CN114838039B - Intelligent image stabilizing device capable of simulating dragonfly head and neck joint micro-hair array structure locking fixation - Google Patents
Intelligent image stabilizing device capable of simulating dragonfly head and neck joint micro-hair array structure locking fixation Download PDFInfo
- Publication number
- CN114838039B CN114838039B CN202210376787.6A CN202210376787A CN114838039B CN 114838039 B CN114838039 B CN 114838039B CN 202210376787 A CN202210376787 A CN 202210376787A CN 114838039 B CN114838039 B CN 114838039B
- Authority
- CN
- China
- Prior art keywords
- array
- deformation unit
- shape
- array deformation
- stabilizing layer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 177
- 241000238633 Odonata Species 0.000 title claims abstract description 52
- 230000008859 change Effects 0.000 claims abstract description 50
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000006641 stabilisation Effects 0.000 claims abstract description 11
- 238000011105 stabilization Methods 0.000 claims abstract description 11
- 230000006386 memory function Effects 0.000 claims abstract description 5
- 239000010410 layer Substances 0.000 claims description 139
- 238000010438 heat treatment Methods 0.000 claims description 38
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims description 31
- 230000007704 transition Effects 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 12
- 230000003446 memory effect Effects 0.000 claims description 9
- 239000002356 single layer Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 6
- 241000282414 Homo sapiens Species 0.000 description 4
- 230000005693 optoelectronics Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 239000012620 biological material Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
- F16B2200/77—Use of a shape-memory material
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Micromachines (AREA)
- Adjustment Of Camera Lenses (AREA)
Abstract
The invention discloses an intelligent image stabilizing device for locking and fixing micro-hair array structures at head and neck joints of an imitation dragonfly, which comprises: the method comprises the following steps of: the device comprises a shell, an upper stabilizing layer, a lower stabilizing layer and a base; the surfaces of the upper stabilizing layer and the lower stabilizing layer, which are in contact with each other, are respectively provided with an array deformation unit, and the structure of the array deformation unit simulates a micro-hair array structure at the head and neck joint of the dragonfly; the upper stabilizing layer and the lower stabilizing layer imitate the shape of a micro-hair array structure at the head and neck joint of the dragonfly through an array deformation unit and are mutually locked together; the array deformation unit is made of shape memory alloy, and the shape change of the upper and lower stabilizing layer structures is realized by using the double-pass memory function of the shape memory alloy, so that the structure characteristic change of locking and fixing of the micro-hair array structure at the head and neck joint of the dragonfly is simulated. The invention can meet the requirements of high-precision element equipment and the like on image stabilization, can prevent the imaging device from severe mechanical interference, and can keep the stability of a fixed area under various working conditions.
Description
Technical Field
The invention relates to the technical field of image stabilization fixing devices and bionics, in particular to an intelligent image stabilization device for locking and fixing a micro-hair array structure at a head and neck joint of an imitation dragonfly.
Background
The airborne photoelectric equipment is a reconnaissance equipment in the technical field of photoelectric equipment, and the most basic task is to obtain high-quality stable and clear video images. When the airborne photoelectric equipment works, the airborne photoelectric equipment is interfered by external vibration factors, and severe random vibration can be generated, so that video images of the photoelectric equipment shake. An image stabilizing device must be installed on the onboard optoelectronic device to stabilize the visual axis of the optoelectronic device.
In the prior art, the simple mechanical image stabilizing device has a complex structure, poor stabilizing precision, is easily affected by friction force, resistance, human factors and the like during installation, has poor installation effect, long assembly time and poor image stabilizing effect.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide the intelligent image stabilizing device for locking and fixing the micro-hair array structure at the head and neck joint of the simulated dragonfly, and the intelligent image stabilizing device of the embodiment of the invention can realize the purpose of stabilizing and fixing the image and meet the requirements of high-precision element equipment and the like on stabilizing the image; and the intelligent structure installation can be realized, the installation difficulty is reduced, the loading and unloading time is shortened, and the cost is reduced.
The technical scheme of the invention is as follows:
an intelligent image stabilizing device for simulating locking and fixing of micro-hair array structures at head and neck joints of dragonfly, comprising: the method comprises the following steps of: the device comprises a shell, an upper stabilizing layer, a lower stabilizing layer and a base;
the surface of the upper stabilizing layer and the surface of the lower stabilizing layer, which are in contact with each other, are respectively provided with an array deformation unit, and the structure of the array deformation unit simulates a micro-hair array structure at the head and neck joint of a dragonfly;
the upper stabilizing layer and the lower stabilizing layer imitate the shape of a micro-hair array structure at the head and neck joint of a dragonfly through the array deformation unit and are mutually locked together;
the array deformation unit is made of shape memory alloy, and the shape change of the upper and lower stable layer structures is realized by using the double-pass memory function of the shape memory alloy, so that the structure characteristic change of locking and fixing of the micro-hair array structure at the head and neck joint of a dragonfly is simulated;
the upper stabilizing layer and the lower stabilizing layer achieve locking and fixing effects through shape changes of the structure.
The intelligent image stabilizing device comprises an array deformation unit, a control unit and a control unit, wherein the array deformation unit comprises a preset shape and a normal shape; wherein the pre-determined form is a flat strip shape, and the normal form is an expanded mushroom shape; the change of the preset shape and the normal shape of the array deformation unit is realized by externally heating and driving to change the temperature.
The intelligent image stabilizing device comprises a main body, wherein,
the upper stabilizing layer includes: a first flat substrate, and a first array deformation unit arranged on one surface of the first flat substrate;
the lower stabilizing layer includes: a second plate substrate, and a second array deformation unit arranged on one surface of the second plate substrate;
the array deformation unit comprises the first array deformation unit and the second array deformation unit.
The intelligent image stabilizing device is characterized in that the array deformation unit is made of shape memory alloy with a double-stroke memory effect, and the deformation of the array deformation unit is realized by utilizing the double-stroke memory effect of the shape memory alloy.
The intelligent image stabilizing device further comprises a heating driving unit connected with the array deformation unit, wherein the heating driving unit is used for heating the array deformation unit; when the shape memory alloy of the array deformation unit reaches the lowest temperature value of which the temperature is lower than the phase change point temperature interval, the array deformation unit is in an expansion mushroom shape, the upper stabilizing layer and the lower stabilizing layer are mutually restrained, the image stabilization locking is realized, and the array deformation unit is in a working state of the upper stabilizing layer and the lower stabilizing layer at the moment;
when the array deformation unit is heated to the highest temperature value of the phase change point temperature interval by the heating driving unit, the array deformation unit is deformed into a flat strip shape, the upper stable layer and the lower stable layer are not interfered with each other, and the array deformation unit is in a moving state of the upper stable layer and the lower stable layer;
when the heating driving unit stops heating, the array deformation unit is naturally cooled, and when the temperature is low to the lowest temperature value of the phase change point temperature interval, the array deformation unit deforms in the opposite direction, and the array deformation unit is changed into an expanded mushroom shape from a shrunken strip shape, so that the working state is restored.
The intelligent image stabilizing device is characterized in that the phase change point temperature interval of the shape memory alloy of the array deformation unit is 56-60 ℃.
The intelligent image stabilizing device comprises an array deformation unit, a phase change point temperature interval and a control unit, wherein when the temperature of the shape memory alloy of the array deformation unit exceeds the phase change point temperature interval, the shape of the array deformation unit is subjected to memory deformation, and is restored to a preset shape above the phase change point temperature to be contracted; when the temperature of the shape memory alloy of the array deformation unit is lower than the phase transition point temperature interval, the shape of the array deformation unit is restored to the original expanded mushroom shape.
The intelligent image stabilizing device is characterized in that a single-layer vertical hexagonal array structure is formed on the surface of the micro-hair structure of the array deformation unit, and the maximum radial dimension of the array deformation unit in a normal form is tangent.
The intelligent image stabilizing device comprises an array deformation unit, wherein the range of the ratio of the height to the maximum radial dimension of the array deformation unit under the normal state is 7-10:3.
the deformation control method of the intelligent image stabilizing device for simulating dragonfly head and neck joint micro-hair array structure locking fixation according to any one of the above, wherein the method comprises the following steps:
heating the array deformation unit; when the shape memory alloy of the array deformation unit reaches the lowest temperature value of which the temperature is lower than the phase change point temperature interval, the array deformation unit is in an expansion mushroom shape, the upper stabilizing layer and the lower stabilizing layer are mutually restrained, the image stabilization locking is realized, and the array deformation unit is in a working state of the upper stabilizing layer and the lower stabilizing layer at the moment;
when the array deformation unit is heated to the highest temperature value of the phase change point temperature interval by the heating driving unit, the array deformation unit is deformed into a flat strip shape, the upper stable layer and the lower stable layer are not interfered with each other, and the array deformation unit is in a moving state of the upper stable layer and the lower stable layer;
when the heating driving unit stops heating, the array deformation unit is naturally cooled, and when the temperature is low to the lowest temperature value of the phase change point temperature interval, the array deformation unit deforms in the opposite direction and is changed from a flat strip shape to an expanded mushroom shape, and the working state is restored;
when the temperature of the shape memory alloy of the array deformation unit exceeds the phase change point temperature interval, the shape of the array deformation unit undergoes memory deformation, returns to a preset shape above the phase change point temperature, and contracts; when the temperature of the shape memory alloy of the array deformation unit is lower than the phase transition point temperature interval, the shape of the array deformation unit is restored to the original expanded mushroom shape.
Compared with the prior art, the invention discloses an intelligent image stabilizing device for locking and fixing a micro-hair array structure at the head and neck joint of an imitation dragonfly, which has good mechanical property, can realize the purpose of stabilizing and fixing images, meets the requirements of high-precision element equipment and the like on stabilizing images, can prevent the imaging device from severe mechanical interference, and can keep the stability of a fixed area under various working conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
Fig. 1 is a schematic structural diagram of an intelligent image stabilizing device of a dragonfly-imitating micro-hair array locking and fixing system at a head and neck joint.
Fig. 2 is a schematic diagram of a microstructure of a locking and fixing system for a micro-hair array structure at the head and neck joint of a dragonfly.
Fig. 3 is a schematic diagram of a mushroom-shaped structure in a dragonfly head and neck joint micro-hair array locking and fixing system according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a single deformation unit of an array deformation unit of an intelligent image stabilizing device of a dragonfly-like head and neck joint micro-hair array structure locking and fixing system according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of an array deformation unit of an intelligent image stabilizing device of a dragonfly-simulated head and neck joint micro-hair array structure locking and fixing system according to an embodiment of the invention.
Fig. 6 is a schematic diagram of the working state of the mushroom-shaped array structure of the intelligent image stabilizing device of the dragonfly-like head and neck joint micro-hair array structure locking and fixing system according to the embodiment of the invention.
Fig. 7 is a schematic diagram illustrating a movement state of a mushroom-shaped array structure of an intelligent image stabilizing device of a locking and fixing system for micro-hair array structures at head and neck joints of an imitated dragonfly according to an embodiment of the present invention.
Fig. 8 is a flow chart of a deformation control method of the intelligent image stabilizing device with the dragonfly-like head and neck joint micro-hair array structure locked and fixed according to an embodiment of the invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will make clear and complete descriptions of the technical solutions of the embodiments of the present invention with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
When the airborne photoelectric equipment works, the airborne photoelectric equipment is interfered by external vibration factors, and severe random vibration can be generated, so that video images of the photoelectric equipment shake. An image stabilizing device must be installed on the onboard optoelectronic device to stabilize the visual axis of the optoelectronic device.
In the prior art, the simple mechanical image stabilizing device has a complex structure, poor stabilizing precision, is easily affected by friction force, resistance, human factors and the like during installation, has poor installation effect, long assembly time and poor image stabilizing effect.
The nature is the best teacher for human beings, and most of the invention creation of human beings is inspired by nature. In long-term evolution, organisms have formed special materials and structures far exceeding man-made materials in some specific functions.
The biological material in the nature can be self-regulated and adapted in the evolution process, so that the biological material has good mechanical properties; the extreme flexibility and stability of the head in the roll, pitch and yaw planes must be linked to the microstructure of the locking and fixing system of the micro-hair array structure at the head and neck junction.
The inventor researches and discovers that the micro-hair array structure locking and fixing system at the head and neck joint of the dragonfly is a unique structure, and can be used as an adaptation system to prevent the head from severe mechanical interference and keep the head area stable under various behavior conditions.
The micro-hair array structure locking and fixing system at the head and neck joint of the dragonfly has micro-hair structures with different forms, and the shape and the distribution of the micro-hair structures enable the head of the dragonfly to have excellent stability. The peculiar structure of the micro-hair array structure locking and fixing system at the head and neck joint of the dragonfly has a good inspiring effect on researching the image stabilizing device of the precision equipment.
The invention provides an intelligent image stabilizing device for simulating locking and fixing of a micro-hair array structure at a head and neck joint of a dragonfly, which solves the problems by providing the image stabilizing device for simulating locking and fixing of the micro-hair array structure at the head and neck joint of the dragonfly according to the micro-structure of a micro-hair array structure locking and fixing system at the head and neck joint of the dragonfly. The device can realize the purpose of stabilizing and fixing the image, and meets the requirements of high-precision element equipment and the like on the image stabilization.
The invention discloses an intelligent image stabilizing device imitating a micro-hair array structure locking and fixing system at the head and neck joint of a dragonfly, which is designed by referring to the micro-hair structure characteristics of the micro-hair array structure locking and fixing system structure at the head and neck joint of the dragonfly and comprises a shell, an upper shape memory alloy stabilizing layer, a lower shape memory alloy stabilizing layer and a base. The invention has simple manufacture, uses the double-way memory effect of the shape memory alloy to realize the shape change of the stable layer structure and imitates the change of the diversity structural characteristics of the mushroom-shaped array structure in the micro-hair array structure locking and fixing system at the head and neck joint of the dragonfly. The shape of the stable layer structure is changed by external conditions, so that the structure is simple and controllable. The intelligent image stabilizing device of the micro-hair array structure locking and fixing system at the head and neck joint of the bionic dragonfly has good mechanical property, excellent mechanical interference resistance, and stability under various working conditions, thereby achieving the purpose of image stabilizing and fixing.
Exemplary apparatus:
referring to fig. 1, an intelligent image stabilizing device for locking and fixing a micro-hair array structure at a head and neck joint of an imitated dragonfly according to an embodiment of the present invention includes: a shell 3, an upper stabilizing layer 4, a lower stabilizing layer 5 and a base 6.
In the embodiment of the present invention, the surfaces of the upper stabilizing layer 4 and the lower stabilizing layer 5 that are in contact with each other are respectively provided with an array deformation unit 50, that is, the lower surface of the upper stabilizing layer 4 and the upper surface of the lower stabilizing layer 5 are both provided with an array deformation unit 50, and the structure of the array deformation unit 50 simulates the micro-hair array structure at the head and neck joint of a dragonfly.
The upper stabilizing layer 4 and the lower stabilizing layer 5 are mutually locked together through the array deformation unit 50 to simulate the shape of a micro-hair array structure at the head and neck joint of a dragonfly.
In the preferred embodiment of the present invention, the array deformation unit 50 is made of shape memory alloy, and uses the double-way memory function of the shape memory alloy to realize the shape change of the structures of the upper stabilizing layer 4 and the lower stabilizing layer 5, so as to simulate the structural characteristic change of locking and fixing the micro-hair array structure at the head and neck joint of the dragonfly; the upper stabilizing layer 4 and the lower stabilizing layer 5 achieve locking and fixing effects through structural shape changes.
In specific implementation, the array deformation unit 50 according to the embodiment of the present invention includes a predetermined shape and a normal shape; the pre-molded shape is a flat bar 20, and the pre-molded shape of the array deformation unit 50 shown in fig. 7 is a schematic view of a flat bar structure. The normal shape is an expanded mushroom shape 10, and as shown in fig. 3, 4 and 6, the pre-formed shape of the array deformation unit 50 is a schematic view of the expanded mushroom structure; the invention can change the preset shape and the normal shape of the array deformation unit 50 by externally heating and driving to change the temperature, thereby realizing the locking and fixing effect of the upper stabilizing layer 4 and the lower stabilizing layer 5 through the shape change of the structure of the array deformation unit 50 and realizing the purpose of stabilizing images and fixing.
The embodiment of the invention adopts the structure that the surfaces of the upper stabilizing layer 4 and the lower stabilizing layer 5, which are mutually contacted, are respectively provided with the array deformation units 50 to simulate the micro-hair array structure at the head and neck joint of the dragonfly, and the shape and the distribution of the micro-hair structures enable the intelligent image stabilizing device of the embodiment to have excellent stability.
Further, as shown in fig. 1 and 3, the intelligent image stabilizing apparatus according to the present embodiment, wherein,
the upper stabilizing layer 4 includes: a first flat substrate 42, and a first array deformation unit 41 disposed on one side of the first flat substrate 42;
the lower stabilizing layer 5 comprises: a second flat substrate 52, and a second array deformation unit 51 provided on one side of the second flat substrate 52;
the array deformation unit 50 includes the first array deformation unit 41 and the second array deformation unit 51.
Further, in the intelligent image stabilizing apparatus according to the present embodiment, the array deformation unit 50 is made of a shape memory alloy with a double-stroke memory effect, and the upper stabilizing layer 4 and the lower stabilizing layer 5 implement deformation of the array deformation unit 50 by using the double-stroke memory effect of the shape memory alloy. The alloy can recover the shape of high temperature phase when heated and recover the shape of low temperature phase when cooled, which is called double-stroke memory effect.
Further, as shown in fig. 6, the intelligent image stabilizing apparatus of the present embodiment further includes a heating driving unit 70 connected to the array deformation unit 50, where the heating driving unit 70 is configured to heat the array deformation unit 50; when the shape memory alloy of the array deformation unit 50 reaches a lowest temperature value of which the temperature is lower than the phase transition point temperature interval, the array deformation unit 50 is in an expansion mushroom shape, the upper stable layer 4 and the lower stable layer 5 are mutually restrained, so that stable image locking is realized, and the array deformation unit is in a working state of the upper stable layer 4 and the lower stable layer 5; namely, in the present invention, when the shape memory alloy of the array deformation unit 50 reaches the lowest temperature value that the temperature is lower than the temperature range of the phase transition point, the array deformation unit 50 is in the shape of an expanded mushroom, and the upper stabilizing layer 4 and the lower stabilizing layer 5 can be mutually constrained, so as to achieve the locking effect.
When the array deformation unit 50 is heated to the highest temperature value of the phase transition point temperature range by the heating driving unit, the array deformation unit 50 deforms into a flat strip shape, the upper stable layer 4 and the lower stable layer 5 do not interfere with each other, and at this time, the array deformation unit is in a moving state of the upper stable layer 4 and the lower stable layer 5, so that free adjustment movement can be realized; an adjustment movement of the upper stabilizing layer 4 and the lower stabilizing layer 5 can be achieved.
When the heating driving unit stops heating, the array deformation unit 50 naturally cools, and when the temperature is low to the lowest temperature value (for example, 56 degrees) of the phase change point temperature interval, the array deformation unit 50 deforms in the opposite direction, and the shape of the array deformation unit is changed from a flat strip shape to an expanded mushroom shape, and the working state is restored; i.e. returns to the original state, the mutual constraint between the upper stabilizing layer 4 and the lower stabilizing layer 5 is realized through the array deformation unit 50, and the locking effect is realized.
In the embodiment of the present invention, preferably, the temperature range of the phase transition point of the shape memory alloy of the array deformation unit 50 is between 56 ℃ and 60 ℃, and the phase transition point is a critical point at which the shape memory alloy of the array deformation unit 50 undergoes phase transition.
For example, when the shape memory alloy of the array deformation unit is lower than the lowest temperature value 56 ℃ of the phase transition point temperature interval, the array deformation unit is in an expanded mushroom shape, the upper stabilizing layer 4 and the lower stabilizing layer 5 are mutually restrained, and the image stabilizing locking is realized, and the array deformation unit is in a working state of the upper stabilizing layer and the lower stabilizing layer.
When the array deformation unit 50 is heated to the highest temperature value of 60 ℃ in the phase transition point temperature range by the heating driving unit, the array deformation unit 50 is deformed into a flat strip shape, the upper stable layer 4 and the lower stable layer 5 are not interfered with each other, and the array deformation unit is in a moving state of the upper stable layer and the lower stable layer; when the heating driving unit stops heating, the array deformation unit naturally cools, and when the temperature is as low as 56 ℃ which is the lowest temperature value of the phase change point temperature interval, the array deformation unit 50 deforms and is changed into an expanded mushroom shape from a flat strip shape, and the working state is restored. The invention uses the heating unit to make the shape memory alloy collapse, which is convenient for the upper and lower stabilizing layers to be matched together, then stops heating, and the micro-hair structure is restored to the expanded mushroom shape, thereby the micro-hair array structures on the surfaces of the upper and lower stabilizing layers are tightly locked together. In the embodiment of the present invention, the array deformation units 50 of the upper and lower stabilizing layers can realize image stabilization when the micro-hair structure is in a normal form (expanded mushroom shape). The essential structural basis is a micro-wool array structure of the array deformation unit 50 prepared from temperature-sensitive shape memory alloy. The mushroom-shaped micro-wool structural units are mainly used for realizing effective and tight interlocking of the upper and lower stabilizing layers and avoiding relative displacement of the upper and lower stabilizing layers, so that the damage of image shift, image rotation and the like of the photoelectric equipment is avoided.
As shown in fig. 2, fig. 2 is a schematic diagram of a locking and fixing structure of a micro-hair array at the head and neck joint of a dragonfly, and as shown in fig. 2, a locking and fixing system of a micro-hair array at the head and neck joint of a dragonfly 90 can prevent the head from severe mechanical interference, keep the stability of the head area under various behaviors, and has the function of stabilizing images and fixing. The mushroom-shaped array structure 91 in the locking and fixing system of the micro-hair array structure at the head and neck joint of the bionic dragonfly is provided with the image stabilizing and fixing device of the embodiment of the invention, wherein the array deformation units 50 of the upper stabilizing layer 4 and the lower stabilizing layer 5 simulate the micro-hair type of the mushroom-shaped structure in the locking and fixing system of the micro-hair array structure at the head and neck joint of the dragonfly. The fixing system of the embodiment is similar to the micro-hair array of the head and the micro-hair array of the neck of a dragonfly, and has the function of being locked together in a related manner, so that the head with larger weight and volume can not shake compared with the neck.
In the embodiment of the present invention, when the array deformation unit 50 is in a normal shape, i.e. expanded mushroom shape, the image stabilizing effect can be achieved; specifically, when heated, the micro-wool structure is changed from a normal shape (expanded mushroom shape) to a predetermined shape (shrunken strip shape), and the purpose of this is to facilitate the upper and lower stabilizing layers to be smoothly fitted together. After the matching process is finished, heating is stopped, so that the micro-wool structure is restored to a normal shape (expanded mushroom shape) from a pre-formed shape (shrunken strip shape), thereby realizing the tight locking of the upper and lower stabilizing layers, and further realizing the stable and controllable connection of the photoelectric equipment and the carrier connected with the upper and lower stabilizing layers.
The effect of the present invention is further illustrated by a set of experimental data.
The conventional metal fixed image stabilizing device has image shake of less than or equal to +/-5 pixels, (pitch angle-45 DEG to +20 DEG), shake of less than or equal to +/-7 pixels, (pitch angle-80 DEG to +45 DEG); the intelligent image stabilizing device of the dragonfly-imitating head and neck joint micro-hair array structure locking and fixing system provided by the embodiment of the invention has the advantages that the image shake is less than or equal to +/-3 pixels, (pitch angle is-45 DEG to +20 DEG), the shake is less than or equal to +/-5 pixels, (pitch angle is-80 DEG to +45 DEG), and the image stabilizing effect can be better realized.
Further, in the intelligent image stabilizing device according to the embodiment of the present invention, when the temperature of the shape memory alloy of the array deformation unit 50 exceeds the phase change point temperature interval, the shape of the array deformation unit 50 undergoes memory deformation, returns to the predetermined shape above the phase change point temperature, and contracts; when the temperature of the shape memory alloy of the array deformation unit 50 is lower than the phase transition point temperature interval, the shape of the array deformation unit 50 is restored to the original expanded mushroom shape.
In a further embodiment, as shown in fig. 3, the surface of the micro-hair structure of the array deformation unit 50 forms a single-layer vertical hexagonal array structure a, and the maximum radial dimension of the adjacent deformation units of the array deformation unit 50 contacted by the upper stabilizing layer and the lower stabilizing layer in the normal form is tangent, as shown in fig. 2, at a point b. In the embodiment of the invention, the single-layer vertical hexagonal array structure refers to a single-layer deformable unit of the array deformation unit, which is respectively vertical to the plane of the upper stabilizing layer or the plane of the lower stabilizing layer, and the array mode of the deformable unit is in hexagonal arrangement. Wherein, adjacent deformation units in the embodiment of the present invention refer to adjacent micro-hair structural units on the surface of the upper stabilizing layer or the lower stabilizing layer, instead of the array deformation units 50 between the upper stabilizing layer and the lower stabilizing layer. The micro-hair structural element belongs to one of the subunits of the array deformation element 50 of the upper or lower stabilizing layer.
Further embodiment, in the intelligent image stabilizing apparatus according to the present invention, the ratio of the height to the maximum radial dimension of the array deformation unit 50 in the normal state ranges from 7 to 10:3. this ensures a better stabilizing effect. Because, if the ratio range of the high to the maximum radial dimension of the array deformation unit 50 in the normal state is too small, the space reserved by the mushroom structure is too small, and the locking effect is affected in the case of determining the array density. If the size is too large, the middle section of the array unit is easy to bend, and a good fixing effect cannot be ensured.
From the above, the intelligent image stabilizing device for simulating locking and fixing of the micro-hair array structure at the head and neck joint of the dragonfly is simple to manufacture, and uses the double-pass memory effect of the shape memory alloy to realize the shape change of the stable layer structure and simulate the change of the diversity structural characteristics of the mushroom-shaped array structure in the locking and fixing system of the micro-hair array structure at the head and neck joint of the dragonfly. The shape of the stable layer structure is changed by external conditions, so that the structure is simple and controllable. The intelligent image stabilizing device of the micro-hair array structure locking and fixing system at the head and neck joint of the bionic dragonfly has good mechanical property, excellent mechanical interference resistance, and stability under various working conditions, thereby achieving the purpose of image stabilizing and fixing.
The embodiment of the invention also provides a deformation control method of the intelligent image stabilizing device for simulating the locking and fixing of the micro-hair array structure at the head and neck joint of the dragonfly, which comprises the following steps:
step S100, heating the array deformation unit 50; when the shape memory alloy of the array deformation unit 50 reaches a lowest temperature value of which the temperature is lower than the phase transition point temperature interval, the array deformation unit 50 is in an expansion mushroom shape, the upper stable layer 4 and the lower stable layer 5 are mutually restrained, so that stable image locking is realized, and the array deformation unit is in a working state of the upper stable layer 4 and the lower stable layer 5;
step 200, when the array deformation unit 50 is heated to the highest temperature value of the phase transition point temperature interval by the heating driving unit, the array deformation unit 50 is deformed into a flat strip shape, the upper stable layer 4 and the lower stable layer 5 do not interfere with each other any more, and the array deformation unit is in a moving state of the upper stable layer 4 and the lower stable layer 5;
step S300, when the heating driving unit stops heating, the array deformation unit 50 is naturally cooled, and when the temperature is lower than the lowest temperature value of the phase change point temperature interval, the array deformation unit 50 deforms in the opposite direction, the shape of the array deformation unit is changed from a flat strip shape to an expanded mushroom shape, and the working state is restored;
step S400, when the temperature of the shape memory alloy of the array deformation unit 50 exceeds the phase change point temperature interval, the shape of the array deformation unit 50 undergoes memory deformation, returns to a preset shape above the phase change point temperature, and contracts; when the temperature of the shape memory alloy of the array deformation unit 50 is lower than the phase transition point temperature interval, the shape of the array deformation unit 50 is restored to the original expanded mushroom shape.
The deformation control method of the intelligent image stabilizing device for simulating the locking and fixing of the micro-hair array structure at the head and neck joint of the dragonfly according to any one of the above embodiments of the invention is specifically described with reference to the device embodiment above.
Compared with the prior art, the invention discloses an intelligent image stabilizing device for simulating locking and fixing of a micro-hair array structure at a head and neck joint of a dragonfly, which comprises the following components: the method comprises the following steps of: the device comprises a shell, an upper stabilizing layer, a lower stabilizing layer and a base; the surfaces of the upper stabilizing layer and the lower stabilizing layer, which are in contact with each other, are respectively provided with an array deformation unit, and the structure of the array deformation unit simulates a micro-hair array structure at the head and neck joint of the dragonfly; the upper stabilizing layer and the lower stabilizing layer imitate the shape of a micro-hair array structure at the head and neck joint of the dragonfly through an array deformation unit and are mutually locked together; the array deformation unit is made of shape memory alloy, and the shape change of the upper and lower stabilizing layer structures is realized by using the double-pass memory function of the shape memory alloy, so that the structure characteristic change of locking and fixing of the micro-hair array structure at the head and neck joint of the dragonfly is simulated. The invention has good mechanical property, can realize the purpose of stabilizing and fixing images, meets the requirements of high-precision element equipment and the like on stabilizing images, can prevent the imaging device from severe mechanical interference, and can keep the stability of a fixing area under various working conditions.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. An intelligent image stabilizing device for simulating locking and fixing of micro-hair array structures at head and neck joints of dragonfly, which is characterized by comprising: the method comprises the following steps of: the device comprises a shell, an upper stabilizing layer, a lower stabilizing layer and a base;
the surface of the upper stabilizing layer and the surface of the lower stabilizing layer, which are in contact with each other, are respectively provided with an array deformation unit, and the structure of the array deformation unit simulates a micro-hair array structure at the head and neck joint of a dragonfly;
the array deformation unit comprises a pre-determined form and a normal form;
wherein the pre-determined form is a flat strip shape, and the normal form is an expanded mushroom shape;
the change of the preset shape and the normal shape of the array deformation unit is realized by externally heating and driving to change the temperature;
the upper stabilizing layer includes: a first flat substrate, and a first array deformation unit arranged on one surface of the first flat substrate;
the lower stabilizing layer includes: a second plate substrate, and a second array deformation unit arranged on one surface of the second plate substrate;
the array deformation unit comprises the first array deformation unit and the second array deformation unit;
the surface of the micro-hair structure of the first array deformation unit forms a single-layer vertical hexagonal array structure, the surface of the micro-hair structure of the second array deformation unit forms a single-layer vertical hexagonal array structure, the largest radial dimension of the adjacent units in the first array deformation unit in a normal form is tangent, and the largest radial dimension of the adjacent units in the second array deformation unit in a normal form is tangent;
the array deformation units of the upper stabilizing layer and the lower stabilizing layer realize image stabilization when the micro-wool structure is in a normal form;
through mushroom-shaped micro-hair structural units, effective and tight interlocking of the upper and lower stabilizing layers is realized, relative displacement of the upper and lower stabilizing layers is avoided, and damage of image shift and image rotation of the photoelectric equipment is avoided;
the upper stabilizing layer and the lower stabilizing layer imitate the shape of a micro-hair array structure at the head and neck joint of a dragonfly through the array deformation unit and are mutually locked together;
the array deformation unit is made of shape memory alloy, and the shape change of the upper and lower stable layer structures is realized by using the double-pass memory function of the shape memory alloy, so that the structure characteristic change of locking and fixing of the micro-hair array structure at the head and neck joint of a dragonfly is simulated;
the upper stabilizing layer and the lower stabilizing layer realize locking and fixing effects through shape changes of the structures;
the device also comprises a heating driving unit connected with the array deformation unit, wherein the heating driving unit is used for heating the array deformation unit;
when the temperature of the shape memory alloy of the array deformation unit is lower than the lowest temperature value of the phase change point temperature interval, the array deformation unit is in an expansion mushroom shape, the upper stabilizing layer and the lower stabilizing layer are mutually restrained, image stabilization locking is realized, and the array deformation unit is in a working state of the upper stabilizing layer and the lower stabilizing layer;
when the array deformation unit is heated to the highest temperature value of the phase change point temperature range by the heating driving unit, the array deformation unit is deformed into a flat strip shape, the upper stabilizing layer and the lower stabilizing layer are not interfered with each other any more,
at this time, the upper and lower stable layers are in a moving state;
when the heating driving unit stops heating, the array deformation unit is naturally cooled, and when the temperature is low to the lowest temperature value of the phase change point temperature interval, the array deformation unit deforms in the opposite direction, and the array deformation unit is changed into an expanded mushroom shape from a shrunken strip shape, so that the working state is restored.
2. The intelligent image stabilizing device according to claim 1, wherein the array deformation unit is made of a shape memory alloy with a double-stroke memory effect, and the deformation of the array deformation unit is realized by utilizing the double-stroke memory effect of the shape memory alloy.
3. The intelligent image stabilizing apparatus according to claim 1, wherein the shape memory alloy of the array deformation unit has a phase transition point temperature range of 56-60 ℃.
4. The intelligent image stabilizing device according to claim 1, wherein when the temperature of the shape memory alloy of the array deformation unit exceeds a phase change point temperature interval, the shape of the array deformation unit undergoes memory deformation, returns to a predetermined shape above the phase change point temperature, and contracts; when the temperature of the shape memory alloy of the array deformation unit is lower than the phase transition point temperature interval, the shape of the array deformation unit is restored to the original expanded mushroom shape.
5. The intelligent image stabilization device of claim 1, wherein the array deformation unit has a ratio of high to maximum radial dimensions in a normal configuration ranging from 7 to 10:3.
6. a deformation control method of an intelligent image stabilizing device for locking and fixing micro-hair array structures at head and neck joints of an imitated dragonfly according to any one of claims 1 to 5, comprising the following steps:
heating the array deformation unit; when the temperature of the shape memory alloy of the array deformation unit is lower than the lowest temperature value of the phase change point temperature interval, the array deformation unit is in an expansion mushroom shape, the upper stabilizing layer and the lower stabilizing layer are mutually restrained, image stabilization locking is realized, and the array deformation unit is in a working state of the upper stabilizing layer and the lower stabilizing layer;
when the array deformation unit is heated to the highest temperature value of the phase change point temperature interval by the heating driving unit, the array deformation unit is deformed into a flat strip shape, the upper stable layer and the lower stable layer are not interfered with each other, and the array deformation unit is in a moving state of the upper stable layer and the lower stable layer;
when the heating driving unit stops heating, the array deformation unit is naturally cooled, and when the temperature is low to the lowest temperature value of the phase change point temperature interval, the array deformation unit deforms in the opposite direction and is changed from a flat strip shape to an expanded mushroom shape, and the working state is restored;
when the temperature of the shape memory alloy of the array deformation unit exceeds the phase change point temperature interval, the shape of the array deformation unit undergoes memory deformation, returns to a preset shape above the phase change point temperature, and contracts; when the temperature of the shape memory alloy of the array deformation unit is lower than the phase transition point temperature interval, the shape of the array deformation unit is restored to the original expanded mushroom shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210376787.6A CN114838039B (en) | 2022-04-11 | 2022-04-11 | Intelligent image stabilizing device capable of simulating dragonfly head and neck joint micro-hair array structure locking fixation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210376787.6A CN114838039B (en) | 2022-04-11 | 2022-04-11 | Intelligent image stabilizing device capable of simulating dragonfly head and neck joint micro-hair array structure locking fixation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114838039A CN114838039A (en) | 2022-08-02 |
| CN114838039B true CN114838039B (en) | 2023-06-09 |
Family
ID=82564564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210376787.6A Active CN114838039B (en) | 2022-04-11 | 2022-04-11 | Intelligent image stabilizing device capable of simulating dragonfly head and neck joint micro-hair array structure locking fixation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114838039B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPS312302A0 (en) * | 2002-06-19 | 2002-07-18 | Telezygology Inc | Further improvements in fixing and release systems |
| US7200902B2 (en) * | 2002-10-19 | 2007-04-10 | General Motors Corporation | Releasable fastener system |
| CN110345138B (en) * | 2019-06-21 | 2021-02-26 | 华中科技大学 | Bionic intelligent separation and connection device based on 4D printing |
| CN111456986B (en) * | 2020-03-20 | 2021-11-16 | 北京控制工程研究所 | Memory alloy locking and releasing mechanism |
-
2022
- 2022-04-11 CN CN202210376787.6A patent/CN114838039B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114838039A (en) | 2022-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhao et al. | Twisting for soft intelligent autonomous robot in unstructured environments | |
| Felton et al. | Robot self-assembly by folding: A printed inchworm robot | |
| US9019278B2 (en) | Systems and methods for animating non-humanoid characters with human motion data | |
| CN114838039B (en) | Intelligent image stabilizing device capable of simulating dragonfly head and neck joint micro-hair array structure locking fixation | |
| CN101833231B (en) | Device and method for adjusting view field of spliced panoramic camera | |
| JP2008543630A (en) | Landing device for ultra-compact unmanned aerial vehicles | |
| Basaeri et al. | Experimental study of a bio-inspired robotic morphing wing mechanism actuated by shape memory alloy wires | |
| US20150158244A1 (en) | Object Of Additive Manufacture With Encoded Predicted Shape Change And Method Of Manufacturing Same | |
| US20020180739A1 (en) | Method and apparatus for simulating soft object movement | |
| CN105681674A (en) | Image stabilizing method and compound image stabilizing system based on mechanical image stabilizing and electronic image stabilizing | |
| CN107541068B (en) | Intelligent driving composite material, preparation method and application | |
| CN103914808A (en) | Method for splicing ZY3 satellite three-line-scanner image and multispectral image | |
| US20210124367A1 (en) | Apparatus for acquisition of distance for all directions of moving body and method thereof | |
| US20110041641A1 (en) | Deformable Robotic Surface | |
| CN108830811A (en) | A kind of aviation image real-time correction method that flight parameter is combined with camera internal reference | |
| Peraza Hernandez et al. | Introduction to active origami structures | |
| CN105975172A (en) | Method and device for adjustment of panoramic video and mobile terminal | |
| CN107631728A (en) | A kind of spaceborne visual aids air navigation aid | |
| Fu et al. | Recent progress of morphable 3D mesostructures in advanced materials | |
| CN101598786A (en) | The rational function imaging model generation method of two/three grades of products of satellite image | |
| US12115653B2 (en) | Soft joint gripper based on 4D printing and consistency control method thereof | |
| Jennings et al. | Texture-based photogrammetry accuracy on curved surfaces | |
| CN111044076B (en) | Geometric calibration method for high-resolution first-number B satellite based on reference base map | |
| CN205534903U (en) | Frame mechanism in four frame photoelectricity platforms of diaxon | |
| Dondl et al. | Computational analysis of martensitic thin films using subdivision surfaces |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |