CN-121994117-A - Load six-degree-of-freedom measurement assembly and method in photoelectric stabilized platform

CN121994117ACN 121994117 ACN121994117 ACN 121994117ACN-121994117-A

Abstract

The application provides a six-degree-of-freedom measuring assembly and a six-degree-of-freedom measuring method for a load seat in an optoelectronic stabilized platform, which comprise an outer frame, a flexible supporting piece and an optical load which are sequentially connected from outside to inside, wherein a plurality of displacement sensors are arranged on the outer frame, each displacement sensor comprises a differential probe and a signal resolving circuit which are mutually connected, a plurality of measured target blocks are arranged on the optical load, each measured target block is arranged between the differential probes, the signal resolving circuit outputs excitation to the differential probes, meanwhile, the differential probes are acquired for signal change, when the optical load is subjected to gesture change, the measured target blocks are subjected to position change relative to the differential probes, the differential probes are caused to output signal change, the signal resolving circuit acquires output signals of the differential probes, the distance change condition of the measured target blocks relative to the differential probes is resolved, and according to the measurement values of the displacement sensors distributed at different positions, a decoupling calculation equation is given by combining a measuring method, and the gesture information of 6 degrees of freedom of the optical load can be resolved.

Inventors

JIANG SHIZHOU
LI FUZHENG
LI TAO
WANG HUILIN
CHENG GANG
XU FEIFEI
CHEN MING
CHEN YUYANG
FENG TAO
ZHOU FAN
BAI TAOYAN

Assignees

西安应用光学研究所

Dates

Publication Date: 20260508
Application Date: 20251219

Claims (8)

1. The six-degree-of-freedom measuring assembly for the internal load of the photoelectric stabilized platform is characterized by comprising an outer frame, a flexible supporting piece and an optical load which are sequentially connected from outside to inside, wherein a displacement sensing assembly is arranged on the outer frame and comprises a plurality of displacement sensors, each displacement sensor comprises a differential probe and a signal resolving circuit which are mutually connected, a plurality of measured target blocks are arranged on the optical load and are arranged between the differential probes, the signal resolving circuit outputs excitation to the differential probes and acquires signal changes of the differential probes, when the optical load changes relative to the outer frame, the position of the measured target blocks changes relative to the differential probes, the signal resolving circuit acquires output signals of the change of the differential probes, the distance change condition of the measured target blocks relative to the differential probes is resolved, and according to the measured values of the differential probes distributed at different positions, a decoupling calculation equation is given by combining a measuring method, and the attitude information of the optical load with 6 degrees of freedom can be resolved.
2. The six degree of freedom measurement assembly of claim 1 wherein the differential probes are 6, respectively a first probe, a second probe, a third probe, a fourth probe, a fifth probe, and a sixth probe, the measured target blocks are 3, respectively a first target block, a second target block, and a third target block, the first target block is disposed between the first probe and the second probe, the second target block is disposed between the third probe and the fourth probe, and the third target block is disposed between the fifth probe and the sixth probe.
3. The six degree of freedom measurement assembly of claim 2 wherein in a zero position the first probe is perpendicular to the first target block surface, the second probe is perpendicular to the first target block surface, the first target block head is disposed in the first probe intermediate position, the first target block head is disposed in the second probe intermediate position, the third probe is perpendicular to the second target block surface, the fourth probe is perpendicular to the second target block surface, the second target block head is disposed in the third probe intermediate position, the second target block head is disposed in the fourth probe intermediate position, the fifth probe is perpendicular to the third target block surface, the sixth probe is perpendicular to the third target block surface, the third target block head is disposed in the fifth probe intermediate position, and the third target block head is disposed in the sixth probe intermediate position.
4. A six degree-of-freedom measurement assembly according to claim 3 wherein the measured face area is greater than or equal to three times the differential probe face area.
5. The six degree-of-freedom measurement assembly of any one of claims 1-4 wherein the displacement sensor is a single-sided sensor, a differential eddy current sensor, or an inductive sensor.
6. A method corresponding to the six-degree-of-freedom measuring assembly of any one of claims 1 to 5, comprising the steps of establishing an optical load coordinate system and an outer frame coordinate system, constructing a mathematical model between an output signal of a displacement sensor and six-degree-of-freedom information of the optical load based on the optical load coordinate system and the outer frame coordinate system, and calculating the six-degree-of-freedom information of the optical load by adopting linear approximation according to the mathematical model.
7. The method of claim 6, wherein the optical load coordinate system is The outer frame coordinate system is In the initial state, the position of the coordinate point of the first probe is expressed as T01% , , ) The position of the coordinate point of the second probe is expressed as T02# , , ) The position of the coordinate point of the third probe is expressed as T03 # , , ) The position of the coordinate point of the fourth probe is expressed as T04# , , ) The position of the coordinate point of the fifth probe is expressed as T05% , , ) The position of the coordinate point of the sixth probe is expressed as T06 # , , ) After the optical load moves, the translation along three coordinate axes is% , , ) The rotation angles around three axes are (alpha, beta, gamma), and the position of the coordinate point of the first probe is expressed as T11% , , ) The position of the second probe coordinate point is expressed as T12 (x 12 ,y 12 ,z 12 ), and the position of the third probe coordinate point is expressed as T13# , , ) The position of the coordinate point of the fourth probe is expressed as T14# , , ) The position of the coordinate point of the fifth probe is expressed as T15# , , ) The position of the coordinate point of the sixth probe is expressed as T16# , , ) The mathematical model is: wherein D1-D6 are output signal variation amounts of the first eddy current sensor-sixth eddy current sensor.
8. The method of claim 7, wherein the mathematical model is simplified using the linear approximation calculation to obtain a simplified mathematical model decoupling solution equation: solving the simplified mathematical model to obtain a 6-degree-of-freedom attitude value of the optical load , , Α, β, γ ], the linear approximation calculation being a linear approximation calculation of sine and cosine functions over a small angular range.

Description

Load six-degree-of-freedom measurement assembly and method in photoelectric stabilized platform Technical Field The application relates to the technical field of precision mechanical measurement, in particular to a six-degree-of-freedom measurement assembly and method for loads in a photoelectric stabilized platform. Background The photoelectric stabilized platform mostly adopts a frame stabilization mode, such as a two-axis four-frame mode, so that the functions of stabilizing the visual axis of the load photoelectric system, searching and tracking targets and the like are realized. With the requirement of improving the performance of the photoelectric system, the traditional frame stabilizing structure occupies excessive internal space of the photoelectric stabilizing platform, and the effective load ratio of the optical component is difficult to improve. The unit develops a novel photoelectric stabilizing device of a flexible ring frame to replace a traditional two-shaft four-frame photoelectric stabilizing platform, four bidirectional voice coil motors are driven, a flexible support is used for replacing traditional rigid connection, and no fixed physical shafting exists, so that the internal optical load is relatively external frame, and three-shaft translation and three-shaft rotation can be generated. The rotary transformer or the photoelectric encoder for the traditional frame stabilizing structure cannot meet the position and posture measurement of the novel photoelectric device. Currently, in multi-degree-of-freedom measurement, an optical measurement method is mostly adopted. For example, in CN202311227485.3, a diode laser and a PSD spot micro-displacement measurer are used to implement six degrees of freedom measurement of the photoelectric device. The optical solution has the advantage that the measurement angle can be given directly and that one detector can perform both angle measurements. However, in order to ensure the measurement accuracy and stability, the volumes and weights of the diode laser and the PSD detector are difficult to reduce, and the optical adjustment process is complex. It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention The application provides a six-degree-of-freedom measuring assembly and a six-degree-of-freedom measuring method for loads in an optoelectronic stabilization platform. The application discloses an internal-load six-degree-of-freedom measuring assembly of an optoelectronic stabilized platform, which comprises an outer frame, a flexible supporting piece and an optical load, wherein the outer frame, the flexible supporting piece and the optical load are sequentially connected from outside to inside, a displacement sensing assembly is arranged on the outer frame, the displacement sensing assembly comprises a plurality of displacement sensors, the displacement sensors comprise differential probes and signal solving circuits which are mutually connected, a plurality of measured target blocks are arranged on the optical load, the measured target blocks are arranged between the differential probes, the differential probes are connected with the signal solving circuits, the signal solving circuits output excitation to the differential probes, meanwhile, the differential probes are used for acquiring signal changes, when the optical load is subjected to gesture changes, the position of the measured target blocks relative to the differential probes is changed, the signal solving circuits acquire output signals of the differential probe changes, the distance change situation of the measured target blocks is solved, and the gesture information of the optical load 6-degree-of-freedom can be obtained by combining the measuring method with the measuring values of the displacement sensors distributed at different positions. Specifically, a plurality of measured target blocks are fixedly connected to the optical load, as shown in fig. 1a, b and c, the measured target blocks are cuboid aluminum blocks with smooth surfaces, the measured surface area requirement of the aluminum blocks is more than or equal to three times of the surface area of the differential probe, the thickness is not less than the diameter (circular probe) or the length (square probe) of the probe surface of the displacement sensor, the measured target blocks are arranged between the differential probes, two measured surfaces of each measured target block are perpendicular to the corresponding differential probes, a certain interval is kept, and when the measured target blocks are the same as the corresponding differential probes in interval, the measured target blocks are zero positions. When the posture of the optical load relative to the outer frame chan