JPH02122309A - Space stabilizing device - Google Patents

Abstract

PURPOSE:To stabilize a space with high accuracy by performing the space stability control with four axes, i.e., three specific axes and an up-down axis. CONSTITUTION:A drive mechanism part 19 consists of three axes to perform the planar stability control and at the same time a rack mechanism part 1 uses one axis to perform the up-down movement stability control. That is, the planar stability control is attained with use of an elevation EL axis, an azimuth AZ axis, and a cross depression and elevation Cross EL axis. At the same time, the up-down movement control is secured with a rack mechanism axis (up-down movement). In addition, the tilt of an attached seating face is electrically and automatically carried out. Thus it is possible to attain the planar stability control and to prevent the rotation and the up-down movement of pictures regardless of the oscillation of an oscillation body. Furthermore the space stability is ensured by correcting the attached seating face electrically and automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a spatial stabilization device for spatially stabilizing a television camera or the like installed on a moving body.

[Conventional technology]

FIG. 10 shows the configuration of a conventional space stabilizing device. In the figure, fi+ is a motion detector that detects the amount of motion of a moving body, (2) is a motion angle signal output from detector (1), +31Fi is a command device that gives a command angle that appears in space, and (4) is a command The space-based command angle signal output from the device (3), (5) is the oscillation angle signal (2) and the command angle signal (4)
(6) is the rotation axis command angle output from the coordinate converter (5), +71 is the first amplifier that performs servo amplification, (8
) is the drive signal output from the amplifier (7), (9) is the first motor driven by the drive signal (8), α (1 is the turning mechanism section (hereinafter referred to as A2 mechanism) driven by the motor (9) ay~(171 is a signal referred to as (6)~(I
It is compatible with IIK, and α? is the elevation axis command angle, α3
is the second amplifier.

(141 is the drive signal, the target is the second motor, the ae elevation mechanism part, a71 is the elevation angle signal, fIII is the controller,
σ9 is a drive mechanism section.

FIG. 11 shows the shaft configuration of the drive mechanism section of a conventional space stabilizing device.

In the figure, the TV camera is attached to the drive mechanism unit +19, (A) is the EL (elevation axis), (B)
- AZ (azimuth) axis, (c) is reference line OP, σ is AZ
The angle, γ, is the EL angle, and P is the target.

Next, the operation will be explained. When the oscillating body changes with respect to space, the oscillation detector fl) detects the amount of oscillation, and the coordinate converter (5) uses the oscillation angle signal (2) to change the command unit (3).
) is converted into a command expansion signal based on the moving body.

Rotation axis command angle (6) and elevation axis command angle α based on the moving body after coordinate transformation? Accordingly, the amplifier (71, α3, motor (9), and α) are driven to aim at the target in space above the A2 mechanism α1 and the EL machine mechanism α.

This coordinate transformation will be explained below.

The configuration of the drive mechanism section a9 is as shown in FIG. 11.

Assuming that the intersection of the AZ axis (a) and the EL axis ((2) is point 0 and all target points P, coordinate transformation is performed so that the reference line OP is kept fixed without being kept by the oscillation of the moving body. The rotation angle and polarity of one mechanical part are defined with the direction of the arrow in the figure being positive.

FIG. 3 shows the north reference horizontal plane orthogonal coordinate system, while FIG. 4 shows the moving body reference orthogonal coordinate system.

shall be taken as a thing.

That is, it is expressed as the following equation using the four amounts of movement (roll: R, pitch: P, yaw: C) of the moving body.

Here, [R], [P], and [C] are the swing angles of the moving body; roll angle: Zo; pitch angle: Eio; yaw angle: C
If O, then it can be found as follows from the rotational relationship of the coordinate systems shown in Figures 4 and 4.

Therefore, the idea of space stabilization is to rotate each of the AZ and EL axes of the drive mechanism part by 0°γ using the moving body seat system.

Target in horizontal plane coordinate system This can be expressed as the following formula.

Now, in the coordinate converter (5), the angle corresponding to the command angle (Z
(6) using the values of the matrix (R), (P), (C) found by Q, Eio, Co)
From the formula, (r).

(0) is calculated backwards to calculate the drive command angle of each axis (AZ axis, EL axis) based on the moving body.

In this way, the reference line OP is oriented in a certain direction related to the movement of the moving body.

[Problem to be solved by the invention]

Since the conventional space stabilizing device is configured as described above, it is possible to keep the reference line fixed.

Since this is not a so-called surface stability control, there is a drawback that rotation of the image occurs when the target is imaged on a television monitor, as shown in FIG. 6 fat.

In addition, there is no control function for the vertical movement of the shaking body, and the sixth
As shown in Figures (cl and dl), when a target is captured using a television monitor image, there is a drawback in that the image moves vertically.

Furthermore, there was a fatal drawback in that the mechanical inclination of the seat surface of the mounting base to which the entire driving camellia structure was attached had a serious effect on the spatial stabilization accuracy.

This invention was made in order to eliminate the above-mentioned constraints, and it is possible to perform one-plane stable control without maintaining the oscillation of the moving body, and to prevent the rotation of the image as shown in Fig. 6 fbl. In addition, as shown in Figure 6 [el], vertical movement of the image can also be prevented, and accurate spatial stabilization can be achieved by electrically and automatically correcting the mounting surface. The purpose is to obtain equipment.

[Means to solve Isahah]

The space stabilizing device according to the present invention performs surface stability control by being configured with three axes: the AZ axis, the EL axis, and the orthogonal elevation axis ((toss EL axis)), and also controls the frame mechanism axis (vertical movement). By controlling the vertical movement of the device and electrically and automatically correcting the inclination of the mounting seat, it prevents the rotation and vertical movement of TV screens, etc., and achieves accurate spatial stabilization. .

[For production]

In this invention, the drive mechanism section is composed of three axes and is controlled for surface stability, and the pedestal mechanism section is controlled for vertical movement stability using one axis, and the positioning of the mounting seat surface is electrically controlled. and correct automatically.

By minimizing the coordinate conversion error, a television camera or the like can be stably controlled in space regardless of the movement of the moving body.

Furthermore, by automatically detecting the amount of inclination, there is no need to manually measure the amount of inclination and set the amount of correction.

〔Example〕

Two embodiments of the present invention will be described below with reference to the drawings.

Figure 1 shows a 953 space stabilizing device implementing this invention.
FIGS. 2A and 2F are two examples, and FIGS. 2A and 2B are block diagrams showing the drive mechanism of a space stabilizing device in which the present invention is fully implemented.

In FIG. 1, (1) to fi9 are the same as in FIG.

e+II FiP1 side correction amount setting device, ■ is c! Seat surface corrector, cZl, that corrects the seat surface using the correction amount from 11.
is the orthogonal elevation axis command %, and Q4+ is the third amplifier that amplifies the command angle.

(2) is a motor drive signal, a cross EL mechanism part (orthogonal elevation mechanism part) built on the third motor, or the EL mechanism part ae, and a cross EL angle signal C11@ke.

In addition, in Fig. 2, Ql, fie, ■ are the same as in Fig. 11, and Cross (on the EL axis) is EL.
It is perpendicular to the axis, and the rotation angle around this axis is represented by X, with the direction of the arrow in the figure being positive.

As shown in FIG. 2, the drive mechanism section +19 is the AZ axis.

It is composed of three axes, the EL axis and the Cross-EL axis, which are orthogonal to each other, and the reference line OP that captures the target P is spatially stably controlled by rotating the AZ axis and the EL axis in a similar manner to the operating principle of the conventional technology. . next.

Cross-ELM) will cause a rotation of -X magnitude around
The s-EL mechanism section (b) rotates G by X to also stop the rotation of the image captured by the television camera (2).

Next, the coordinate transformer (5
) operation will be explained. The basic principle is the same as that of the prior art, and the amount of oscillation of the oscillating body (
It is expressed as in the following equation using roll: R, pitch: P, yaw: C) and the amount of inclination of the mounting seat surface (roll: R', pitch: P', yaw: C').

The idea of spatial stabilization is to rotate the AZ, EL, and Cross-EL axes of the drive mechanism by θ, r, and x at the moving body coordinate point, respectively, and look at the horizontal plane coordinate system to obtain the following equation. .

Now, for the seat keyaki exchange device (5) and the seat surface correction device, the matrix (:R”l, [P
].

Matrix [R'], CF'], [:
[X] from equation (9) using the value of c'] (see equations (2) to (4)).

[γ]t [/'] is calculated backwards and each axis (AZ, EL,
Calculate the drive command angle (61, fi2!, c!+1) of the moving body (Cross - EL axis) based on the moving body.

Regarding subsequent operations, the AZ and EL mechanisms are the same as the conventional ones, so the Cross-EL mechanism will be explained. The Cr-EL command angle c111 based on the moving body outputted from the coordinate converter (5) by the hand 111 is Cro
The difference from the angle feedback signal ■ from ssEL@structure ■ is operationally amplified by amplifier ■. The signal becomes a motor drive signal and drives motor Ql, CrossE
The L mechanism member will be oriented at the command angle 12+1.

Incidentally, when the target is spatially stabilized using the conventional device, the television monitor image is shown in FIG. 6(a), although the position of the reference AP is not stabilized, but the image is rotated by an angle X with respect to the horizontal plane.

As explained above, in this invention, by driving the Cross EL axis by -x, there is no image rotation unlike in the conventional device, and the image is always spatially stable even against the oscillation of the moving body, as shown in Fig. 6 fhl. Images can be provided.

Now, in this way, the angular oscillation (roll) of the oscillating body.

As for pitch, yaw), a spatially stable image can be obtained, as shown in FIG. 6fdl.

The vertical movement of the moving body causes vertical movement of the image. Normally, this can be ignored in cases such as large ships whose vertical movement is small compared to the movement of the target to be imaged, but it becomes a major problem in small ships and the like.

In this invention, the amount of vertical movement @ outputted from the vertical movement detector (11) that detects the vertical movement of the moving body is inputted to the fourth amplifier (to) in the controller U, and )'s output drive signal @ drives the fourth motor (to),
Since the structure is such that the gantry mechanism section (to) configured below the AZ mechanism section α1 is moved up and down and the amount of movement is fed back to the fourth amplifier (to), the vertical movement of the moving body can be corrected. Can be done.

This principle will be explained using FIGS. 6(cl), (d) and (e).

Now, if the amount of vertical movement of the moving body is ξ, and the distance at the eye at is l, then the amount of vertical movement η of the screen due to the vertical movement of the moving body is given by the following equation.

ξ “゛ l Here, the unit of η is radian, and the units of ξ and l are meters.

Now, at this time, the amount of vertical movement from the vertical movement detector 611 (
Here, by moving the gantry mechanism (to) by the same amount (-ξ) as the priest (in ξ) and keeping the height of the imaging unit (■) relative to the horizontal plane fixed, the image such as the 8th [9 (di) The vertical movement is corrected, so that it is possible to always provide a spatially stable image even in the case of vertical movement.

Next, an embodiment of the present invention will be described in which the above-mentioned seating surface inclination is actually corrected automatically.

Figure 7 is a diagram explaining the relationship between the horizontal plane, the mounting seat, and the reference line, Figure 8 is a specific operational diagram, and Figure 9 is a relationship diagram showing the relationship between the TV monitor screen and the seat inclination. .

In No. 71v1, the X axis represents the -aspirational line, and Ylll represents the pitch axis and the OP standard line, which are perpendicular to this. (Refer to Figure 4) The mounting seat surface is represented by the plane Y'Y" PM, and the horizontal surface is represented by y/y//o/, both of which form a unit arc. OM indicates the maximum inclination direction of the mounting seat surface. If the angle between the plane Y'Y''PM and the horizontal plane Y'Y''0' is α, the angle between the reference line op at azimuth B and OP'' in the horizontal plane is OBe, and the maximum inclination direction angle is BH, then The following equation is derived from the geometrical relationship shown in Figure 1.

5inOB=cos(B-BH)sinα,,0B=s
in-'[cos(B-BH)sina]-・-・-・
・O[I Here, normally α, 0B-=0, so OB=αcos (BBH) ...
......011.

Now, the elongation of the mounting seat of the two devices is the roll axis of the swinging body.

When calculated using the pitch axis as a reference, the following equation is obtained by setting pitch inclination ΔP and roll lowering degree ΔR (B: 0.90° in equation 111).

Next, as shown in Fig. 8, the course of the moving body is rotated once from the azimuth O0 to 360°, and at this time, while stabilizing the TV camera etc. in the fixed azimuth direction (270° in Fig. 8).
Although it is in the ° direction, it can actually be in any direction. ) and detect the amount of change in the horizon line on the TV monitor image.

The relationship between the screen and the seat inclination at this time is shown in FIG.

As shown in the figure, set the turning angle based on the moving body.

The TV image at this time is as shown in Figure 9-(b1).

The angle Δ0 of the horizontal line from the center of the screen can be measured.

(In this case, the viewing angle of the TV camera is known.

If this Δ0 is recorded (memorized) 2M during one rotation of the moving body, the fluctuation of the horizontal line with respect to the turning angle based on the moving body becomes as shown in Fig. 9-(cl).

Further, the relationship between the equipment mounting seat surface, the horizontal plane, and the horizontal line at this time is as shown in Fig. 9-rc1. Here, α, C1 in the figure
, Δ0 indicate the same physical quantities in Figure 9, and α is the same as Equation 07. OAZ is the turning angle that gives the minimum value of Δ0, and is the same as BH in Equation 02.

In this way, the signal processing device ■ that detects Δ0 on the TV monitor screen, the turning angle 0AH (2 BH) at the minimum point shown in No. 9-(a)■, and the maximum lifting weight are determined. The automatic seat correction amount calculator is used to calculate α, which is 1/2, and to obtain the seat inclination shown in Equation 03.

The obtained seat surface inclination Vi is sent to the setting device Q+1, and the output signal from the setting device is sent to the seat surface correction device, and the (7)
Processing corresponding to Equations 2 to (9) is performed in collaboration with the seat surface converter (5).

Then, the command angle (61, fi2
Each axis of the drive mechanism section fi9 is controlled by 1°O, and 'n
It is possible to realize a highly efficient space stabilizing device.

Note that the automatic seat correction amount calculation only needs to be performed once every several years even considering aging of the attached seat surface, and the calculated seat surface inclination is stored in the setting device c211. In addition, in the case of a portable type, this can be done each time the device is equipped.

In the above embodiment, a device for spatially stabilizing a television camera installed on a moving body has been described, but the objects to be stably controlled are radars and lasers.

Any telephoto pupil, cannon, launcher, etc. may be used, and the present invention is not limited to this embodiment.

〔Effect of the invention〕

This invention provides for the AZ axis, EL axis and Cros axis as in one or more
Spatial stability control is performed using a total of 4 axes, including the 3 s-EL axes and the vertical axis, and the installation is configured to automatically correct the inclination of the mounting surface, so rotation around the standard # will not occur as in the conventional case. It was stable without any problems. Moreover, there is an effect that highly accurate spatial stabilization can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the configuration of a space stabilizing device according to an embodiment of the present invention, Fig. 2 is a diagram showing the axial structure of the drive mechanism section of the device, and Fig. 3 is a diagram showing the north reference horizontal plane coordinate system. Figure shown, 4th
The figure shows the moving body reference orthogonal coordinate system, Figure 5 is a diagram for explaining the swing angle of the moving body, Figure 6 shows the TV monitor image, and Figure 7 shows the horizontal plane, mounting seat and standards. Figure 8 is a diagram showing the relationship between lines, Figure 8 is a specific operational diagram, Figure 9 is a diagram showing the relationship between the TV monitor screen and the seat inclination, Figure 10 is a configuration diagram of a conventional space stabilizing device, Figure FIG. 11 is a diagram showing the shaft configuration of the drive mechanism section of the conventional device. In the figure, (■) is the oscillation detector, and (2) is the oscillation angle signal. (3) is the command device, (4) is the space reference command angle signal, (5)
is coordinate transformation 6. +61 is the rotation axis command angle, (7) is the amplifier 1. (81 is the AZ drive signal, (9) is the first motor,
α1 is the rotation mechanism, α11 is the AZ angle signal, αX5 is the elevation axis command angle, +13 is the second amplifier, aa is the EL drive signal, 09 is the second motor, we is the elevation mechanism, α
η is the EL angle signal, aa is the controller, [19ij is the drive unit, ■ is the TV camera, 1211 is the setting device 2 is the seat surface corrector, and 0 is the orthogonal elevation axis command angle. uFi@3 amplifier, ■ is the Cr-EL axis drive signal, ■ is the third motor, @ is the orthogonal elevation mechanism, ■ is the CrEL angle signal, 2! I is an image signal processor, gloss is an automatic seat correction amount calculator, csn is a vertical movement detector, (to) is an amount of vertical movement. (to) is the fourth amplifier, (to) is the drive signal, (to) is the fourth motor, c! sFi frame mechanism, υ is the feedback signal. Point P is the target, θ+'+''IdAZ axis, EL axis,
Rotation angle around the CrossEL axis, Zo, Eio,
Co Id Sway angle of moving body (roll, pitch, yaw angle)
9 points, 0 points, center point. OP is the reference line, OM is the major inclination direction, and α is the seat inclination. BH is the maximum tilt turning angle, ξ is the amount of vertical movement, l is the distance to the target, and η is the image movement angle due to vertical movement. Note that in the two figures, the same reference numerals indicate the same or corresponding parts.

Claims (2)

[Claims] (1) In a spatial stabilization device that spatially stably controls a television camera or the like installed above a moving body, there is a motion detector that detects the rotation angle of the shaking body with respect to the space, and a motion detector that detects the amount of vertical movement of the shaking body with respect to the space. A vertical motion detector, a command device that generates a position command angle signal with respect to space, and inputs the vibration angle from the vibration detector and the command angle from the command device, and output the command angle in the spatial coordinate system onto the moving body. a coordinate converter for converting to a fixed coordinate system; a setting device for setting the amount of inclination between the coordinate system fixed on the moving body and the coordinate system of a mounting base of a television camera, etc.;
A seat surface corrector that inputs the conversion signal output from the coordinate converter and the seat surface correction signal output from the setting device and performs correction calculations on the seat surface, and a rotation axis command output from the seat surface correction device. first, second, and third amplifiers that amplify the angle, elevation axis command angle, and orthogonal elevation axis command angle signals, respectively; and corresponding amplifiers provided corresponding to the first, second, and third amplifiers. a rotating mechanism driven by the first motor; a rotating shaft perpendicular to the rotating mechanism on the rotating mechanism; an elevation mechanism section driven by the second amplifier; an orthogonal elevation mechanism section having a rotation axis orthogonal to the elevation mechanism section on the elevation mechanism section and driven by the third motor; The fourth section takes the amount of vertical movement as input and amplifies it.
A space stabilizing device comprising: an amplifier; a fourth motor driven by an output signal of the fourth amplifier; and a gantry mechanism driven by the fourth motor. (2) In a space stabilization device that spatially stably controls a television camera, etc. installed on a shaking body, there is a vibration detector that detects the rotation angle of the shaking body with respect to the space, and a command that generates a position command angle signal with respect to the space. a coordinate converter that takes as input the oscillation angle from the oscillation detector and the command angle from the command device and converts the command angle in the spatial coordinate system to a coordinate system fixed on the oscillating body; A setting device that sets the amount of inclination between the coordinate system fixed to the coordinate system and the coordinate system of the mounting base of a TV camera, etc., and a conversion signal output from the coordinate converter and a seat correction signal output from the setting device are input. A seat surface corrector that performs correction calculations for the seat surface, and first, second, and second amplify the rotation axis command angle, elevation axis command angle, and orthogonal elevation axis command angle signals output from the seat surface correction device, respectively. No. 3 amplifier;
first, second, and third motors provided corresponding to the second and third amplifiers and driven by the output signals of the corresponding amplifiers; and a turning mechanism section driven by the first motor; an elevation mechanism having a rotation axis perpendicular to the rotation mechanism on the rotation mechanism and driven by the second amplifier; and a rotation axis perpendicular to the rotation axis on the elevation mechanism, the third motor a fourth amplifier that receives and amplifies the amount of vertical movement from the vertical movement detector; and a fourth amplifier that is driven by the output signal of the fourth amplifier.
motor, and a gantry mechanism driven by the fourth motor, an imaging unit attached to the orthogonal elevation mechanism to image a target, and a video signal output from the imaging unit as input. A space stabilizing device comprising: an image signal processor that performs image processing and outputs image information; and an automatic seat correction amount calculator that receives the image information as input and outputs a seat confidence signal to the setting device. .