:
This patent is applied to face battle array imager, and spanwise requires to realize the wide view field imaging of 55 °.Size design roll ring stand according to face battle array imager, is fixed on imager on roll ring stand, and then design pedestal, selects aluminum alloy materials processing pedestal and roll ring stand.Select flat glass mirror as 45 ° of compensating glass, select swing angle type voice coil motor as the motor of roll axle and pitch axis, 45 ° of compensating glass and pitch axis voice coil motor composition pitching ring stand.
PID tri-ring (position ring, speed ring, the electric current loop) control algolithms that adopt control field classics, drive roll axle voice coil motor to drive roll ring stand, and the pose stabilization control of the wide visual field sweeping imaging control of spanwise and roll direction is compound; Drive pitch axis voice coil motor to drive 45 ° of compensating glass, the forward direction IMC of heading is controlled with the pose stabilization control of pitch orientation compound, can realize stable composition platform feature, in spanwise, carry out 55 ° wide visual field sweeping imagings and with the face battle array imager of heading forward direction IMC.
Claims (1)
1. the wide view field imaging structure of a stable composition platform feature, it comprises pedestal (1), roll ring stand (2), pitching ring stand (3), pitch axis motor (4), 45 ° of compensating glass (5), roll spindle motor (6) and Image-forming instrument (7), it is characterized in that, pedestal (1) is fixed on motion carrier, roll spindle motor (6) is arranged on roll axle, roll ring stand (2) is connected with pedestal (1) by roll axle, pitch axis motor (4) is arranged on pitch axis, 45 ° of compensating glass (5) are fixed on pitch axis motor (4), pitching ring stand (3) is connected with roll ring stand (2) by pitch axis, Image-forming instrument (7) is fixed on roll ring stand (2), form the wide view field imaging structure of stable composition platform feature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420145392.6U CN203882199U (en) | 2014-03-28 | 2014-03-28 | Wide-field-of-view imaging structure combined with stabilizing platform functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420145392.6U CN203882199U (en) | 2014-03-28 | 2014-03-28 | Wide-field-of-view imaging structure combined with stabilizing platform functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203882199U true CN203882199U (en) | 2014-10-15 |
Family
ID=51682680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420145392.6U Expired - Fee Related CN203882199U (en) | 2014-03-28 | 2014-03-28 | Wide-field-of-view imaging structure combined with stabilizing platform functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203882199U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914083A (en) * | 2014-03-28 | 2014-07-09 | 中国科学院上海技术物理研究所 | Wide view field imaging structure for recombining stabilized platform functions and control method thereof |
| CN104991572A (en) * | 2015-06-02 | 2015-10-21 | 中国科学院上海技术物理研究所 | Variable-angle hyperspectral imaging system based on posture stability and control method of said system |
| CN107920196A (en) * | 2016-10-08 | 2018-04-17 | 哈尔滨新光光电科技有限公司 | A kind of three closed loop servo systems stabilisations for gondola camera lens |
-
2014
- 2014-03-28 CN CN201420145392.6U patent/CN203882199U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914083A (en) * | 2014-03-28 | 2014-07-09 | 中国科学院上海技术物理研究所 | Wide view field imaging structure for recombining stabilized platform functions and control method thereof |
| CN103914083B (en) * | 2014-03-28 | 2017-05-03 | 中国科学院上海技术物理研究所 | Wide view field imaging structure for recombining stabilized platform functions and control method thereof |
| CN104991572A (en) * | 2015-06-02 | 2015-10-21 | 中国科学院上海技术物理研究所 | Variable-angle hyperspectral imaging system based on posture stability and control method of said system |
| CN107920196A (en) * | 2016-10-08 | 2018-04-17 | 哈尔滨新光光电科技有限公司 | A kind of three closed loop servo systems stabilisations for gondola camera lens |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103914083A (en) | Wide view field imaging structure for recombining stabilized platform functions and control method thereof | |
| US20160327847A1 (en) | Self-balance tripod head for gyroscope | |
| US10047905B2 (en) | Gimbal and unmanned aerial vehicle including the same | |
| US20170002975A1 (en) | Motor mounting structure in pan-tilt device | |
| US8896697B2 (en) | Video motion compensation and stabilization gimbaled imaging system | |
| US11140332B2 (en) | Imaging control method, imaging device and unmanned aerial vehicle | |
| EP2919064A1 (en) | Stabilizer for a photographing apparatus and a control method for such a stabilizer | |
| CN109951631B (en) | System and method for image stabilization for image capture | |
| CN103471566B (en) | Scanning mechanism applied to aerial camera | |
| CN105763790A (en) | Video System For Piloting Drone In Immersive Mode | |
| CN105045275B (en) | A kind of IMC method of the IMC structure based on the tracking of the real-time optical axis | |
| CN203882199U (en) | Wide-field-of-view imaging structure combined with stabilizing platform functions | |
| US20200133101A1 (en) | Control method for gimbal, controller, and gimbal | |
| CN102354053B (en) | Flyback optical system and method for eliminating image blurring | |
| US20150168722A1 (en) | Apparatus and method for controlling position of display in wearable device | |
| US11272105B2 (en) | Image stabilization control method, photographing device and mobile platform | |
| CN105501454A (en) | Mini-sized pod | |
| WO2020019331A1 (en) | Method for height measurement and compensation by barometer, and unmanned aerial vehicle | |
| CN104176265A (en) | Overturnable bracket system for panoramic camera of unmanned aerial vehicle | |
| CN103792957A (en) | Light two-freedom-degree camera stabilized platform device | |
| CN104865972A (en) | Image motion compensation structure based on real-time visual axis tracking | |
| US11711612B2 (en) | Imaging support device, imaging apparatus, imaging system, imaging support system, imaging support method, and program | |
| JP2008244893A (en) | Imaging space stabilizing device and object tracking device | |
| CN104991572A (en) | Variable-angle hyperspectral imaging system based on posture stability and control method of said system | |
| CN204350179U (en) | A kind of gyro steady picture rotation table device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141015 Termination date: 20170328 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |