CN116534291B - Reusable optical calibration hatch cover mechanism and satellite remote sensing camera calibration system - Google Patents
Reusable optical calibration hatch cover mechanism and satellite remote sensing camera calibration system Download PDFInfo
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- CN116534291B CN116534291B CN202310815413.4A CN202310815413A CN116534291B CN 116534291 B CN116534291 B CN 116534291B CN 202310815413 A CN202310815413 A CN 202310815413A CN 116534291 B CN116534291 B CN 116534291B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The application relates to the technical field of remote sensing satellite on-orbit calibration, in particular to a reusable optical calibration hatch cover mechanism, which comprises a driving assembly, a speed reducer, a base assembly, a hatch cover mechanism shafting, a sensor assembly and a calibration hatch cover plate; the output end of the driving assembly is connected with the input end of the speed reducer, the hatch cover mechanism shafting comprises a rotating shaft, the two ends of the rotating shaft are respectively a driving end and a traveling end, the output end of the speed reducer is connected with the driving end, one end of the calibration hatch cover is arranged at the traveling end, and the driving assembly, the speed reducer assembly and the sensor assembly are arranged on the base assembly; the sensor component comprises a sensor and is arranged corresponding to the swimming end and is used for sensing the angular position of the shafting of the hatch cover mechanism; the base component is installed on the camera frame, and the calibration hatch board is arranged corresponding to the hatch, so as to control the opening and closing of the hatch. The device can be repeatedly used, can be controlled to be opened and closed at will, does not need to be replaced again after the ground test is finished, has low research and development cost, and can not influence the reliability of the system.
Description
Technical Field
The application relates to the technical field of remote sensing satellite on-orbit calibration, in particular to a reusable optical calibration hatch cover mechanism, a satellite remote sensing camera calibration system and a use method.
Background
According to the overall design requirement of the remote sensing satellite, the satellite remote sensing camera calibration system needs to perform high-precision on-orbit calibration, and is provided with an optical calibrator which is matched with a pointing mirror and a hatch cover mechanism to perform on-orbit spectrum calibration and radiation calibration. According to the signal identification of satellite shadow, the calibration of the cameras is carried out in sequence: the directing mirror directs to the diffuse reflection plate, the calibration hatch cover mechanism is opened, solar atmospheric absorption profile data are obtained, and data of direct irradiation of the sun on the diffuse reflection plate under different integration time are obtained; and closing the calibration hatch mechanism to obtain the dark level under different integration time.
The sunlight led in from the opening (namely the hatch) of the optical scaler is reflected by the diffuse reflection plate, and then radiant energy is collected by the directing mirror, so that on-orbit sunlight spectrum scaling and radiation scaling are realized; in order to ensure the long-term calibration precision requirement of a satellite remote sensing camera calibration system, a diffuse reflection plate is adopted to monitor the on-orbit attenuation condition of a specific radiometer.
The satellite will be subjected to static and dynamic loads transmitted by the launch vehicle in the launch state, and the camera protective cover (i.e. the calibration hatch) needs to be closed firmly during the launch phase to prevent the protective cover from being opened by vibrations or causing damage directly to the mechanism in the launch state. In general, the protective cover plate is locked by adopting a device such as a firer locking mechanism or a hot knife, and is unlocked and released after entering the rail.
At present, the protection cover plate is locked by adopting a device such as a firer locking mechanism or a hot knife, and is unlocked and released after entering a rail. The biggest disadvantage is that the initiating explosive device or the hot knife can be unlocked to generate great impact, and the scaling system is greatly influenced; the initiating explosive device or the hot knife unlocking device is a disposable unlocking device, after the ground test is finished, the device needs to be replaced again, the research and development cost is high, and the state change exists after the device replacement, so that the system reliability is influenced.
Disclosure of Invention
The application aims to provide a reusable optical calibration hatch cover mechanism which does not generate impact to greatly influence a satellite remote sensing camera calibration system, can be reused, can be controlled to be opened and closed at will, does not need to be replaced again after ground test is finished, has lower research and development cost and does not influence the reliability of the system.
The application further aims to provide a satellite remote sensing camera calibration system which can not generate impact to have great influence on the satellite remote sensing camera calibration system, can be reused, can be controlled to be turned on or off at will, does not need to be replaced after the ground test is finished, has lower research and development cost, and can not influence the reliability of the system.
The application also aims to provide a using method of the satellite remote sensing camera calibration system, which does not generate impact to have great influence on the satellite remote sensing camera calibration system, can be used repeatedly, can be used for controlling on-off at will, does not need to be replaced after the ground test is finished, has lower research and development cost, and does not influence the reliability of the system.
The technical scheme of the application is realized as follows:
a reusable optical calibration hatch mechanism for use in a satellite remote sensing camera calibration system comprising a camera frame having a hatch capable of accessing sunlight comprising a drive assembly, a decelerator, a base assembly, a hatch mechanism shafting, a sensor assembly and a calibration hatch plate;
the output end of the driving assembly is connected with the input end of the speed reducer, the hatch cover mechanism shafting comprises a rotating shaft, two ends of the rotating shaft are respectively a driving end and a traveling end, the output end of the speed reducer is connected with the driving end, one end of the calibration hatch cover is arranged at the traveling end, and the driving assembly, the speed reducer assembly and the sensor assembly are arranged on the base assembly;
the sensor assembly comprises a sensor, wherein the sensor is arranged corresponding to the moving end and is used for sensing the angular position of the shafting of the hatch cover mechanism;
the base component is installed on the camera frame, and the calibration hatch board and the hatch are correspondingly arranged so as to control the opening and closing of the hatch.
Further, the drive assembly includes a stepper motor and a motor adapter;
the calibration hatch cover plate comprises a hatch cover mounting support, a motor mounting seat and a sensor mounting seat;
the stepping motor is arranged on the motor mounting seat, an output shaft of the stepping motor is connected with the input end of the speed reducer through the motor adapter, the hatch cover mounting support is arranged on the camera frame, and the sensor is arranged on the sensor mounting seat.
Further, the speed reducer is a harmonic speed reducer, and the harmonic speed reducer comprises a wave generator, a rigid gear, a flexible gear and a flexible gear connecting piece;
the base assembly further comprises a rigid wheel support;
the output shaft of the stepping motor is connected with the wave generator through the motor adapter, the rigid gear is mounted on the rigid gear support, and the flexible gear is connected with the driving end through the flexible gear adapter.
Further, the hatch cover mechanism shafting also comprises a driving end bearing group, a driving end bearing support, a traveling end bearing group, a traveling end bearing sleeve and a traveling end bearing support;
the base assembly further comprises a shafting mounting support;
the driving end bearing group comprises an angular contact bearing or at least two angular contact bearings which are coaxially arranged, and is arranged on the driving end bearing support;
the free end bearing group comprises an angular contact bearing or at least two angular contact bearings which are coaxially arranged, and the free end bearing sleeve is sleeved on the outer side of the free end bearing group and is arranged on the free end bearing support;
the rotating shaft is arranged on the driving end bearing group in a penetrating manner and the moving end bearing group in a penetrating manner;
the driving end bearing support and the traveling end bearing support are jointly mounted on the shafting mounting support.
Further, the camera frame also comprises a locking mechanism, wherein the locking mechanism is used for locking and fixing the calibration hatch cover plate and the camera frame.
Further, the locking mechanism comprises a ball pin assembly, a pair of oppositely arranged electromagnetic valves and an electromagnetic valve mounting support for mounting the pair of electromagnetic valves;
the ball pin assembly includes: the device comprises a ball pin support, a ball pin rotating shaft, a ball pin torsion spring, a ball pin rod and a ball pin;
the solenoid valve includes: solenoid valve coil, card bamboo shoot reset spring, case, draw-in groove and case reset spring;
the ball pin support is arranged at the other end of the calibration cabin cover plate, and a pair of oppositely arranged electromagnetic valves are arranged on the camera frame through the electromagnetic valve mounting support;
one end of the ball pin rod is rotationally connected with the ball pin support through the ball pin rotating shaft, the ball pin torsion spring is connected between the ball pin rod and the ball pin support, and the other end of the ball pin rod is connected with the rod part of the ball pin;
the valve core is provided with the clamping groove, when the solenoid valve coils of the two solenoid valves are in a power-off state, the clamping shoot reset springs and the valve core reset springs are in a compression state, the clamping shoots are propped in the clamping groove, and the two oppositely arranged valve cores can synchronously run and are used for clasping the spherical heads of the ball pins.
Further, the ball pin assembly further comprises an adjusting assembly, and the adjusting assembly is used for adjusting an included angle between the rod part at the other end of the ball pin rod and the ball pin.
Further, the adjusting component comprises a U-shaped bracket and a pin shaft and a cotter pin which are matched with the U-shaped bracket;
pin shaft mounting holes are formed in two side plates of the U-shaped support, pin shaft penetrating holes are formed in the other end of the pin rod and located in the U-shaped groove of the U-shaped support, and the pin shafts penetrate through the pin shaft mounting holes and the pin shaft penetrating holes.
The utility model provides a satellite remote sensing camera calibration system, its includes repeatedly usable's optics calibration hatch board mechanism, still includes the optics calibrator includes the camera frame, the camera frame has the hatch, repeatedly usable's optics calibration hatch board mechanism install in the camera frame just corresponds the hatch sets up, is used for controlling opening and close of hatch, be provided with directional mirror, diffuse reflection board and than the radiometer in the camera frame, the directional mirror is directional the diffuse reflection board.
The method for using the satellite remote sensing camera calibration system comprises the following steps:
s1: firstly, operating the reusable optical calibration hatch cover mechanism, and driving the calibration hatch cover plate to rotate to an opening position by utilizing a driving assembly, so that the hatch is in an opening state to introduce sunlight;
s2: after sunlight is reflected by the diffuse reflection plate, radiation energy is collected through the directing mirror, on-orbit sunlight spectrum calibration and radiation calibration are achieved, solar atmospheric absorption profile data are obtained, and data of direct irradiation of the sun on the diffuse reflection plate under different integration time are obtained; in order to ensure the long-term calibration precision requirement of a satellite remote sensing camera calibration system, the diffuse reflection plate is adopted to monitor the on-orbit attenuation condition of the specific radiometer;
s3: and then operating the reusable optical calibration hatch cover mechanism, and driving the calibration hatch cover plate to rotate to a closed position by utilizing a driving assembly, so that the hatch is in a closed state to block sunlight from entering, thereby obtaining dark levels under different integration time.
Compared with the prior art, the application has the beneficial effects that:
the optical calibration hatch cover mechanism is arranged corresponding to the hatch of the camera frame, the angular position of the hatch cover mechanism shafting is sensed through the sensor, so that the angular position of the hatch cover mechanism shafting is judged, and when the hatch cover mechanism shafting is in an opening position, the hatch is in an opening state; when the hatch cover mechanism shafting is in a closed position, the hatch is in a closed state; the driving component is used for driving the calibration hatch board to rotate, so that the calibration hatch board can be in an opening position or a closing position to control the opening and closing of the hatch; the application can freely control the opening and closing of the calibration hatch board in such a way as to replace the locking or unlocking mode of a fire tool or a hot knife in the prior art, and has no impact to greatly influence the satellite remote sensing camera calibration system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art locking mechanism using a hot or hot knife;
FIG. 2 is a schematic diagram of a prior art unlocking mechanism using a hot or hot knife approach;
FIG. 3 is a schematic view of the structure of the reusable optical calibration hatch mechanism of the present application;
FIG. 4 is a partial cross-sectional view of the left-hand structure of FIG. 3 in accordance with the present application;
FIG. 5 is an enlarged view of the structure of FIG. 4A in accordance with the present application;
FIG. 6 is an enlarged view of the structure of FIG. 4B in accordance with the present application;
FIG. 7 is a block diagram of a ball and socket assembly according to the present application;
FIG. 8 is a block diagram of a pair of solenoid valves of the present application in a locked condition with a ball pin held tightly;
fig. 9 is a structural view showing a pair of solenoid valves of the present application holding ball pins in an unlocked state.
In the figure:
1-a drive assembly; 101-a motor cover; 102-a stepper motor; 103-motor adapter;
a 2-speed reducer; 201-a wave generator; 202-rigid wheel; 203-flexible wheel; 204-flexible wheel joints;
a 3-base assembly; 301-hatch cover mounting support; 302-a motor mount; 303-rigid wheel support; 304-a sensor mount;
4-a hatch cover mechanism shafting; 401-a rotating shaft; 402-driving end bearing sets; 403-bearing support; 404-a free end bearing set; 405-floating end bearing sleeve; 406-a floating end bearing support;
a 5-sensor assembly; 501-a magnetic steel bracket; 502-Hall bracket; 503-a sensor housing;
6-calibrating a hatch cover plate;
7-ball pin assembly; 701-ball pin support; 702—ball pin shaft; 703-ball pin torsion springs; 704-ball pin shaft; 705-ball pin; 706-U-shaped brackets; 707—pin shaft; 708—cotter pin;
8-an electromagnetic valve; 801-solenoid valve coil; 802-clamping bamboo shoots; 803-clamping a bamboo shoot return spring; 804-a valve core; 805-a clamping groove; 806-a spool return spring; 807-solenoid valve mounting bracket;
9-a camera frame; 901-hatch; 10-diffuse reflection plate; 11-ratio radiometer.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Example 1
Referring to fig. 1-9, fig. 1 and 2 are schematic views of locking and unlocking in the prior art. The embodiment provides a reusable optical calibration hatch cover mechanism which is applied to a satellite remote sensing camera calibration system, wherein the satellite remote sensing camera calibration system comprises a camera frame 9, and the camera frame 9 is provided with a hatch 901 which can enter sunlight.
The optical calibration hatch cover mechanism comprises a driving component 1, a speed reducer 2, a base component 3, a hatch cover mechanism shafting 4, a sensor component 5 and a calibration hatch cover plate 6; the output end of the driving assembly 1 is connected with the input end of the speed reducer 2, the hatch cover mechanism shafting 4 comprises a rotating shaft 401, two ends of the rotating shaft 401 are a driving end and a traveling end respectively, the output end of the speed reducer 2 is connected with the driving end, one end of the calibration hatch cover plate 6 is installed at the traveling end, and the driving assembly 1, the speed reducer 2 assembly and the sensor assembly 5 are installed on the base assembly 3.
The sensor assembly 5 comprises a sensor, wherein the sensor is arranged corresponding to the moving end and is used for sensing the angular position of the hatch cover mechanism shafting 4;
the base assembly 3 is mounted on the camera frame 9, and the calibration hatch board 6 is disposed corresponding to the hatch 901 to control the opening and closing of the hatch 901.
The optical calibration hatch cover mechanism is arranged corresponding to the hatch 901 of the camera frame 9, the angular position of the hatch cover mechanism shafting 4 is sensed by the sensor so as to judge the angular position of the hatch cover mechanism shafting, and when the hatch cover mechanism shafting 4 is in an opening position, the hatch 901 is in an opening state; when the hatch mechanism shafting 4 is in the closed position, the hatch 901 is in the closed state; the driving component 1 is used for driving the calibration hatch board 6 to rotate, so that the calibration hatch board 6 can be in an opening position or a closing position to control the opening and closing of the hatch 901; the application can freely control the opening and closing of the calibration hatch board 6 in such a way to replace the locking or unlocking mode of a fire tool or a hot knife in the prior art, and has no impact to greatly influence the satellite remote sensing camera calibration system.
Specifically, the drive assembly 1 includes a stepper motor 102 and a motor adapter 103; the stepper motor 102 serves as an integral power source; the calibration hatch 6 comprises a hatch mounting support 301, a motor mounting seat 302 and a sensor mounting seat 304; the step motor 102 is mounted on the motor mounting seat 302, an output shaft of the step motor 102 is connected with an input end of the speed reducer 2 through the motor adapter 103, and the hatch cover mounting support 301 is mounted on the camera frame 9, so that consistency of temperature deformation of the hatch cover mechanism is ensured.
The sensor is mounted to the sensor mount 304. The sensor is preferably a Hall sensor, the moving end of the shafting 4[4] of the hatch cover mechanism is correspondingly provided with a magnetic steel bracket 501[501] and a Hall bracket 502[502] to form the Hall sensor, so as to judge the angular position of the shafting, the sensor assembly 5 also comprises a sensor cover 503, and the outer side of the Hall sensor is provided with the sensor cover 503 and is protected by the sensor cover 503 so as to adapt to the satellite orbit environment.
The driving assembly 1 further comprises a motor cover 101, and the motor cover 101 is installed on the outer side of the stepping motor 102 to shield and protect the stepping motor 102.
In order to further increase the accuracy of the output of the drive assembly 1 and the accuracy of the rotation angle of the calibrated hatch plate 6, the reduction gear 2 employs a harmonic reduction gear comprising a wave generator 201, a rigid gear 202, a flexible gear 203 and a flexible gear coupling 204. The base assembly 3 further comprises a rigid wheel support 303, an output shaft of the stepping motor 102 is connected with the wave generator 201 through the motor adapter 103, the rigid wheel 202 is mounted on the rigid wheel support 303, and the flexible wheel 203 is connected with a driving end of the rotating shaft 401 through the flexible wheel adapter 204, so that integral rotation is achieved. The rigid gear 202 and the flexible gear 203 are decelerated by a gear difference.
In this embodiment, the hatch cover mechanism shafting 4 further comprises a driving end bearing set 402, a driving end bearing support 403, a traveling end bearing set 404, a traveling end bearing sleeve 405 and a traveling end bearing support 406; the base assembly 3 further comprises a shafting mounting support; the driving end bearing set 402 comprises an angular contact bearing or at least two angular contact bearings coaxially arranged, and the driving end bearing set 402 is mounted on the driving end bearing support 403; the drive end bearing set 402 is preferably comprised of two coaxially disposed angular contact bearings.
The floating end bearing set 404 comprises an angular contact bearing or at least two angular contact bearings coaxially arranged, and the floating end bearing sleeve 405 is sleeved on the outer side of the floating end bearing set 404 and is installed on the floating end bearing support 406, so that the accuracy and rigidity of the shafting can be ensured; the free end bearing set 404 is preferably comprised of two coaxially disposed angular contact bearings. The floating end bearing sleeve 405 is mounted on the rotating shaft 401 in a transition fit manner, so that the rigidity and precision requirements of the shaft system are guaranteed, and the shaft system can be enabled to slightly move along the axial direction of the shaft system, so that the phenomenon of shaft system clamping stagnation caused by deformation of the shaft system due to temperature difference on the shaft system is avoided.
The rotating shaft 401 is installed on the driving end bearing set 402 in a penetrating manner and the moving end bearing set 404 in a penetrating manner; the driving end bearing support 403 and the traveling end bearing support 406 are jointly mounted on the shafting mounting support to achieve fixation.
The optical calibration hatch mechanism further comprises a locking mechanism, wherein the locking mechanism is used for locking and fixing the calibration hatch 6 and the camera frame 9.
Specifically, the locking mechanism includes a ball pin assembly 7, a pair of oppositely disposed solenoid valves 8, and a solenoid valve mounting bracket 807 for mounting the pair of solenoid valves 8; two solenoid valves 8 are oppositely arranged on the solenoid valve 8 mounting bracket, and are used for grasping or holding the ball pin 705 in the ball pin assembly 7.
In order to ensure the vibration resistance of the movable part of the calibration hatch cover mechanism, a pair of electromagnetic valves 8 are utilized to realize the clamping jaw function, so that the locking and unlocking can be realized by power-off, the calibration hatch cover plate 6 is locked by power-off in the satellite launching process, and the calibration hatch cover plate 6 is prevented from rotating or deflecting when vibrating.
The ball pin assembly 7 comprises: ball pin support 701, ball pin spindle 702, ball pin torsion spring 703, ball pin shaft 704, and ball pin 705; the solenoid valve 8 includes: solenoid valve coil 801, catch 802, catch return spring 803, spool 804, catch 805, and spool return spring 806; the valve core 804 is made of titanium alloy.
The ball pin support 701 is mounted at the other end of the calibration hatch 6, i.e. the end remote from the rotation shaft 401. A pair of oppositely disposed solenoid valves 8 are mounted to the camera frame 9 through the solenoid valve mounting brackets 807; one end of the ball pin rod 704 is rotatably connected with the ball pin support 701 through the ball pin rotating shaft 702, the ball pin torsion spring 703 is connected between the ball pin rod 704 and the ball pin support 701, and the other end of the ball pin rod 704 is connected with the rod part of the ball pin 705; the valve core 804 is provided with the clamping groove 805, when the solenoid valve coils 801 of the two solenoid valves 8 are in the power-off state, the clamping bamboo shoot return springs 803 and the valve core return springs 806 are in the compression state, the clamping bamboo shoots 802 are propped in the clamping groove 805, the two oppositely arranged valve cores 804 can synchronously run and are used for clasping the spherical heads of the ball pins 705 to realize locking, otherwise, unlocking can be realized, and in particular: after the satellite enters the orbit, the two electromagnetic valves 8 are electrified and unlocked, the electromagnetic valve coil 801 is electrified to generate a magnetic field, the clamping bamboo shoots 802 of the electromagnetic valves 8 propped in the clamping grooves 805 are unlocked through the clamping bamboo shoot return springs 803, the valve core 804 is sprung open under the action of the valve core return springs 806, the ball pins 705 of the ball pin 705 mechanism are unlocked, the ball pins 705 are sprung open under the action of the ball pin torsion springs 703, and the hatch cover mechanism drives the calibration hatch cover plate 6 to normally operate. In order to ensure that the locking mechanism can reliably operate, the solenoid valve core 804 needs to be lubricated by a lubricant such as polytetrafluoroethylene, and the movable parts of the ball pin assembly 7 are subjected to solid lubrication treatment.
The ball pin assembly 7 further comprises an adjusting assembly for adjusting the angle between the shaft portion at the other end of the ball pin shaft 704 and the ball pin 705. The adjusting component comprises a U-shaped bracket 706 and a pin 707 and a cotter 708 which are matched with the U-shaped bracket; as shown in fig. 7, both side plates of the U-shaped bracket 706 are provided with mounting holes for the pin shafts 707, the other end of the pin rod is provided with a through hole for the pin shafts 707 and is located in the U-shaped groove of the U-shaped bracket 706, and the pin shafts 707 are arranged in the mounting holes for the pin shafts 707 and the through holes for the pin shafts 707 in a penetrating manner. The specific position of ball pin 705 is adjusted by adjusting pin 707 and inserting cotter pin 708.
Example 2
The present embodiment provides a satellite remote sensing camera calibration system, which includes the reusable optical calibration hatch mechanism described in embodiment 1, and further includes an optical scaler, and the structure of the optical scaler can refer to fig. 1 and fig. 2 (consistent with the prior art, without modification). The optical scaler comprises a camera frame 9, the camera frame 9 is provided with a hatch 901, the reusable optical scaling hatch cover mechanism is arranged on the camera frame 9 and corresponds to the hatch 901 and is used for controlling the hatch 901 to be opened and closed, a pointing mirror, a diffuse reflection plate 10 and a specific radiometer 11 are arranged in the camera frame 9, and the pointing mirror points to the diffuse reflection plate 10.
Example 3
The embodiment provides a method for using the satellite remote sensing camera calibration system described in embodiment 2, which comprises the following specific operation steps:
s1: firstly, operating the reusable optical calibration hatch cover mechanism, and driving the calibration hatch cover plate 6 to rotate to an opening position by using a driving component 1, so that the hatch 901 is in an opening state to introduce sunlight;
s2: after sunlight is reflected by the diffuse reflection plate 10, radiation energy is collected through the directing mirror, on-orbit sunlight spectrum calibration and radiation calibration are realized, solar atmospheric absorption profile data are obtained, and data of direct irradiation of the sun on the diffuse reflection plate 10 under different integration time are obtained; in order to ensure the long-term calibration precision requirement of a satellite remote sensing camera calibration system, the diffuse reflection plate 10 is adopted to monitor the on-orbit attenuation condition of the specific radiometer 11;
s3: and then the reusable optical calibration hatch mechanism is operated, the calibration hatch plate 6 is driven to rotate to the closed position by the driving component 1, so that the hatch 901 is in the closed state to block sunlight from entering, and dark levels under different integration times are obtained.
In the satellite launching process, the two electromagnetic valves 8 are synchronously powered off and are positioned at locking positions, and the calibration hatch board 6 is locked; after the satellite is launched into orbit, the two electromagnetic valves 8 are synchronously electrified and switched to the unlocking position, and the hatch cover mechanism is released. When the calibration cabin cover plate 6 is unlocked, the solenoid valve coil 801 is electrified to enable the valve core 804 to return to the clamping groove 805, the valve core 804 is sprung by the spring to release the clamped hinge shaft, and the calibration cabin cover plate 6 is in a movable state. When the electromagnetic valve 8 is powered off, the electromagnetic valve 8 can be restored to a re-locking state through manual action, so that the locking mechanism of the hatch cover mechanism can be reused.
The hatch mechanism is used for opening and closing the calibrating hatch 6, protecting the optical scaler, and the speed stability requirement of the operation of the optical scaler can be properly relaxed, and a high-precision angle measuring device is not needed for closed-loop control. The position of the calibration hatch 6 can be controlled to reliably open and close by using a stepping motor 102 to drive and arranging Hall sensors at the opening and closing positions. When the calibration hatch 6 is rotated to the "open" or "closed" position, the hall sensor outputs a corresponding indication signal.
In order to ensure the functional stability of the remote sensing camera, the cabin cover mechanism and the camera frame 9 are required to be installed at intervals, a plurality of layers are wrapped on the outer side of the cabin cover mechanism, an aluminum honeycomb is pasted on the inner side of the calibration cabin cover plate 6, and ERB-2 black paint is sprayed to eliminate stray light.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims below, any of the claimed embodiments may be used in any combination. The information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. A reusable optical calibration hatch mechanism applied to a satellite remote sensing camera calibration system, the satellite remote sensing camera calibration system comprises a camera frame (9), the camera frame (9) is provided with a hatch (901) capable of entering sunlight, and the system is characterized by comprising a driving component (1), a speed reducer (2), a base component (3), a hatch mechanism shafting (4), a sensor component (5) and a calibration hatch plate (6);
the output end of the driving assembly (1) is connected with the input end of the speed reducer (2), the hatch cover mechanism shafting (4) comprises a rotating shaft (401), two ends of the rotating shaft (401) are respectively a driving end and a traveling end, the output end of the speed reducer (2) is connected with the driving end, one end of the calibration hatch cover plate (6) is installed at the traveling end, and the driving assembly (1), the speed reducer (2) assembly and the sensor assembly (5) are installed on the base assembly (3);
the sensor assembly (5) comprises a sensor, wherein the sensor is arranged corresponding to the swimming end and is used for sensing the angular position of the hatch cover mechanism shafting (4);
the base component (3) is mounted on the camera frame (9), and the calibration hatch board (6) is arranged corresponding to the hatch (901) so as to control the opening and closing of the hatch (901);
the driving assembly (1) comprises a stepping motor (102) and a motor adapter (103);
the calibration hatch board (6) comprises a hatch board mounting support (301), a motor mounting seat (302) and a sensor mounting seat (304);
the stepping motor (102) is mounted on the motor mounting seat (302), an output shaft of the stepping motor (102) is connected with the input end of the speed reducer (2) through the motor adapter (103), the hatch cover mounting support (301) is mounted on the camera frame (9), and the sensor is mounted on the sensor mounting seat (304);
the speed reducer (2) is a harmonic speed reducer, and the harmonic speed reducer comprises a wave generator (201), a rigid gear (202), a flexible gear (203) and a flexible gear connector (204);
the base assembly (3) further comprises a rigid wheel support (303);
the output shaft of the stepping motor (102) is connected with the wave generator (201) through the motor adapter (103), the rigid wheel (202) is installed on the rigid wheel support (303), and the flexible wheel (203) is connected with the driving end through the flexible wheel adapter (204).
2. The reusable optical calibration hatch mechanism according to claim 1 wherein the hatch mechanism shafting (4) further comprises a drive end bearing set (402), a drive end bearing support (403), a free end bearing set (404), a free end bearing sleeve (405) and a free end bearing support (406);
the base assembly (3) further comprises a shafting mounting support;
the driving end bearing group (402) comprises an angular contact bearing or at least two angular contact bearings which are coaxially arranged, and the driving end bearing group (402) is arranged on the driving end bearing support (403);
the floating end bearing group (404) comprises an angular contact bearing or at least two angular contact bearings which are coaxially arranged, and the floating end bearing sleeve (405) is sleeved on the outer side of the floating end bearing group (404) and is arranged on the floating end bearing support (406);
the rotating shaft (401) is arranged on the driving end bearing group (402) in a penetrating manner and the moving end bearing group (404) in a penetrating manner;
the driving end bearing support (403) and the moving end bearing support (406) are jointly mounted on the shafting mounting support.
3. The reusable optical calibration hatch mechanism according to claim 1, further comprising a locking mechanism for locking the calibration hatch (6) to the camera frame (9).
4. A reusable optical calibration hatch mechanism according to claim 3 wherein the locking mechanism comprises a ball pin assembly (7), a pair of oppositely disposed solenoid valves (8) and a solenoid valve mounting bracket (807) for mounting a pair of the solenoid valves (8);
the ball pin assembly (7) comprises: a ball pin support (701), a ball pin rotating shaft (702), a ball pin torsion spring (703), a ball pin rod (704) and a ball pin (705);
the electromagnetic valve (8) comprises: solenoid valve coil (801), clamping bamboo shoot (802), clamping bamboo shoot return spring (803), valve core (804), clamping groove (805) and valve core return spring (806);
the ball pin support (701) is arranged at the other end of the calibration cabin cover plate (6), and a pair of oppositely arranged electromagnetic valves (8) are arranged on the camera frame (9) through the electromagnetic valve mounting support (807);
one end of the ball pin rod (704) is rotationally connected with the ball pin support (701) through the ball pin rotating shaft (702), the ball pin torsion spring (703) is connected between the ball pin rod (704) and the ball pin support (701), and the other end of the ball pin rod (704) is connected with the rod part of the ball pin (705);
the valve core (804) is provided with the clamping groove (805), when the solenoid valve coils (801) of the two solenoid valves (8) are in a power-off state, the clamping bamboo shoot reset springs (803) and the valve core reset springs (806) are in a compression state, the clamping bamboo shoots (802) are propped in the clamping groove (805), and the two valve cores (804) which are oppositely arranged can synchronously run and are used for clasping the spherical heads of the ball pins (705).
5. The reusable optical calibration hatch mechanism according to claim 4 wherein the ball pin assembly (7) further comprises an adjustment assembly for adjusting the angle of the shaft portion at the other end of the ball pin shaft (704) with the ball pin (705).
6. The reusable optical calibration hatch mechanism according to claim 5 wherein the adjustment assembly comprises a U-shaped bracket (706) and a pin (707) and cotter pin (708) used in conjunction therewith;
pin shaft (707) mounting holes are formed in two side plates of the U-shaped support (706), pin shaft (707) through holes are formed in the other end of the pin rod, the pin shaft (707) is located in a U-shaped groove of the U-shaped support (706), and the pin shaft (707) penetrates through the pin shaft (707) mounting holes and the pin shaft (707) through holes.
7. A satellite remote sensing camera calibration system, characterized by comprising the reusable optical calibration hatch mechanism according to any of claims 1-6, and further comprising an optical calibrator, wherein the optical calibrator comprises a camera frame (9), the camera frame (9) is provided with a hatch (901), the reusable optical calibration hatch mechanism is mounted on the camera frame (9) and is arranged corresponding to the hatch (901) for controlling the opening and closing of the hatch (901), and a pointing mirror, a diffuse reflection plate (10) and a specific radiometer (11) are arranged in the camera frame (9), and the pointing mirror points to the diffuse reflection plate (10).
8. The method for using the satellite remote sensing camera calibration system according to claim 7, comprising the following steps:
s1: firstly, operating the reusable optical calibration hatch cover mechanism, and driving the calibration hatch cover plate (6) to rotate to an opening position by using a driving component (1), so that the hatch (901) is in an opening state to introduce sunlight;
s2: after sunlight is reflected by the diffuse reflection plate (10), radiation energy is collected through the directing mirror, on-orbit sunlight spectrum calibration and radiation calibration are achieved, solar atmospheric absorption profile data are obtained, and data of direct irradiation of the sun on the diffuse reflection plate (10) under different integration time are obtained; in order to ensure the long-term calibration precision requirement of a satellite remote sensing camera calibration system, the diffuse reflection plate (10) is adopted to monitor the on-orbit attenuation condition of the specific radiometer (11);
s3: and then the reusable optical calibration hatch cover mechanism is operated, the calibration hatch cover plate (6) is driven to rotate to a closed position by using the driving component (1), so that the hatch (901) is in a closed state to block sunlight from entering, and the dark level under different integration time is obtained.
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| CN202310815413.4A CN116534291B (en) | 2023-07-05 | 2023-07-05 | Reusable optical calibration hatch cover mechanism and satellite remote sensing camera calibration system |
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| WO2018147760A1 (en) * | 2017-02-09 | 2018-08-16 | Общество с ограниченной ответственностью "Даурия - спутниковые технологии" | Micro class earth remote sensing spacecraft |
| CN109703784A (en) * | 2019-01-10 | 2019-05-03 | 深圳航天东方红海特卫星有限公司 | Microsatellite based on the comprehensive cabinet of integrated electric |
| US11180253B1 (en) * | 2021-03-24 | 2021-11-23 | Brien Aven Seeley | System for fire suppression by autonomous air and ground vehicles |
| CN115432210A (en) * | 2021-12-24 | 2022-12-06 | 哈工大机器人创新中心有限公司 | Gear transmission step type hatch cover overturning and locking mechanism and overturning and locking method thereof |
| KR20220165419A (en) * | 2021-06-08 | 2022-12-15 | 국방과학연구소 | Operating apparatus for opening and closing a hatch and hatch system comprising the same |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8060264B2 (en) * | 2007-04-13 | 2011-11-15 | Salco Products Inc. | System for monitoring railroad cars |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018147760A1 (en) * | 2017-02-09 | 2018-08-16 | Общество с ограниченной ответственностью "Даурия - спутниковые технологии" | Micro class earth remote sensing spacecraft |
| CN109703784A (en) * | 2019-01-10 | 2019-05-03 | 深圳航天东方红海特卫星有限公司 | Microsatellite based on the comprehensive cabinet of integrated electric |
| US11180253B1 (en) * | 2021-03-24 | 2021-11-23 | Brien Aven Seeley | System for fire suppression by autonomous air and ground vehicles |
| KR20220165419A (en) * | 2021-06-08 | 2022-12-15 | 국방과학연구소 | Operating apparatus for opening and closing a hatch and hatch system comprising the same |
| CN115432210A (en) * | 2021-12-24 | 2022-12-06 | 哈工大机器人创新中心有限公司 | Gear transmission step type hatch cover overturning and locking mechanism and overturning and locking method thereof |
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