JPH0348909A - Space stabilizing device - Google Patents

Abstract

PURPOSE:To prevent the rotation of an image pickup picture by performing the surface stabilization control with use of three axes, an orthogonal elevation cross EL axis in addition to an azimuth AZ axis and an elevation EL axis. CONSTITUTION:An orthogonal elevation axis command angle 21 is amplified by a 3rd amplifier 22, and a 3rd motor 24 is driven by a drive signal 23. Then a cross EL part 25 formed on a EL mechanism part 16 is driven with control by a cross EL signal 26. A turning drive mechanism 10, an elevation mechanism part 16, and a TV camera are used as conventional one. A cross EL axis (d) is set orthogonal to an EL axis (a) and the positive rotational angles of these axes are shown by arrows. It is just required to turn those axes by theta, gamma and chirespectively at an oscillator coordinate point and to secure the coincidence between the axes and the target coordinates of a horizontal coordinate system. A computer like a microprocessor, etc., and a ROM containing a recorded algorithm are used to perform the coordinate conversion for the surface stabilization control and the control of the variable gain. In such a constitution, no rotation is produced around a collimation line OP and a space is stabilized with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial 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. 9 shows the configuration of a conventional space stabilizing device. In the figure, (1) is a motion detector that detects the amount of motion of a moving body, (2) is a motion angle signal output from detector (1), (3) is a command device that provides a command angle for space, and (4)
) is a space-based command angle signal output from the command unit [3), and C5) is a coordinate converter that receives the oscillation angle signal (2) and command angle signal (4) as input and outputs a oscillating body-based command angle signal. ,(
6) is the rotation axis command angle output from the coordinate converter (5),
(7) is the first amplifier that performs servo amplification, (8) is the drive signal output from the amplifier (7), and (9) is the drive signal (
8), a+1 is the first motor driven by the motor (
9) (hereinafter referred to as the A2 mechanism), αD is a swing angle signal based on the moving body output from the A2 mechanism +111, and a signal fed back to the amplifier (7), r13. ~(Iη corresponds to (6) ~αD, α2 is the elevation axis command angle, and am is the second amplifier.

α is the drive signal, α is the second motor, (Ill is the elevation mechanism, aη is the elevation angle signal, α· is the controller, and as is the drive mechanism.

Figure @10 shows the shaft configuration of the drive mechanism section of a conventional space stabilizing device.

In the figure, ■ is the TV camera attached to the drive mechanism section a, and (a) is the EL (elevation) axis.

(b) is the AZ (azimuth) axis, (c) is the reference line OP, θ
is the AZ 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 (1) detects the amount of oscillation, and using the oscillation angle signal (2), the coordinate converter (5)
) is coordinate-transformed into a moving body-based command angle signal.

The amplifier (71, am) and the motor (9), (L! It becomes oriented toward spatial goals.

This coordinate transformation will be explained below.

Drive mechanism part a! The configuration of 1 is as shown in FIG.

Assuming that the intersection of the AZ axis (a) and the EL axis (b) is point O and the target is point P, coordinate transformation is performed so that the reference line op is kept fixed regardless of the movement of the moving body. Note that the rotation angle and polarity of the zero mechanism section are defined with the direction of the arrow in the figure being positive.

Figure 5 shows the orthogonal coordinate system of the company north reference horizontal plane, while Figure 6 shows the orthogonal coordinate system of the moving body reference.

Rumo is also O.

That is, it is expressed as in the following equation using the amount of oscillation of the oscillating body (roll: R, pitch: P, yaw: C).

Here, CH3, [:P], (C) is the oscillation angle of the moving body as roll angle: Zo, pitch angle: Eio, and yaw angle: Co. Based on the rotational relationship of the coordinate system in Figures 5 and 8, the following is obtained. It is found as follows.

Ru.

Now, the coordinate converter (5) corresponds to the command angle, so the idea of spatial stabilization is to rotate the AZ axis and EL axis of the drive mechanism section by O and r, respectively, in the moving body coordinate system. , the target position on the horizontal plane coordinate system.This can be expressed as the following equation.

Matrix (6) determined by (Zo, Elo, Co)
.

From equation (6) using the value of ψ), (0, (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 fixed direction regardless of the movement of the moving body.

[Problem to be solved by the invention]

Since it is configured more than the conventional space stabilization device rIt, Fi, the reference line? You can keep it fixed.

Since this is not so-called surface stability control, as shown in Fig. 8(&)K.

A fatal drawback was that when the target was photographed using a television monitor image, the target rotated.

Furthermore, due to the multi-axis configuration, when the axis angle of the EL axis changes, the moment of inertia around the AZ axis changes, the servo loop gain of the AZ axis changes, and the spatial stabilization accuracy deteriorates.

This departure F! A was developed to solve the above-mentioned problems, and it is possible to perform three-sided stable control regardless of the movement of the moving body, and also to prevent rotation of the image as shown in Figure 8 (b). The purpose is to prevent deterioration of stabilization accuracy due to the angle of each axis.

[Means to solve the problem]

The space stabilizing device according to the present invention has an AZ axis.

In addition to the EL axis, three orthogonal elevation axes (Cross EL axis)
By configuring it with axes, it performs surface stability control.

This is a practical example of spatial stabilization that prevents rotation of the imaging screen of a television camera or the like. Further, the spatial stabilization device according to the present invention makes the gain of the amplifier variable and cancels out changes in the loop gain.

[Effect]

In this invention, the drive mechanism section is configured with three axes and is controlled for surface stability, and the variable gain amplifier calculates the amount of gain change at the current operating angle based on the elevation axis angle or orthogonal elevation axis angle, and cancels it. It works like this.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a configuration example of a space stabilizing device embodying the present invention, and FIG. In Fig. 1, elements (1) through are the same as in Fig. S, C0 is the orthogonal elevation axis command angle, (C) is the third amplifier that amplifies the command angle Qυ, and (C) is the motor drive signal. , r24 is the third motor, and (to) the Cross built on the EL mechanism rJe.
E L mechanism part (orthogonal elevation mechanism part), (to) Cros
s E L angle signal.

In addition, in Fig. 4, αθ, 01 are the same as in Fig. 10, and Cross (to the EL axis) is orthogonal to the EL axis, and the rotation angle around this axis is 2 with the arrow direction in the figure being positive. represent.

As shown in FIG. 4, the drive mechanism section (19 is the AZ axis).

It is composed of three mutually orthogonal axes, the EL axis and the Crojs-EL axis, and spatially stabilizes the reference line OP that captures the target P by rotating around the AZ axis and the EL axis in the same way as the operating principle of the prior art. Next, since the standard OP will cause a rotation of 1 χ around the Cross EL axis (C) if it is left as it is, rotate the Crosa-EL mechanism (c) by χ and attach the TV camera (1). The rotation of the captured image is also stopped.

Next, a coordinate transformer (5
) will be explained. The basic principle is the same as that of the prior art, and as shown in Figures 5 and 6, the amount of oscillation of the oscillating body (roll: R, pitch: P.

Yaw: C) is expressed as in the following equation.

The concept of spatial stabilization is to set each of the AZ, EL, and Cross-EL axes of the drive mechanism to θ at the moving body coordinate point.
, r, rotate by z and move to the target location 1 on the horizontal plane coordinate system! All you have to do is make it match J(仝). This can be expressed as the following formula.

Now, in the coordinate converter (5), using the values of matrices (6), (9), (0 (refer to equations (2) to (4)) corresponding to the command angle (4), From equation (9), (
z), (r), (0) and calculate each axis (AZ, EL).
, Cross-EL axis) based on the moving body (6
), a2. Calculate (goods). Regarding subsequent operationsA
The Z and KL mechanisms are the same as before, so Cro
The ss-KL mechanism will be explained. According to the above procedure, the coordinate converter (5) outputs the next moving body reference Cr-E.
The difference between the L command angle and the angle feedback signal (2) from CrossEL@structure is operationally amplified by an amplifier (2). The signal becomes the motor drive signal (to) and drives the motor.

The Cross E L mechanism section (to) will be oriented at the command angle cJ11.

By the way, in the TV monitor image when the target is spatially stabilized using the conventional device, the position of the reference point P is stabilized as shown in Fig. 8 (1) K, but the image is rotated by an angle of 2 with respect to the horizontal 1IIli@. arise.

In this invention, as explained above, since the Cro@s EL axis is driven by -χ, there is no image rotation unlike in the conventional device, and as shown in FIG. This makes it possible to provide spatially stable images.

FIG. 2 is a block diagram of a space stabilizing device embodying the present invention. In the figure, (1) to (6), (6) to a*, aa-(2
) is the same as in FIG. 1, and @ is a rotary axis variable gain amplifier.

Assuming that the elevation axis angle is θIHa, the rotation axis rate loop gain ωm2 is the optimum AZ4'llll rate loop gain J is θThe moment of inertia around the AZ axis when = O is On2 By making the moment of inertia of the EL mechanism section around the AZ axis variable at the time of 0, it is possible to eliminate the change in the rotation axis rate loop gain due to θII.

FIG. 3 is a block diagram of a space stabilizing device embodying the present invention. 0) to α3. a3-aI, (2)-(1)
is the same as in Fig. 1, and @ is an elevation axis variable gain amplifier.

As in the previous embodiment, the rate loop gain tω of the elevation axis
! eL.

However, the optimum KL-axis rate lube gain J for ωBLOti is the moment of inertia Je around the EL axis when θe = O. By varying the moment of inertia around the EL axis of the Cr-EL mechanism when θc = 00, - It is possible to eliminate changes in the elevation axis rate loop gain due to the EL axis angle θC.

In the above embodiment, a device for spatially stably controlling a television camera installed on a moving body has been described, but the object to be stably controlled is a μ radar or a laser.

Any telescope, gun, launcher, etc. may be used, and the invention is not limited to this embodiment.

〔Effect of the invention〕

As described above, this invention is applicable to the AZ axis, EL axis and Cross
Since the configuration is such that spatial stability control is performed using three axes, the E and L axes, there is an effect that stable and highly accurate spatial stabilization can be obtained without causing rotation around the reference line as in the conventional case.

Further, according to the present invention, it is also possible to prevent deterioration of spatial stabilization accuracy due to the operating axis angle.

Furthermore, coordinate transformation and surface stabilization control described above.

The control side of the variable gain can be realized by a computer such as a microprocessor and a ROM storing algorithms, and it is possible to obtain effects completely equivalent to those of the above-described invention.

[Brief explanation of drawings]

Figures 1, 2 and 3 are respectively 1. 2. A configuration diagram showing the configuration of a space stabilizing device according to an embodiment of the third invention, FIG. 4 is a diagram showing the axial configuration of the drive mechanism section of the device, and FIG. 5 is a diagram showing the north reference horizontal plane coordinate system. FIG. 6 is a diagram showing a moving body reference orthogonal coordinate system. Figure 1 is the ninth diagram explaining the oscillation angle of the oscillating body, Figure 8 is a diagram showing a TV monitor image, Figure 9 is a configuration diagram of a conventional space stabilizing device, and Figure 10 is the drive of the conventional device. FIG. 3 is a diagram showing an axial configuration of a mechanism section. In the figure, (1) is a vibration detector, +2) #i vibration angle signal. (3) is the command device, (4) is the space reference command angle signal, (5)
is the coordinate converter, (6) is the rotation axis command angle, (7) is the amplifier 1.18+ is the AZ drive signal, (9) is the first motor,
01 is the turning mechanism section, anFiAZ angle signal, t12 is the elevation axis command angle, a3 is the second amplifier, Q41 is the KL drive signal, α is the second motor, Qli is the elevation mechanism section, a
η is the EL angle signal, aSa controller, α is the drive mechanism section, ■
is the TV camera, (Foundation) is the orthogonal elevation axis command angle, @ is the third
(c) is the CrEL axis drive signal, c14 is the third
motor, (to) is orthogonal elevation mechanism part, (to) is CrEL
Angle signal, @ is the horizontal line, @ is the amplifier of the tube 1 with the variable gain function, @ is the amplifier of the tube 2 with the variable gain function, 1 point P is the target,
θ, r, and z are rotation angles around the AZ axis, EL axis, and CroasEL axis, and Zo. Eio, Co are the swing angles of the swinging body (roll angle, pitch angle,
Yaw angle) 1 point 0 is the camera center point, op is the reference line. In addition, in FIG. 1, the same reference numerals indicate the same or equivalent parts. Figure 4(a) 2゜(b)

Claims (3)

[Claims] (1) 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 inputs 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; first, second, and third amplifiers that respectively amplify the rotation axis command angle, the elevation axis command angle, and the orthogonal elevation axis command angle signals output from the device;
, first, second, and third motors provided corresponding to the third amplifier and driven by the output signal of the corresponding amplifier; a turning mechanism section driven by the first motor; and a turning mechanism. an elevating mechanism section having a rotation axis orthogonal thereto on the elevation mechanism section and driven by the second amplifier; and an elevating mechanism section having a rotation axis orthogonal thereto on the elevation mechanism section and driven by the third motor. 1. A space stabilizing device comprising: an orthogonal elevation mechanism; (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 inputs 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 first amplifier that inputs the rotation axis command angle and the elevation angle output from the device and changes its amplification degree according to the elevation angle; and the elevation axis command angle and the orthogonal elevation axis command output from the coordinate converter. second and third amplifiers that amplify the angular signals, and the first, second and third amplifiers;
first, second, and third motors provided corresponding to the amplifiers and driven by output signals of the corresponding amplifiers; a swing mechanism section driven by the first motor; and a swing mechanism section on the swing mechanism section. an elevating mechanism section having a rotation axis orthogonal thereto and driven by the second amplifier; and an orthogonal elevating mechanism section having a rotation axis orthogonal thereto on the elevating mechanism section and driven by the third motor. A space stabilizing device characterized by having an elevation mechanism section. (3) In a space stabilization device that spatially stably controls a television camera or the like installed above 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 inputs 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 first amplifier that amplifies the rotation axis command angle signal output from the coordinate converter; and a first amplifier that amplifies the rotation axis command angle signal outputted from the coordinate converter; a second amplifier that changes the angle, a third amplifier that amplifies the orthogonal elevation axis command angle signal output from the coordinate converter, and a third amplifier that is provided corresponding to the first, second, and third amplifiers; It has first, second, and third motors that are driven by output signals of corresponding amplifiers, a swing mechanism that is driven by the first motor, and a rotation axis that is orthogonal to the swing mechanism on the swing mechanism. , comprising an elevating mechanism section driven by the second amplifier, and an orthogonal elevating mechanism section having a rotation axis perpendicular to the elevating mechanism section on the elevating mechanism section and driven by the third motor. A space stabilizing device.