CN117719685A - Helicopter airborne image acquisition system, stable damping method and device - Google Patents

Abstract

The application relates to a helicopter airborne image acquisition system, a helicopter airborne image acquisition equipment stable damping method and a helicopter airborne image acquisition equipment stable damping device. The system comprises: the system comprises an image acquisition device and a gyro stabilizing and damping system, wherein the image acquisition device and the gyro stabilizing and damping system are loaded on a target helicopter, and the stabilizing and damping system is used for acquiring target attitude data and real-time attitude data of a photoelectric pod provided with the image acquisition device and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data; the system is also used for acquiring the real-time vibration frequency and amplitude of the target helicopter and adjusting the damping equipment coefficient according to the real-time vibration frequency and amplitude so as to reduce the operation vibration of the photoelectric pod; and the image acquisition equipment is used for acquiring the image data corresponding to the target object of the image data to be acquired under the condition that the posture of the image acquisition equipment is stable and the operation vibration of the photoelectric pod is reduced to be stable. The system can improve the adaptation degree of the helicopter-mounted image acquisition system to the environment.

Description

Helicopter airborne image acquisition system, stable damping method and device

Technical Field

The application relates to the technical field of flight image acquisition, in particular to a helicopter airborne image acquisition system, a helicopter airborne image acquisition equipment stabilizing and damping method and device.

Background

With the development of the flying image acquisition technology, a technology of carrying image acquisition equipment on a helicopter, such as a laser radar, for acquiring flying images, which can provide high-resolution images and geographic information, is very important for accurate positioning and data acquisition, so that the technology can be applied to the fields of military reconnaissance, geological exploration, environmental monitoring, disaster response and the like. Meanwhile, in order to further improve the accuracy of the acquired image data, a gyro stabilizing and damping system is generally required to be adopted so as to reduce the influence of vibration in helicopter flight on a sensor, and therefore the quality of the data is improved.

In the traditional technology, the gyro stabilizing damping system generally adopts constant adjusting parameters to reduce vibration in helicopter flight, however, the adjusting method cannot adaptively adjust the stabilizing performance according to real-time environmental conditions and task requirements, so the environmental adaptation degree is poor.

Disclosure of Invention

Based on the above, it is necessary to provide a helicopter-mounted image acquisition system, a helicopter-mounted image acquisition device stabilization and vibration reduction method and device capable of improving the degree of adaptability to the environment.

In a first aspect, the present application provides a helicopter onboard image acquisition system comprising: image acquisition equipment and gyro stabilization shock mitigation system on target helicopter, wherein:

the gyro stabilizing and damping system is used for acquiring target attitude data of the photoelectric pod of the image acquisition equipment arranged in the target helicopter and real-time attitude data of the photoelectric pod; according to the difference between the target attitude data and the real-time attitude data, adjusting the attitude of the optoelectronic pod to stabilize the attitude of the image acquisition equipment;

the gyro stabilizing and damping system is further used for acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter and adjusting the damping equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod;

the image acquisition equipment is used for acquiring image data corresponding to a target object of image data to be acquired under the condition that the posture of the image acquisition equipment is stable and the operation vibration of the photoelectric pod is reduced to a state of meeting the stability of the photoelectric pod.

In one embodiment, the gyro-stabilized vibration-reducing system is configured to acquire target attitude data of a photoelectric pod in the target helicopter, where the image capturing device is disposed, and real-time attitude data of the photoelectric pod; according to the difference between the target attitude data and the real-time attitude data, adjusting the attitude of the optoelectronic pod to stabilize the attitude of the image acquisition equipment; the gyro stable damping system is also used for acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter and adjusting the damping equipment coefficient of the target helicopter according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the flying vibration of the target helicopter; the image acquisition equipment is used for acquiring image data corresponding to a target object of the image data to be acquired after the gesture of the image acquisition equipment is stable and the flying vibration of the target helicopter is reduced.

In one embodiment, the inertial navigation module is further configured to obtain real-time flight attitude data of the target helicopter according to the real-time flight information; and obtaining target attitude data of the photoelectric pod according to the real-time flight attitude data and the object position information of the target object.

In one embodiment, the microprocessor module is further configured to perform a kalman filter process on the target pose data and the real-time pose data, and adjust the pose of the optoelectronic pod according to a difference between the target pose data and the real-time pose data after the kalman filter process.

In one embodiment, the vibration damping device of the optoelectronic pod comprises: a piezoelectric ceramic device; the damping device coefficients include: the deformation coefficient of the piezoelectric ceramic device; the gyro stable damping system is further used for acquiring real-time deformation information of the piezoelectric ceramic device according to the real-time vibration frequency and the real-time vibration amplitude; acquiring a target electric field excitation coefficient according to the difference between the real-time deformation information and target deformation information preset for the piezoelectric ceramic equipment; and adjusting the deformation coefficient of the piezoelectric ceramic device through the target electric field excitation coefficient.

In one embodiment, the gyro-stabilized vibration-reducing system is further configured to obtain an initial electric field excitation coefficient according to a difference between the real-time deformation information and target deformation information preset for the piezoelectric ceramic device, increase the initial electric field excitation coefficient when the real-time vibration frequency indicates that the operation vibration of the optoelectronic pod is low-frequency vibration, obtain the target electric field excitation coefficient, and decrease the initial electric field excitation coefficient when the real-time vibration frequency indicates that the operation vibration of the optoelectronic pod is high-frequency vibration, and obtain the target electric field excitation coefficient.

In one embodiment, the image acquisition apparatus includes: multispectral camera, laser radar and image fusion module; the multispectral camera is used for acquiring multispectral image data of the target object; the laser radar is used for acquiring laser radar image data of the target object; the image fusion module is used for carrying out image fusion on the multispectral image data and the laser radar image data to obtain image data corresponding to the target object.

In one embodiment, the image fusion module is further configured to obtain, according to the flight environment information of the target helicopter, an object position of the target object and an image acquisition requirement for the target object, an image acquisition weight matched with the multispectral camera and the laser radar; and weighting the multispectral image data and the laser radar image data based on the image acquisition weight to obtain image data corresponding to the target object.

In a second aspect, the present application further provides a stable vibration reduction method for a helicopter airborne image acquisition device, which is applied to the gyro stable vibration reduction system in the helicopter airborne image acquisition system according to any one of the embodiments of the first aspect, and includes:

Acquiring target attitude data of an optoelectronic pod of which an image acquisition device is arranged in a target helicopter and real-time attitude data of the optoelectronic pod, and adjusting the attitude of the optoelectronic pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition device;

acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter, and adjusting the damping equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod.

In a third aspect, the present application further provides a stabilizing and damping device for an on-board image capturing device of a helicopter, which is applied to the gyro stabilizing and damping system in the on-board image capturing system of the helicopter according to any embodiment of the first aspect, and includes:

the stable control module is used for acquiring target attitude data of an optoelectronic pod of which the image acquisition equipment is arranged in the target helicopter and real-time attitude data of the optoelectronic pod, and adjusting the attitude of the optoelectronic pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition equipment;

The vibration reduction control module is used for acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter and adjusting the vibration reduction equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod.

The helicopter airborne image acquisition system, the helicopter airborne image acquisition equipment stabilization damping method and the helicopter airborne image acquisition equipment stabilization damping device, wherein the helicopter airborne image acquisition system comprises the following components: the system comprises image acquisition equipment and a gyro stabilization damping system which are loaded on a target helicopter, wherein the gyro stabilization damping system is used for acquiring target attitude data of a photoelectric pod of the image acquisition equipment and real-time attitude data of the photoelectric pod, and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition equipment; the gyro stable damping system is also used for acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter and adjusting the damping equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod; and the image acquisition equipment is used for acquiring the image data corresponding to the target object of the image data to be acquired under the condition that the posture of the image acquisition equipment is stable and the operation vibration of the photoelectric pod is reduced to a state of meeting the stability of the photoelectric pod. According to the helicopter airborne image acquisition system, the target attitude data and the real-time attitude data of the photoelectric pod provided with the image acquisition device can be obtained through the gyro stabilizing damping system loaded on the target helicopter, so that the attitude of the photoelectric pod is regulated according to the difference between the target attitude data and the real-time attitude data to stabilize the attitude of the image acquisition device, meanwhile, the coefficient of the damping device in the photoelectric pod can be regulated according to the real-time vibration frequency and the amplitude of the target helicopter, so that the operation vibration of the photoelectric pod is reduced, the attitude of the image acquisition device is stabilized, the operation vibration of the photoelectric pod is reduced to meet the image of a target object acquired under the state that the photoelectric pod is stabilized, and the attitude of the image acquisition device can be regulated in a self-adaptive manner, and the vibration of the photoelectric pod is reduced, so that the helicopter airborne image acquisition system can be suitable for various environments, and the adaptation degree to the environment is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.

FIG. 1 is a schematic diagram of an on-board image acquisition system of a helicopter in one embodiment;

FIG. 2 is a schematic diagram of a gyroscopic stabilization damping system in one embodiment;

FIG. 3 is a schematic diagram of an image capturing device according to an embodiment;

FIG. 4 is a flow diagram of a method for stabilizing and damping vibration of an on-board image capture device of a helicopter in one embodiment;

FIG. 5 is a schematic diagram of a helicopter on-board multispectral camera lidar integrated gyroscopic stabilization, vibration reduction and isolation system in one embodiment;

FIG. 6 is a schematic diagram of a multi-sensor fusion module unit in one embodiment;

FIG. 7 is a schematic diagram of a gyro stability control unit in one embodiment;

FIG. 8 is a schematic workflow diagram of a gyro stability control unit in one embodiment;

FIG. 9 is a schematic diagram of a top damping isolation unit in one embodiment;

FIG. 10 is a schematic diagram of a conditioning flow of piezoelectric ceramics in one embodiment;

FIG. 11 is a block diagram of a stabilized vibration damper of a helicopter onboard image capture device in one embodiment;

FIG. 12 is an internal block diagram of a gyroscopic stabilized vibration absorbing system in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In one embodiment, as shown in FIG. 1, a helicopter on-board image acquisition system is provided, which may include: an image acquisition device 101 and a gyroscopic stabilized vibration absorbing system 102 loaded on a target helicopter, wherein:

and the gyro stabilizing and damping system 102 is used for acquiring target attitude data of the photoelectric pod of the image acquisition device in the target helicopter and real-time attitude data of the photoelectric pod, and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition device.

The image capturing device 101 may be a device for capturing an image, that is, a device for capturing an image in an onboard image capturing system of a helicopter, and the target helicopter refers to a helicopter provided with the onboard image capturing system of the helicopter, wherein the target helicopter is provided with a photoelectric pod, the photoelectric pod may be used for providing the image capturing device, the target gesture data refers to gesture data required to be presented by the photoelectric pod, and the real-time gesture data refers to gesture data presented by the current photoelectric pod.

Specifically, the gyro stabilization damping system 102 may acquire target attitude data of the optoelectronic pod for setting the image capturing device in the target helicopter, and real-time attitude data of the optoelectronic pod, and then may adjust the attitude of the optoelectronic pod according to the difference between the target attitude data and the real-time attitude data, so as to stabilize the attitude of the image capturing device in the optoelectronic pod.

The gyro-stabilized vibration-reducing system 102 is further configured to obtain a real-time vibration frequency and a real-time vibration amplitude of the target helicopter, and adjust a vibration-reducing device coefficient of the optoelectronic pod according to the real-time vibration frequency and the real-time vibration amplitude, so as to reduce operation vibration of the optoelectronic pod.

The real-time vibration frequency and the real-time vibration amplitude refer to the vibration frequency and the vibration amplitude of the flying vibration generated by the target helicopter in the real-time flying process, and the damping device coefficient refers to the coefficient of the device for reducing the operation vibration of the photoelectric pod of the target helicopter, in this embodiment, the gyro stabilizing damping system 102 can adaptively adjust the posture of the image acquisition device, so that the posture of the image acquisition device is stable, and also can adaptively reduce the operation vibration of the photoelectric pod, and the adaptive adjustment of the damping device coefficient of the photoelectric pod is realized by acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter, so as to adaptively reduce the operation vibration of the photoelectric pod.

The image acquisition device 101 is used for acquiring image data corresponding to a target object of image data to be acquired under the condition that the posture of the image acquisition device 101 is stable and the operation vibration of the photoelectric pod is reduced to meet the stable state of the photoelectric pod.

The target object refers to an object needing to collect image data, for example, the onboard image collection system of the helicopter can be used for electric power line inspection, then the target object refers to an electric power line inspection object, and the image collection device can acquire the image data of the target object under the condition that the gyro stability damping system 102 is used for adaptively and stably adjusting the gesture of the image collection device 101 and adaptively reducing the operation vibration of the electro-optical pod to the state that the electro-optical pod is stable, so that the image of the target object is monitored, for example, the monitoring of the electric power line inspection object can be realized.

The above-mentioned helicopter airborne image acquisition system includes: the system comprises an image acquisition device 101 and a gyro stability damping system 102 which are loaded on a target helicopter, wherein the gyro stability damping system 102 is used for acquiring target attitude data of a photoelectric pod of the image acquisition device 101 and real-time attitude data of the photoelectric pod in the target helicopter, and adjusting damping device coefficients of the photoelectric pod according to real-time vibration frequency and real-time vibration amplitude so as to reduce operation vibration of the photoelectric pod; the image acquisition device 101 is used for acquiring image data corresponding to a target object of image data to be acquired under the condition that the posture of the image acquisition device 101 is stable and the operation vibration of the photoelectric pod is reduced to meet the stable state of the photoelectric pod. According to the helicopter airborne image acquisition system, the target attitude data and the real-time attitude data of the photoelectric pod provided with the image acquisition device can be obtained through the gyro stabilization damping system 102 loaded on the target helicopter, so that the attitude of the photoelectric pod is regulated according to the difference between the target attitude data and the real-time attitude data to stabilize the attitude of the image acquisition device, meanwhile, the coefficient of the damping device in the photoelectric pod can be regulated according to the real-time vibration frequency and the amplitude of the target helicopter to reduce the operation vibration of the photoelectric pod, the attitude of the image acquisition device 101 is stabilized, the operation vibration of the photoelectric pod is reduced to meet the image of a target object acquired under the condition that the photoelectric pod is stabilized, and the attitude of the image acquisition device 101 can be regulated in a self-adaptive manner in this way, and the vibration of the photoelectric pod is reduced, so that the helicopter airborne image acquisition system can be suitable for various environments and the adaptation degree to the environment is improved.

In one embodiment, as shown in FIG. 2, gyroscopic stabilized vibration absorbing system 102, includes: inertial navigation module 201, gyroscope 202, and microprocessor module 203;

the inertial navigation module 201 is configured to obtain real-time flight information of the target helicopter, and obtain target attitude data according to the real-time flight information.

Inertial navigation module 201, i.e., inertial navigation module, may be used to collect real-time flight information of a target helicopter, which may include, for example: the rotation angles and related angles of the helicopter in the pitch (pitch), roll (roll), yaw (yaw) and other directions can also comprise position information of the helicopter in space, and the position information is usually expressed by position parameters on three coordinate axes, and can also comprise linear speed and acceleration data of the helicopter in all directions and the like. Specifically, the gyro stability damping system 102 may be provided with an inertial navigation module 201, where the inertial navigation module 201 may obtain real-time flight information of the target helicopter acquired in advance, and obtain target attitude data of the optoelectronic pod according to the real-time flight information.

A gyroscope 202 for collecting real-time attitude data;

the microprocessor module 203 is configured to obtain target attitude data from the inertial navigation module 201, obtain real-time attitude data from the gyroscope 202, and adjust the attitude of the optoelectronic pod according to a difference between the target attitude data and the real-time attitude data.

The real-time attitude data can be acquired in real time through a gyroscope in the gyroscopic stability and damping system 102, specifically, the microprocessor module 203 can obtain the target attitude data from the inertial navigation module 201 and the real-time attitude data from the gyroscope 202, and then the attitude of the optoelectronic pod can be adjusted according to the difference between the target attitude data and the real-time attitude data, for example, the controller can control the motor equipment of the optoelectronic pod to realize the attitude adjustment of the optoelectronic pod.

In this embodiment, the gyro stability damping system 102 may include an inertial navigation module 201, a gyroscope 202 and a microprocessor module 203, where the inertial navigation module 201 may obtain a target gesture of the optoelectronic pod according to real-time flight information of the helicopter, and the gyroscope 202 may collect the real-time gesture, so that the microprocessor module 203 adjusts the gesture of the optoelectronic pod according to the target gesture and the real-time gesture, and in this way, the real-time flight information of the helicopter may be used to obtain target gesture data, thereby further improving accuracy and instantaneity of gesture adjustment of the optoelectronic pod.

Further, the inertial navigation module 201 is further configured to obtain real-time flight attitude data of the target helicopter according to the real-time flight information; and obtaining target attitude data of the photoelectric pod according to the real-time flight attitude data and the object position information of the target object.

The real-time flight attitude data refers to real-time attitude data of the target helicopter in the flight process, the real-time flight attitude data can be calculated according to collected real-time flight information of the target helicopter, and the object position information of the target object can refer to GPS position information of the target object, and the position information can be input into the inertial navigation module 201 in advance to inform which target objects need to be subjected to image collection. Specifically, the inertial navigation module 201 may perform attitude calculation according to the collected real-time flight information of the target helicopter to obtain real-time flight attitude data of the target helicopter, and then the inertial navigation module 201 may obtain target attitude data of the optoelectronic pod according to the real-time flight attitude data of the target helicopter and the object position information of the target object.

In this embodiment, the inertial navigation module 201 may obtain real-time flight attitude data according to real-time flight information, so as to combine the real-time flight attitude data with the object position of the target object to obtain target attitude data of the optoelectronic pod, and further improve accuracy of obtaining the target attitude of the optoelectronic pod.

In addition, the microprocessor module 203 is further configured to perform a kalman filter process on the target gesture data and the real-time gesture data, and adjust the gesture of the optoelectronic pod according to the difference between the target gesture data and the real-time gesture data after the kalman filter process.

In this embodiment, the microprocessor module 203 may perform the kalman filtering process on the target gesture data and the real-time gesture data, and then perform gesture control on the optoelectronic pod, specifically, the microprocessor module 203 may further perform the kalman filtering process on the input target gesture data and real-time gesture data, and then may adjust the gesture of the optoelectronic pod according to the difference between the kalman filtered target gesture data and the real-time gesture data.

In this embodiment, the microprocessor module 203 may also perform the kalman filter processing on the target gesture data and the real-time gesture data, and then perform the gesture adjustment of the optoelectronic pod, so as to further improve the gesture adjustment accuracy of the optoelectronic pod.

In one embodiment, a vibration damping device of an optoelectronic pod comprises: a piezoelectric ceramic device; the damping device coefficients include: deformation coefficient of the piezoelectric ceramic device; the gyro stable damping system is also used for acquiring real-time deformation information of the piezoelectric ceramic equipment according to the real-time vibration frequency and the real-time vibration amplitude; acquiring a target electric field excitation coefficient according to the difference between the real-time deformation information and target deformation information preset for piezoelectric ceramic equipment; and adjusting the deformation coefficient of the piezoelectric ceramic device through the target electric field excitation coefficient.

In this embodiment, the damping device used on the optoelectronic pod may be implemented by piezoelectric ceramics, and the damping device coefficient may refer to a deformation coefficient of the piezoelectric ceramics device. In this embodiment, the gyro-stable vibration damping system 102 can achieve adaptive vibration damping of the optoelectronic pod by adaptively changing the deformation coefficient of the piezoelectric ceramic. The real-time deformation information refers to current deformation information of the piezoelectric ceramic device, the target deformation information is deformation information input to the gyro-stabilized vibration reduction system 102 in advance, the electric field excitation coefficient is an excitation coefficient for controlling an electric field, the gyro-stabilized vibration reduction system 102 can achieve the purpose of controlling the deformation of the piezoelectric ceramic device by controlling the electric field, and the target electric field excitation coefficient is an electric field excitation coefficient calculated according to the difference between the real-time deformation information and the target deformation information.

Specifically, the gyro-stabilized vibration-reducing system 102 may calculate the real-time deformation of the piezoelectric ceramic device according to the acquired real-time vibration frequency and real-time vibration amplitude, and then calculate the corresponding target electric field excitation coefficient according to the difference between the real-time deformation and the preset target deformation, so as to adjust the deformation coefficient of the piezoelectric ceramic device by using the target electric field excitation coefficient.

In this embodiment, the gyro-stabilized vibration damping system 102 may further obtain real-time deformation of the piezoelectric ceramic device according to the real-time vibration frequency and the real-time vibration amplitude, so as to obtain an electric field excitation coefficient according to the difference between the real-time deformation and the target deformation, so as to adjust the deformation coefficient of the piezoelectric ceramic device.

Further, the gyro-stabilized vibration-reducing system 102 is further configured to obtain an initial electric field excitation coefficient according to a difference between the real-time deformation information and the target deformation information set in advance for the piezoelectric ceramic device, increase the initial electric field excitation coefficient to obtain the target electric field excitation coefficient when the real-time vibration frequency represents that the operation vibration of the optoelectronic pod is low-frequency vibration, and decrease the initial electric field excitation coefficient to obtain the target electric field excitation coefficient when the real-time vibration frequency represents that the operation vibration of the optoelectronic pod is high-frequency vibration.

In this embodiment, after the gyro stability damping system 102 obtains the initial electric field excitation coefficient, the initial electric field excitation coefficient needs to be further adjusted according to the flight vibration frequency of the current target helicopter, for example, if the current operation vibration of the optoelectronic nacelle is represented as low-frequency vibration by the frequency of the current flight vibration, the gyro stability damping system 102 may appropriately increase the initial electric field excitation coefficient, thereby obtaining the target electric field excitation coefficient, so as to promote the piezoelectric ceramics to deform to a greater extent. If the frequency of the current flying vibration represents that the current working vibration of the optoelectronic pod is high-frequency vibration, the gyro-stabilized vibration-reducing system 102 can properly reduce the initial electric field excitation coefficient, so as to obtain the target electric field excitation coefficient, thereby limiting the deformation of the piezoelectric ceramics.

In this embodiment, the gyro-stabilized vibration-reducing system 102 may obtain the initial electric field excitation coefficient according to the difference between the real-time deformation and the target deformation, and then if the real-time vibration frequency indicates that the operation vibration of the optoelectronic nacelle is low-frequency vibration, the electric field excitation coefficient is appropriately increased to cause the piezoelectric ceramic to deform to a greater extent, and if the real-time vibration frequency indicates that the operation vibration of the optoelectronic nacelle is high-frequency vibration, the electric field excitation coefficient may be reduced to limit the deformation of the piezoelectric ceramic, so that the accuracy of the deformation control of the piezoelectric ceramic may be further improved.

In one embodiment, as shown in fig. 3, the image capturing apparatus 101 may further include: a multispectral camera 301, a lidar 302 and an image fusion module 303;

a multispectral camera 301 for acquiring multispectral image data of a target object;

a laser radar 302, configured to acquire laser radar image data of a target object;

the image fusion module 303 is configured to perform image fusion on the multispectral image data and the laser radar image data, so as to obtain image data corresponding to the target object.

In this embodiment, the device for capturing the image of the target object may include a plurality of devices, for example, the device may include a multispectral camera 301 and a laser radar 302, and the image fusion module 303 is a module for performing image fusion processing on image data captured by the multispectral camera 301, that is, multispectral image data, and image data captured by the laser radar, that is, laser radar image data.

Specifically, in a state where the image capturing apparatus 101 is in the attitude stabilization processing and the operation vibration of the optoelectronic pod is damped to the optoelectronic pod stabilization, multispectral image data of the target object may be obtained by the multispectral camera 301 included in the image capturing apparatus 101, and at the same time, the lidar image data of the target object may be obtained by the lidar 302 included in the image capturing apparatus 101, and then the image data corresponding to the target object may be obtained by performing image fusion on the collected multispectral image data and the lidar image data by the image fusion module 303.

In this embodiment, the image capturing device 101 that may be used to capture an image of a target object may include a multispectral camera 301 and a laser radar 302, which are respectively used to obtain multispectral image data and laser radar image data of the target object, and then the multispectral image data and the laser radar image data may be subjected to image fusion by using the image fusion module 303 to obtain image data corresponding to the target object.

Further, the image fusion module 303 is further configured to obtain an image acquisition weight matched with the multispectral camera 301 and the laser radar 302 according to the flight environment information of the target helicopter, the object position of the target object, and the image acquisition requirement for the target object; and weighting the multispectral image data and the laser radar image data based on the image acquisition weight to obtain image data corresponding to the target object.

In this embodiment, the manner of fusing the multispectral image data and the lidar image data is to set weights for the multispectral image data and the lidar image data respectively, so as to implement weighted fusion of the image data, where the weights may be set according to flight environment information, such as environment information of visible light intensity, etc., object positions of the target object, and image acquisition requirements for the target object, such as whether the acquired image needs to be visible in a visible light channel, visible in an infrared channel, visible light+laser light, etc., to determine the weights of the multispectral image data and the lidar image data respectively, that is, the image acquisition weights.

Specifically, the image fusion module 303 may further determine the image acquisition weights for the multispectral camera 301 and the laser radar 302 according to the flight environment information of the target helicopter, the object position of the target object, and the image acquisition requirement for the target object, so as to perform weighting processing on the multispectral image data and the laser radar image data according to the image acquisition weights, thereby obtaining final image data of the target object.

In this embodiment, the image fusion module 303 may adaptively fuse multispectral image data and laser radar image data according to the flight environment information, the object position of the target object and the image acquisition requirement for the target object, so as to further improve the intelligence of acquiring the image data of the target object.

In one embodiment, there is further provided a method for stabilizing and damping a helicopter on-board image capturing device, which may be applied to a gyro stabilizing and damping system 102 in a helicopter on-board image capturing system as shown in fig. 1, and as shown in fig. 4, may include the following steps:

step S401, acquiring target attitude data of a photoelectric pod of the image acquisition device 101 set in the target helicopter and real-time attitude data of the photoelectric pod, and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data to stabilize the attitude of the image acquisition device.

Specifically, the gyro stabilization damping system 102 may acquire target attitude data of the photo-pod for the image pickup device 101 provided in the target helicopter, and then may adjust the attitude of the photo-pod based on the difference between the real-time attitude data of the photo-pod and the above-described target attitude data, thereby stabilizing the attitude of the image pickup device.

Step S402, acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter, and adjusting the damping device coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod.

And the gyro stabilizing and damping system 102 can also collect the real-time vibration frequency and the real-time vibration amplitude of the target helicopter, so that the operation vibration of the photoelectric pod is reduced by adaptively adjusting the damping equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude.

The helicopter airborne image acquisition equipment stabilizing and damping method comprises the following steps: acquiring target attitude data of a photoelectric pod of which the image acquisition equipment is arranged in a target helicopter and real-time attitude data of the photoelectric pod through a gyro stabilization damping system 102, and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition equipment; the method comprises the steps of obtaining real-time vibration frequency and real-time vibration amplitude of a target helicopter, and adjusting damping equipment coefficients of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce operation vibration of the photoelectric pod. According to the method, the target attitude data and the real-time attitude data of the photoelectric pod of the image acquisition device can be obtained through the gyro stabilizing damping system loaded on the target helicopter, so that the attitude of the image acquisition device is stabilized by adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data, meanwhile, the operation vibration of the photoelectric pod can be reduced by adjusting the coefficient of the damping device in the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude of the target helicopter, the attitude of the image acquisition device can be adjusted in a self-adaptive mode, the vibration of the photoelectric pod is reduced, and the airborne image acquisition system of the helicopter can be suitable for various environments, and the adaptation degree to the environment is improved.

In one embodiment, there is also provided a helicopter-mounted multispectral camera lidar integrated gyroscopic stabilization, vibration reduction and isolation system, as shown in fig. 5, comprising:

multisensor fusion module unit: the unit is mainly responsible for acquiring environmental information and comprises a multispectral camera and a laser radar, wherein the multispectral camera can capture light information of different wave bands to generate multispectral images, and the laser radar can generate a high-precision three-dimensional topographic map.

Gyro stability control unit: the integrated high-performance gyro stabilizing system is used for counteracting vibration and swing in the flight of the helicopter, monitors the attitude and position change of the helicopter in real time through a gyro and other sensors, and corrects the flight attitude of the helicopter through a control system to ensure the stability of the helicopter.

A gyro vibration reduction isolation unit: the module is used for isolating vibration in an external environment, and can effectively reduce vibration caused by external excitation or internal motion in a mechanical system, so that the negative influence of the mechanical vibration on the performance of the sensor is reduced, and the accuracy and the stability of measurement are improved.

A data processing unit: this module is mainly responsible for processing the data acquired from the sensor unit, with embedded microcontroller processing modules, mainly processing and analyzing the multispectral image and lidar data, extracting useful information such as topographical features, target locations, etc.

Fault detection and recovery unit: the module is responsible for monitoring the running state of the system, and can automatically switch to a backup system or recover from the fault when the fault is detected, so that the reliability of the system is improved.

The sensor unit is an input end of the whole system, and acquires information of surrounding environment through sensors such as a multispectral camera, a laser radar and the like and transmits the information to the data processing unit. The data processing unit processes and analyzes the sensor unit, extracts useful information such as the position and speed of the target object, topographical features, etc., and communicates this information to the stability control unit and the vibration isolation unit.

The stable control unit controls the flight attitude of the helicopter according to the information transmitted by the data processing unit, so as to ensure the stable flight of the helicopter. The attitude and position change of the helicopter are monitored in real time through the gyroscope and other sensors, and then the flying attitude of the helicopter is corrected through the control system, so that the stability of the helicopter is ensured.

The vibration reduction and isolation unit is used for reducing vibration and isolating noise of the helicopter according to the information transmitted by the data processing unit, so that the negative influence of mechanical vibration on the performance of the sensor is reduced, and the accuracy and stability of measurement are improved.

The fault detection and recovery unit is responsible for monitoring the running state of the system, and can automatically switch to the backup system or recover from the fault when the fault is detected, so that the reliability of the system is improved.

The structure of the multi-sensor fusion module unit may be as shown in fig. 6, where the multi-sensor fusion module unit includes a multi-modal data preprocessing module, an adaptive fusion algorithm module, a deep learning fusion module, and a real-time optimization module, where the multi-modal data preprocessing module implements advanced multi-modal data preprocessing techniques including time synchronization, spatial alignment, denoising, filtering, and other processes of sensor data, so as to ensure that data of different sensors can be effectively fused in the same reference frame, and the adaptive fusion algorithm module introduces an adaptive fusion algorithm, and can dynamically adjust weights and trust levels according to performance and environmental changes of the sensors. The method is beneficial to realizing the optimal data fusion effect of the system under different working conditions, the deep learning fusion module utilizes a deep learning technology to carry out multi-sensor fusion, the deep neural network can learn complex sensor data relationship, end-to-end information fusion is realized, the real-time optimization module introduces a real-time optimization strategy, the fusion module can respond in time in real-time application, and the high efficiency is maintained when large-scale data are processed.

The gyro stabilization control unit may be configured as shown in fig. 7, and the gyro stabilization control unit includes an IMU (inertial navigation module), a microcontroller module and a communication interface module, where the IMU inertial navigation module is mainly used to provide critical flight state information to help to implement stable laser radar and multispectral camera data acquisition, the microprocessor or module is used to execute a control algorithm and process sensor data, the processing unit is the brain of the gyro stabilization unit and is responsible for decision making and executing adjustment, and the communication interface module is used to perform data interaction with other modules, where the workflow of the gyro stabilization control unit may be configured as shown in fig. 8, by acquiring real-time flight information of a helicopter and a target GPS, to obtain a target attitude of a photoelectric pod where the multispectral camera and the laser radar are set, so as to control an implementation motor according to the real-time attitude and the target attitude acquired by the gyroscope, so as to stabilize the photoelectric pod.

The structure of the vibration damping isolation unit can be shown in fig. 9, the vibration damping isolation unit comprises a multi-mode vibration damping fusion module, an intelligent control module and a sensor fusion module, wherein the multi-mode vibration damping fusion module is embedded with an active control and passive control module, active control is introduced into an active control element, such as an electromagnetic suspension system or piezoelectric ceramics, so as to adjust the rigidity and damping of the system in real time to adapt to different vibration frequencies and amplitudes, the adjustment of the piezoelectric ceramics can be shown in fig. 10, the electric field excitation parameters can be adjusted by collecting vibration physical quantities, namely, real-time deformation and target deformation are compared, the electric field excitation parameters are increased to increase the deformation when vibration is carried out at low frequency, the electric field excitation parameters are reduced to inhibit the deformation when vibration is carried out at high frequency, and meanwhile, the overlarge or overlarge deformation is prevented by setting the deformation range. The passive control module uses passive control elements, such as liquid dampers, friction dampers, etc., for reducing vibration of the mechanical system by absorbing and dissipating vibration energy, and the intelligent control module uses advanced intelligent control algorithms to achieve real-time response to vibrations of different frequencies and amplitudes. The sensor fusion module integrates a plurality of sensors, including pressure sensors, vision sensors, etc., to obtain various vibration and environmental information.

By the embodiment, the data of the multispectral camera, the laser radar and other sensors are integrated efficiently by utilizing an advanced sensor fusion technology. By integrating the multi-mode data, more comprehensive and accurate environment information can be obtained, the sensing and recognition capability of the system is improved, the possible limitation of a single sensor is reduced, the adaptability to complex environments is increased, the accuracy of target recognition is improved, the false alarm rate is reduced, the target is better executed under the complex background, and the adaptability of the system to dynamic environment changes is further improved. And the self-adaptive isolation gyro stabilizing system can be utilized to solve the problem of poor environmental adaptability of products, and can optimize parameters in real time according to vibration of different frequencies and amplitudes, adjust vibration isolation and stabilizing effects so as to adapt to different flight conditions of the system and improve the performance of the gyro stabilizing system in severe environments.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a helicopter airborne image acquisition equipment stabilizing and damping device for realizing the helicopter airborne image acquisition equipment stabilizing and damping method. The implementation scheme of the device for solving the problem is similar to that described in the method, so the specific limitation in the embodiments of the stabilizing and damping device for the on-board image capturing device of the helicopter provided below can be referred to the limitation on the stabilizing and damping method for the on-board image capturing device of the helicopter hereinabove, and will not be repeated here.

In one exemplary embodiment, as shown in fig. 11, there is provided a stabilizing and damping device for an on-board image capturing device of a helicopter, which can be applied to a gyro stabilizing and damping system 102 in an on-board image capturing system of a helicopter as shown in fig. 1, comprising: a stability control module 1101 and a shock absorption control module 1102, wherein:

the stabilizing control module 1101 is configured to obtain target attitude data of a photoelectric pod of the image capturing device in the target helicopter and real-time attitude data of the photoelectric pod, and adjust an attitude of the photoelectric pod according to a difference between the target attitude data and the real-time attitude data, so as to stabilize an attitude of the image capturing device;

The damping control module 1102 is configured to obtain a real-time vibration frequency and a real-time vibration amplitude of the target helicopter, and adjust a damping device coefficient of the optoelectronic pod according to the real-time vibration frequency and the real-time vibration amplitude, so as to reduce operation vibration of the optoelectronic pod.

All or part of each module in the stable damping device of the helicopter-mounted image acquisition equipment can be realized by software, hardware and a combination thereof. The modules can be embedded in a processor in the gyro-stable damping system or independent of the processor in the gyro-stable damping system in a hardware mode, and can also be stored in a memory in the gyro-stable damping system in a software mode, so that the processor can call and execute operations corresponding to the modules.

In one exemplary embodiment, a gyroscopic stabilized vibration absorbing system is provided, which may be a terminal, the internal structure of which may be as shown in FIG. 12. The gyro stabilizing and damping system comprises a processor, a memory, an input/output interface and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the gyroscopic stabilized vibration absorbing system is configured to provide computing and control capabilities. The memory of the gyro-stable vibration damping system comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the gyro-stabilized vibration damping system is used for exchanging information between the processor and external equipment. The communication interface of the gyro-stabilized vibration damping system is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program when executed by the processor is used for realizing a stable damping method of the helicopter-mounted image acquisition equipment.

Those skilled in the art will appreciate that the structure shown in fig. 12 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the gyroscopic stabilized vibration absorbing system to which the present application is applied, and that a particular gyroscopic stabilized vibration absorbing system may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, there is also provided a gyroscopic stabilization shock absorbing system comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of the method embodiments described above.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use, and processing of the related data are required to meet the related regulations.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (10)

1. An on-board helicopter image acquisition system comprising: image acquisition equipment and gyro stabilization damping system loaded in target helicopter, wherein:

the gyro stabilizing and damping system is used for acquiring target attitude data of a photoelectric pod of the image acquisition equipment arranged in the target helicopter and real-time attitude data of the photoelectric pod, and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition equipment;

The gyro stabilizing and damping system is further used for acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter and adjusting the damping equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod;

the image acquisition equipment is used for acquiring image data corresponding to a target object of image data to be acquired under the condition that the posture of the image acquisition equipment is stable and the operation vibration of the photoelectric pod is reduced to a state of meeting the stability of the photoelectric pod.

2. The method of claim 1, wherein the gyroscopic stabilized vibration absorbing system comprises: the system comprises an inertial navigation module, a gyroscope and a microprocessor module;

the inertial navigation module is used for acquiring real-time flight information of the target helicopter and acquiring the target attitude data according to the real-time flight information;

the gyroscope is used for collecting the real-time attitude data;

the microprocessor module is used for acquiring the target attitude data from the inertial navigation module, acquiring the real-time attitude data from the gyroscope and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data.

3. The system of claim 2, wherein the system further comprises a controller configured to control the controller,

the inertial navigation module is further used for obtaining real-time flight attitude data of the target helicopter according to the real-time flight information; and obtaining target attitude data of the photoelectric pod according to the real-time flight attitude data and the object position information of the target object.

4. The system of claim 2, wherein the system further comprises a controller configured to control the controller,

the microprocessor module is further used for carrying out Kalman filtering processing on the target attitude data and the real-time attitude data, and adjusting the attitude of the photoelectric pod according to the difference between the target attitude data and the real-time attitude data after Kalman filtering processing.

5. The system of claim 1, wherein the vibration reduction device of the optoelectronic pod comprises: a piezoelectric ceramic device; the damping device coefficients include: the deformation coefficient of the piezoelectric ceramic device;

the gyro stable damping system is further used for acquiring real-time deformation information of the piezoelectric ceramic device according to the real-time vibration frequency and the real-time vibration amplitude; acquiring a target electric field excitation coefficient according to the difference between the real-time deformation information and target deformation information preset for the piezoelectric ceramic equipment; and adjusting the deformation coefficient of the piezoelectric ceramic device through the target electric field excitation coefficient.

6. The system of claim 5, wherein the system further comprises a controller configured to control the controller,

the gyro stabilizing and damping system is further used for obtaining an initial electric field excitation coefficient according to the difference between the real-time deformation information and target deformation information preset for the piezoelectric ceramic device, increasing the initial electric field excitation coefficient to obtain the target electric field excitation coefficient when the real-time vibration frequency represents that the operation vibration of the photoelectric pod is low-frequency vibration, and reducing the initial electric field excitation coefficient to obtain the target electric field excitation coefficient when the real-time vibration frequency represents that the operation vibration of the photoelectric pod is high-frequency vibration.

7. The system of claim 1, wherein the image acquisition device comprises: multispectral camera, laser radar and image fusion module;

the multispectral camera is used for acquiring multispectral image data of the target object;

the laser radar is used for acquiring laser radar image data of the target object;

the image fusion module is used for carrying out image fusion on the multispectral image data and the laser radar image data to obtain image data corresponding to the target object.

8. The system of claim 7, wherein the system further comprises a controller configured to control the controller,

the image fusion module is further used for acquiring image acquisition weights matched with the multispectral camera and the laser radar according to the flight environment information of the target helicopter, the object position of the target object and the image acquisition requirements for the target object; and weighting the multispectral image data and the laser radar image data based on the image acquisition weight to obtain image data corresponding to the target object.

9. A method for stabilizing and damping a helicopter on-board image acquisition device, applied to a gyroscopic stabilizing and damping system in a helicopter on-board image acquisition system according to any one of claims 1 to 8, said method comprising:

acquiring target attitude data of an optoelectronic pod of which an image acquisition device is arranged in a target helicopter and real-time attitude data of the optoelectronic pod, and adjusting the attitude of the optoelectronic pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition device;

acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter, and adjusting the damping equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod.

10. A stabilizing and damping device for an on-board image acquisition apparatus of a helicopter, characterized in that it is applied to a gyroscopic stabilizing and damping system in an on-board image acquisition system of a helicopter according to any one of claims 1 to 8, said device comprising:

the stable control module is used for acquiring target attitude data of an optoelectronic pod of which the image acquisition equipment is arranged in the target helicopter and real-time attitude data of the optoelectronic pod, and adjusting the attitude of the optoelectronic pod according to the difference between the target attitude data and the real-time attitude data so as to stabilize the attitude of the image acquisition equipment;

the vibration reduction control module is used for acquiring the real-time vibration frequency and the real-time vibration amplitude of the target helicopter and adjusting the vibration reduction equipment coefficient of the photoelectric pod according to the real-time vibration frequency and the real-time vibration amplitude so as to reduce the operation vibration of the photoelectric pod.