JP2013120166A - Spatial stabilization device, spatial stabilization method, and spatial stabilization program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a spatial stabilization device capable of performing spatial stabilization even when a flying object shakes beyond the limit of rotation speed of a gimbal axis.SOLUTION: Even when a rotation speed of a gimbal mechanism 2 cannot catch up with shaking of a flying object 1, image data from a camera 3 is converted by an image conversion unit so that the shaking of the flying object 1 is cancelled. Accordingly, a target position of the camera 3 in an imaging area can be stabilized to perform spatial stabilization irrespective of response performance of the gimbal mechanism 2.

Description

  The present invention relates to a space stabilization device, a space stabilization method, and a space stabilization program.

  In order to track the target, the flying object may be provided with an imaging device that images the target. At the time of tracking, image data is obtained by the imaging device, and the direction of the target is calculated based on the image data. Based on the calculation result, the course of the flying object is controlled so as to go to the target.

  The flying object may shake during flight. Due to the fluctuation, the target position in the image data becomes unstable. As a result, it may be difficult to accurately calculate the target direction. Therefore, processing for stabilizing the target position in the image data, that is, space stabilization processing is performed.

  FIG. 1 is a schematic diagram illustrating an example of a space stabilization device for performing space stabilization processing. The space stabilization device 100 is configured to perform space stabilization processing by a gimbal. That is, the space stabilization device 100 includes an angular velocity sensor 104 and a gimbal mechanism 106. Although not shown, the imaging device is mounted on the gimbal mechanism 106. The gimbal mechanism 106 is configured to rotate around the pitch axis and the yaw axis. The angular velocity sensor 104 has a function of measuring the angular velocity of the flying object around the roll axis, the pitch axis, and the yaw axis. Further, the angular velocity sensor 101 acquires data indicating the driving angular velocity of the gimbal shaft from the gimbal mechanism 106. Then, the angular velocity sensor 104 controls the operation of the gimbal mechanism 106 based on the flying object angular velocity and the gimbal axis driving angular velocity so that the imaging apparatus is spatially stabilized.

  FIG. 2 is a schematic diagram illustrating another example of the space stabilization device. The space stabilization device 100 is configured to perform space stabilization processing by image conversion, not gimbal. That is, the space stabilization device 100 includes an angular velocity sensor 104 and a computer 105. An imaging device (not shown) is directly attached to the flying object. The angular velocity sensor 104 measures the angular velocity of the flying object around the roll axis, the pitch axis, and the yaw axis. The computer 105 converts the image data obtained by the imaging device based on the measurement result of the angle sensor 104, and suppresses the influence of the flying object's shaking.

  In relation to the above, Patent Document 1 (Japanese Patent Laid-Open No. 4-24509) discloses a correction method for shaking of the imaging unit on the gimbal. In this correction method, the angular velocity of the flying object by the rate sensor is converted into the angular velocity around the gimbal 2 axis and the visual axis of the imaging unit, and the angular velocity around the gimbal 2 axis is supplied to the gimbal. Since the gimbal cannot rotate with respect to the point where the spatial stability is achieved and the fluctuation around the visual axis, the visual axis is obtained by supplying the angular velocity around the visual axis to the image processing unit of the imaging unit and performing image conversion. The point which correct | amends the surrounding shaking is disclosed.

JP-A-4-24509

  According to the correction method described in Japanese Patent Application Laid-Open No. 2004-151561, the oscillation angular velocity around the gimbal 2 axis is corrected by the rotation of the gimbal 2 axis. However, the response of the gimbal mechanism is limited. That is, the rotational speed of the gimbal shaft has a limit. For this reason, there is a problem that space stability becomes difficult when the flying object fluctuates beyond the limit of the rotational speed of the gimbal shaft.

  The space stabilization device according to the present invention is provided on a flying object, images a target, generates image data, and rotates around the first axis and the second axis, thereby rotating the imaging device. Based on the image data and the gimbal mechanism that rotates the imaging direction of the gimbal mechanism around the first axis and the second axis, the operation of the gimbal mechanism is controlled so that the imaging direction faces the target. The control device, the airframe angular velocity sensor that measures the swing angular velocity of the flying object, the first axis gimbal angle that is the angle of the gimbal mechanism around the first axis, and the gimbal around the second axis A gimbal angle sensor for measuring a second axis gimbal angle which is an angle of the mechanism. The control device is configured to change the angular velocity of the flying object around the first axis, the angular velocity around the second axis, and a third axis orthogonal to the first axis and the second axis. The gimbal mechanism moves around the first axis so as to eliminate the fluctuation around the first axis based on the angular velocity conversion unit that converts the angular velocity to the fluctuation and the converted angular velocity around the first axis. A gimbal control unit that rotates and rotates the gimbal mechanism around the second axis so as to eliminate the fluctuation around the second axis based on the converted angular velocity around the second axis; An image conversion unit that converts the image data and generates converted image data (converted target direction). The image conversion unit is based on the first gimbal angular velocity and the fluctuation angular velocity around the first axis when the fluctuation around the first axis is not eliminated only by the rotation of the gimbal mechanism around the first axis. When the image data is converted so that the fluctuation around the first axis is eliminated, and the fluctuation around the second axis is not eliminated only by the rotation of the gimbal mechanism around the second axis, the second Based on the axial gimbal angular velocity and the shaking angular velocity around the second axis, the image data is converted so that the shaking around the second axis is eliminated, and based on the shaking angular velocity around the third axis, The image data is converted so that the fluctuation around the third axis is eliminated.

  Another space stabilization device according to the present invention is provided on a flying body, images a target and generates image data, and rotates around a roll axis and an orthogonal axis perpendicular to the roll axis. Based on the gimbal mechanism that rotates the imaging direction of the imaging device around the roll axis and the orthogonal axis, and based on the image data, the gimbal mechanism is configured so that the imaging direction faces the target. And a control device for controlling the operation. The imaging device is configured such that an imaging region moves along a first direction when the gimbal mechanism rotates around a second axis. The imaging area is configured to be long in the first direction. The control device calculates a movement point of the target based on the image data, and a movement point calculation unit, and moves the gimbal mechanism to the roll so that the first direction matches the direction of the target. A gimbal control unit that rotates around an axis, and an image conversion unit that converts the image data and generates converted image data (including a converted target direction). The image conversion unit converts the image data so as to eliminate the movement of the target in the imaging region due to the rotation of the gimbal mechanism around the roll axis.

  In the space stabilization method according to the present invention, an imaging device provided on a flying object images a target, generates image data, and rotates a gimbal mechanism around a first axis and a second axis. And rotating the imaging direction of the imaging device about the first axis and the second axis, and based on the image data, the gimbal mechanism of the gimbal mechanism so that the imaging direction faces the target. A step of controlling an operation, a step of measuring a swing angular velocity of the flying object, a first axis gimbal angular velocity which is an angular velocity of the gimbal mechanism around the first axis, and the gimbal mechanism around the second axis. Measuring a second axis gimbal angular velocity, which is an angular velocity. In the controlling step, the swing angular velocity of the flying object is changed to a swing angular velocity about the first axis, a swing angular velocity about the second axis, and a third axis orthogonal to the first axis and the second axis. And rotating the gimbal mechanism around the first axis so as to eliminate the fluctuation around the first axis based on the converted angular velocity around the first axis. Rotating the gimbal mechanism around the second axis so as to eliminate the fluctuation around the second axis based on the converted angular velocity around the second axis, and converting the image data And generating converted image data. The step of generating the converted image data includes the first gimbal angular velocity and the oscillation around the first axis when the oscillation around the first axis is not eliminated only by the rotation of the gimbal mechanism around the first axis. When the image data is converted so that the fluctuation around the first axis is eliminated based on the angular velocity, and the fluctuation around the second axis is not eliminated only by the rotation of the gimbal mechanism around the second axis In addition, the image data is converted based on the second axis gimbal angular velocity and the oscillation angular velocity around the second axis so as to eliminate the oscillation around the second axis, and the oscillation around the third axis is performed. Based on the angular velocity, the method includes a step of converting the image data so that the fluctuation around the third axis is eliminated.

  A space stabilization program according to the present invention is a program for realizing the above-described space stabilization method by a computer.

  According to the present invention, there are provided a space stabilization device, a space stabilization method, and a space stabilization program capable of performing sufficient space stabilization regardless of the response performance of the gimbal mechanism.

It is the schematic which shows an example of a space stabilization apparatus. It is the schematic which shows the other example of a space stabilization apparatus. It is the schematic which shows the flying body carrying the space stabilization apparatus which concerns on 1st Embodiment. It is a functional block diagram which shows a space stabilization apparatus. It is a functional block diagram which shows a control apparatus. It is a figure which shows notionally the effect of the space stabilizer concerning a 1st embodiment. It is a conceptual diagram which shows an imaging area. It is a functional block diagram which shows the space stabilization apparatus which concerns on 2nd Embodiment. It is a functional block diagram which shows a control apparatus. It is a functional block diagram which shows the space stabilization apparatus which concerns on 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 3 is a schematic view showing the flying object 1 equipped with the space stabilization device according to the present embodiment. FIG. 3A shows a view of the flying object 1 seen from the side, and FIG. 3B shows a view of the flying object 1 seen from the rear. As shown in FIG. 3A, a roll axis (X axis), a pitch axis (Y axis), and a yaw axis (Z axis) are set in the flying object 1. The roll axis is an axis along the traveling direction of the flying object 1. The pitch axis is an axis orthogonal to the roll axis. The yaw axis is an axis orthogonal to both the roll axis and the pitch axis.

  As shown in FIG. 3A, the flying object 1 is equipped with a camera 3 (imaging device) and a space stabilization device 6.

  The camera 3 has a function of capturing a tracking target and generating image data. The camera 3 is attached so as to face the front in the traveling direction.

  The space stabilization device 6 is a device that stabilizes the camera 3 in space. The space stabilization device 6 includes a gimbal mechanism 2, an angular velocity sensor 5, and a control device 4.

  The gimbal mechanism 2 is a three-axis gimbal and is attached to the flying object 1. The gimbal mechanism 2 has a function of rotating the imaging direction and imaging area of the camera 3. In the example shown in FIG. 3A, the camera 3 is attached to the flying object 1, and light enters the camera 3 via an optical member or the like provided in the gimbal mechanism 2. Therefore, by rotating the axis included in the gimbal mechanism 2, the imaging direction and imaging area of the camera 3 are also rotated. The camera 3 may be mounted on the gimbal mechanism 2.

  The gimbal mechanism 2 includes a first axis that coincides with the roll axis, a second axis that is orthogonal to the roll axis, and a third axis that is orthogonal to both the first axis and the second axis. Each of the first to third axes is rotatable. When the drive angle of each axis is a reference angle, the second axis is along the pitch axis and the third axis is along the yaw axis. As shown in FIG. 3B, the gimbal mechanism 2 is provided so that the imaging region of the camera 3 rotates around the first axis (roll axis) when the first axis (X axis) rotates. It has been. Further, when the second axis (pitch axis Yg) of the gimbal mechanism 2 rotates, the imaging direction of the camera 3 rotates around the second axis. Further, when the third axis (yaw axis Zg) of the gimbal mechanism 2 rotates, the imaging direction of the camera 3 rotates around the third axis.

  FIG. 4 is a functional block diagram showing the space stabilization device 6. As described above, the space stabilization device 6 includes the angular velocity sensor 5, the control device 4, and the gimbal mechanism 2.

  The angular velocity sensor 5 has a function of measuring an angular velocity due to the flying of the flying object 1. Specifically, the angular velocity sensor 5 measures the angular velocity of the flying object 1 around the roll axis, the angular velocity of the flying object 1 around the pitch axis, and the angular velocity of the flying object 1 around the yaw axis. The measurement result is reported to the control device 4 as the flying angular velocity data of the flying object.

  The control device 4 has a function of generating a space stabilization command based on the fluctuation angular velocity data of the flying object 1 and controlling the operation of the gimbal mechanism 2. The control device 4 is realized, for example, by executing a space stabilization program installed in advance by the CPU.

  As described above, the gimbal mechanism 2 has first to third axes. The gimbal mechanism 2 includes a gimbal control computer 7, a gimbal drive unit 8, and an angle sensor 9. The gimbal drive unit 8 has a function of rotating the first to third axes. The gimbal control computer 7 has a function of generating a signal for controlling the gimbal drive unit 8 based on the space stabilization command and supplying the signal to the gimbal drive unit 8. The angle sensor 9 has a function of measuring drive angles of the first axis to the third axis.

  In the space stabilization device 6 in the present embodiment, the control device 4 receives from the angular velocity sensor 5 the swing angular velocity of the flying object 1 around the roll axis, the swing angular velocity of the flying object 1 around the pitch axis, and the flying object around the yaw axis. The measurement result of the angular velocity of 1 is obtained. Based on the measurement result, the control device 4 generates a space stabilization command so that the influence of the flying object 1 in the image captured by the camera 3 is offset, and rotates each axis of the gimbal mechanism 2. Control.

  The gimbal mechanism 2 rotates around the first axis to the third axis in response to a space stabilization command. Specifically, the gimbal control computer 7 acquires a space stabilization command. The gimbal control computer 7 acquires data indicating the drive angle of each axis from the angle sensor 9. The gimbal control computer 7 rotates each axis (first axis, second axis, and third axis) in accordance with the instructions indicated in the space stabilization command based on the space stabilization command and the data indicating the drive angle. Thus, the operation of the gimbal driving unit 8 is controlled. As a result, the first to third axes rotate, and the influence of the flying object 1 on the image captured by the camera 3 is offset. At this time, the angle sensor 9 measures the drive angle of the first axis to the third axis and notifies the control device 4 of it.

  With the function as described above, the space of the camera 3 can be stabilized. Image data captured by the camera 3 is notified to the control device 4, and the control device 4 calculates a target direction based on the image data. The calculated target direction is used for controlling the course of the flying object 1 and the like.

  However, when the angular velocity of the flying object 1 exceeds the responsiveness of the gimbal mechanism 2 (limit of the rotational speeds of the first axis and the second axis), the influence of the flying object 1 by the rotation of the gimbal mechanism 2 alone. May not be offset. As a result, the spatial stability of the camera 3 may be difficult. Therefore, in the present embodiment, the configuration and operation of the control device 4 are devised so that the space can be stabilized regardless of the responsiveness of the gimbal mechanism 2. Below, the structure and operation | movement of the control apparatus 4 are demonstrated.

  FIG. 5 is a functional block diagram showing the control device 4. The control device 4 includes an angular velocity conversion unit 10, a gimbal control unit 11, an image conversion unit 12, and a gimbal angular velocity sensor 13.

  The angular velocity conversion unit 10 converts the fluctuation angular velocity of the flying object 1 based on the fluctuation angular velocity data of the flying object 1 acquired from the angular velocity sensor 5 to the fluctuation angular velocity around the first axis, the fluctuation angular velocity around the second axis, and the third. It has a function to convert to a fluctuation angular velocity around the axis.

  The gimbal control unit 11 generates a space stabilization command for controlling the gimbal mechanism 2 so as to suppress the influence of the flying object 1 on the basis of the fluctuation angular velocity around the first to third axes. For example, if each axis of the gimbal mechanism 2 rotates at the angular velocity of the flying object 1 around each axis in the direction opposite to the direction in which the flying object 1 shakes, the image of the flying object 1 in the image captured by the camera 3 is obtained. The effect of shaking is offset. Therefore, the control device 4 generates a command for rotating each axis in the reverse direction at the angular velocity of the flying object 1 as a space stabilization command and supplies the command to the gimbal mechanism 2.

  The gimbal angular velocity sensor 13 acquires data indicating the driving angle of each axis from the gimbal mechanism 2, and based on the acquired data, the gimbal angular velocity of the first axis, the gimbal angular velocity of the second axis, and the gimbal of the third axis Calculate angular velocity.

  The image conversion unit 12 acquires image data from the camera 3. Further, the image conversion unit 12 acquires data indicating the fluctuation angular velocity of the flying object 1 around the first to third axes from the angular velocity conversion unit 10. Further, the image conversion unit 12 acquires data indicating the gimbal angular velocity around the first to third axes from the gimbal angular velocity sensor 13. The image conversion unit 12 compares the swing angular velocity of the flying object 1 with the gimbal angular velocity for each of the first axis to the third axis. The comparison may be the swing angle of the flying object 1 and the gimbal drive angle. When the flying angular velocity of the flying object 1 is larger than the gimbal angular velocity, the flying object 1 exceeds the response of the gimbal mechanism 2. Accordingly, in this case, the image conversion unit 12 calculates the difference between the swing angular velocity and the gimbal angular velocity of the flying object 1 with respect to each axis, and converts the image data so that the remaining swing component is canceled based on the calculation result. Then, the converted image data is generated.

  The converted image data is used for calculation of the target direction and the course of the flying object 1 is controlled based on the calculation result. The cancellation of the remaining shaking component may be performed on the target direction calculated by converting the image data to generate the converted target direction.

  FIG. 6 is a diagram conceptually illustrating the operational effects of the space stabilization device according to the present embodiment. FIG. 6A shows the imaging region 14 of the camera 3 before the flying object 1 is shaken. 6A, the first axis (roll axis X), the second axis (Yg), the third axis (Zg), the pitch axis (Y) of the flying object 1, and the yaw axis (Z )It is shown. As shown in FIG. 6A, the second axis Yg coincides with the pitch axis Y and the third axis Zg coincides with the yaw axis Z before shaking. In the imaging area 14, a target 15 is shown near the center.

  Here, as shown in FIG. 6 (b), it is assumed that the flying object 1 oscillates (rotates) around the roll axis X (first axis) by an angle a per unit time. In this case, the pitch axis Y is shifted by an angle a from the position before shaking, and the yaw axis Z is also shifted by an angle a from the position before shaking. In order to suppress the influence of the shaking, it is necessary to rotate the first axis X by the angle a in the direction opposite to the shaking direction. However, in the example shown in FIG. 6B, from the response performance of the gimbal mechanism 2, the first axis can rotate only by the angle b. That is, the second axis Yg after shaking and the third axis Zg after shaking are still shifted from the position before shaking by the angle c. As a result, it is difficult to capture the target 15 at the center in the imaging region 14. However, in the present embodiment, the image data is converted by the image conversion unit 12 so that the imaging region 14 is rotated by an angle c that is a difference between the angle a and the angle b. As a result, the target 15 can be captured near the center of the imaging region 14, and space stabilization can be performed.

  As described above, according to the present embodiment, even when the rotational speed of the gimbal mechanism 2 cannot catch up with the shaking of the flying object 1, the image converting unit 12 cancels out the shaking of the flying object 1. Then, the image data is converted. Therefore, the space of the camera 3 can be sufficiently stabilized regardless of the response performance of the gimbal mechanism 2.

<Modification of First Embodiment>
In the present embodiment, the case where the gimbal mechanism 2 is a three-axis gimbal has been described. However, the gimbal mechanism 2 is not necessarily a triaxial gimbal, and may be a biaxial gimbal, for example. In this modification, it is assumed that the gimbal mechanism 2 rotates around the first axis (roll axis) and around the second axis orthogonal to the roll axis.

  In this modification, the gimbal control unit 11 rotates the first axis and the second axis based on the swing angular velocity of the flying object 1 around the first axis and the swing angular speed of the flying object 1 around the second axis. Is generated as a space stabilization command and notified to the gimbal mechanism 2. Thereby, in the gimbal mechanism 2, the first shaft and the second shaft rotate.

  Then, the image conversion unit 12 of the control device 4 compares the fluctuation angular velocity and the gimbal angular velocity of the flying object 1 for each of the first axis and the second axis, converts the image data according to the comparison result, and converts Post image data is generated. The comparison may be the swing angle of the flying object 1 and the gimbal drive angle. The converted image data may be applied to a target direction obtained by converting the image data to generate a converted target direction. Further, the gimbal mechanism 2 cannot cancel the swinging of the flying object 1 around the third axis. Accordingly, the image conversion unit 12 converts the image data based on the shaking angular velocity of the flying object 1 around the third axis so that the shaking around the third axis is eliminated.

  With the above configuration and operation, even in the present modification, the gimbal mechanism 2 can perform space stabilization even when the flying object 1 fluctuates beyond the rotational speed limits of the first and second axes. Is possible.

(Second Embodiment)
Next, the second embodiment will be described. In the present embodiment, the configuration and operation of the control device 4 are changed with respect to the first embodiment. Since other points can be the same as those in the first embodiment, a detailed description thereof will be omitted.

  FIG. 7 is a conceptual diagram showing the imaging region 14. The outline of the present embodiment will be described with reference to FIG. FIG. 7A shows an initial state. As shown in FIG. 7A, the camera 3 is configured such that the longitudinal direction of the imaging region 14 is the first direction. The first direction is a direction in which the imaging region 14 moves when the second axis Yg rotates. Here, the target 15 is shown in the imaging region 14.

  Here, as illustrated in FIG. 7A, it is assumed that the target 15 is moving in the imaging region 14 in a direction orthogonal to the first direction (a direction along the Y axis). In such a case, since the moving direction of the target 15 is different from the first direction, the target 15 is likely to be out of the imaging region 14. Therefore, in the present embodiment, in order to prevent the target 15 from moving out of the imaging area 14, the longitudinal direction (first direction) of the imaging area 14 is the movement of the target 15 as shown in FIG. The first axis (X axis) is rotated so as to coincide with the point. Thereafter, by rotating the second axis (Yg axis), the imaging region 14 moves along the first direction so as to correspond to the movement of the target 15, and the target 15 is stored in the imaging region 14. Actually, the first axis and the second axis move in conjunction with each other.

  Here, when the first axis (X) is rotated, the position of the target 15 within the imaging region 14 changes. Therefore, in the present embodiment, the image data is converted so that the change in the position of the target 15 at this time is offset. Thereby, even if the first axis rotates to fit the target 15 in the imaging region 14, the position of the target 15 in the imaging region 14 can be stabilized, and the space stabilization process can be performed. It becomes possible.

  Hereinafter, this embodiment will be specifically described.

  FIG. 8 is a functional block diagram showing the space stabilization device 6 according to this embodiment. In the present embodiment, when the control device 4 acquires image data from the camera 3, it generates a target lost prevention command and supplies it to the gimbal mechanism 2. The target lost prevention command is a command for preventing the target from deviating from the imaging region of the camera 3, and is a command for instructing rotation of the roll axis (first axis). Based on the target lost prevention command, the gimbal mechanism 2 rotates the first axis so that the target does not deviate from the imaging area of the camera 3.

  FIG. 9 is a functional block diagram showing the control device 4. The control device 4 includes a moving point calculation unit 16, a gimbal control unit 11, an image conversion unit 12, and a gimbal angular velocity sensor 13.

  The moving point calculation unit 16 calculates a moving point of the target 15 in the imaging area 14 based on the image data, and generates moving point data indicating the calculation result.

  Based on the movement point data, the gimbal control unit 11 calculates the rotation amount of the first axis necessary to make the first direction coincide with the movement direction of the target 15, and rotates the first axis by the necessary rotation amount. The command is notified to the gimbal mechanism 2 as a target lost prevention command. As a result, in the gimbal mechanism 2, the first shaft rotates according to the target lost prevention command.

  The gimbal angular velocity sensor 13 acquires data indicating the drive angle (gimbal drive angle) of the first axis from the angle sensor 9 included in the gimbal mechanism 2. Then, the gimbal angular velocity sensor 13 calculates the angular velocity of the first axis based on the time change of the data indicating the drive angle, and notifies the image conversion unit 12 of the data indicating the calculation result.

  Based on the data indicating the angular velocity of the first axis and the angular velocity of the second axis, the image conversion unit 12 rotates the image data so as to cancel the rotation of the first axis, and generates post-conversion image data. The converted image data may be generated by rotating a target direction calculated based on the image data to generate a converted target direction.

  As described above, according to the present embodiment, even when the first axis of the gimbal mechanism 2 rotates in order to capture the target 15 in the imaging area 14, the imaging area accompanying the rotation is converted by image conversion. The change of the position of the target 15 in 14 is suppressed. Despite the rotation of the first axis, the position of the target 15 in the imaging region 14 can be stabilized. That is, it becomes possible to perform space stabilization processing.

  In the present embodiment, a biaxial gimbal may be adopted as the gimbal mechanism 2 instead of the triaxial gimbal, as in the modification of the first embodiment. When a biaxial gimbal is used, one of the two axes of the gimbal mechanism 2 is a roll axis (first axis). Thus, even when a biaxial gimbal is used as the gimbal mechanism 2, it is possible to achieve the same operational effects as when the triaxial gimbal is used.

(Third embodiment)
Subsequently, a third embodiment will be described. In the present embodiment, the first embodiment and the second embodiment are combined.

  FIG. 10 is a functional block diagram showing the space stabilization device 6 according to the present embodiment. The space stabilization device 6 includes a control device 4 that acquires image data from the camera 3, an angular velocity sensor 5, and a gimbal mechanism 2. The control device 4 acquires data indicating the angular velocity of the flying object 1 around the roll axis, the pitch axis, and the yaw axis from the angular velocity sensor 5, and cancels the fluctuation of the flying object 1 as in the first embodiment. Generate commands for space stability. Further, similarly to the second embodiment, the control device 4 generates a target lost prevention command based on the image data. In the gimbal mechanism 2, based on the space stabilization command and the target lost prevention command, the shaking of the flying object 1 is canceled, and the first to third axes are rotated so that the target is within the imaging region. And the control apparatus 4 acquires the data which show the drive angle of each axis | shaft of the gimbal mechanism 2 from the angle sensor 9, and calculates | requires the angular velocity of each axis | shaft. Then, the image data is converted based on the obtained angular velocity, and converted image data is generated.

  According to the present embodiment, similarly to the first embodiment, the camera 3 can be sufficiently spatially stabilized regardless of the response performance of the gimbal mechanism 2. Similarly to the second embodiment, even if the first axis of the gimbal mechanism 2 is rotated by the target lost prevention command, the target 15 in the imaging region 14 accompanying the rotation is converted by image conversion. The change in position is suppressed.

  Also in this embodiment, as in the above-described embodiment, it is possible to use a biaxial gimbal as the gimbal mechanism 2 instead of a triaxial gimbal.

  The present invention has been described above using the first to third embodiments. These embodiments are not independent from each other, and can be used in combination within a consistent range.

1 Flying object 2 Gimbal mechanism 3 Camera (imaging device)
DESCRIPTION OF SYMBOLS 4 Control apparatus 5 Angular velocity sensor 6 Space stabilization apparatus 7 Gimbal control computer 8 Gimbal drive part 9 Angle sensor 10 Angular speed conversion part 11 Gimbal control part 12 Image conversion part 13 Gimbal angular speed sensor 14 Imaging area 15 Target 100 Spatial stabilization apparatus 104 Angular velocity sensor 102 Gimbal control computer 103 Gimbal drive unit 105 Computer 106 Gimbal mechanism

Claims (15)

A space stabilization device that is provided on a flying object, images a target, and performs space stabilization of an imaging device that generates image data,
A gimbal mechanism having a first axis and a second axis, wherein the imaging direction of the imaging apparatus is rotated around the first axis and the second axis by rotation of the first axis and the second axis; ,
A control device for controlling the operation of the gimbal mechanism so that the imaging direction faces the target based on the image data;
An aircraft angular velocity sensor for measuring the angular velocity of the flying object;
Comprising
The controller is
Based on the angular velocity of the flying object, the first axis is rotated so that the flying object around the first axis is eliminated, and the flying object around the second axis is eliminated. A gimbal control unit for rotating the second shaft as follows:
When the movement of the flying object around the first axis is not corrected only by the rotation of the first axis, the image data is converted so that the fluctuation around the first axis is corrected, and the second axis In the case where the movement of the flying object around the second axis is not corrected by only the rotation of, the image data is converted so that the fluctuation around the second axis is corrected, and converted image data is generated. A space stabilization device comprising an image conversion unit. The space stabilization device according to claim 1,
Furthermore,
A gimbal angular velocity sensor that measures an angular velocity during rotation of the first axis as a first gimbal angular velocity, and measures an angular velocity during rotation of the second axis as a second gimbal angular velocity;
Comprising
The control device further includes a fluctuation angular velocity of the flying object, a fluctuation angular velocity around the first axis, a fluctuation angular velocity around the second axis, and a third axis orthogonal to the first axis and the second axis. It is equipped with an angular velocity converter that converts it to the surrounding angular velocity.
The image conversion unit converts the image data based on a difference between a fluctuation angular velocity around the first axis and a first gimbal angular velocity so that the fluctuation around the first axis is corrected, and A space stabilization device that converts the image data so that the oscillation around the second axis is corrected based on the difference between the oscillation angular velocity around two axes and the second gimbal angular velocity. A space stabilization device according to claim 1 or 2,
The aircraft angular velocity sensor is a space for measuring the flying angular velocity of the flying object around the roll axis, the flying angular velocity of the flying object around the pitch axis, and the angular velocity of the flying object around the yaw axis as the angular velocity of the flying object. Stabilizer. A space stabilization device according to any one of claims 1 to 3,
The gimbal mechanism is further configured to rotate around the third axis,
The gimbal control unit is further configured to rotate the third axis based on the fluctuation angular velocity of the flying object so as to eliminate the fluctuation of the flying object around the third axis,
The image conversion unit converts the image data so that the fluctuation around the third axis is corrected when the rotation of the flying object around the third axis is not corrected only by the rotation of the third axis. Space stabilization device. The space stabilization device according to claim 1, wherein
The first axis is a roll axis;
The space stabilization device, wherein the second axis is an axis orthogonal to the roll axis. The space stabilization device according to claim 5,
The imaging device is configured such that the imaging region moves along a first direction when the second axis rotates.
The control device further includes a movement point calculation unit that calculates a movement point of the target based on the image data,
The gimbal control unit is configured to rotate the one axis so that the first direction matches a moving point of the target,
The space conversion device, wherein the image conversion unit converts the image data so that a change in the position of the target in the imaging region during the rotation of the first axis is eliminated. A space stabilization device that is provided on a flying object, images a target, and performs space stabilization of an imaging device that generates image data,
A first axis that coincides with a roll axis, and a second axis that is orthogonal to the first axis, and the rotation of the first axis and the second axis changes the imaging direction of the imaging device around the first axis. And a gimbal mechanism that rotates about the second axis;
A control device for controlling the operation of the gimbal mechanism so that the imaging direction faces the target based on the image data;
Comprising
The imaging device is configured such that the imaging region moves along a first direction when the second axis rotates.
The controller is
A moving point calculation unit for calculating a moving point of the target based on the image data;
A gimbal control unit that rotates the first axis so that the first direction matches a moving point of the target;
An image conversion unit that converts the image data and generates converted image data;
The space stabilization device, wherein the image conversion unit converts the image data so that a change in the position of the target in the imaging region due to the rotation of the first axis is eliminated. A space stabilization method for stabilizing the space of an imaging device provided on a flying object, imaging a target and generating image data,
Rotating the imaging direction of the imaging device around the first axis and around the second axis by rotating the first axis and the second axis of the gimbal mechanism;
Controlling the operation of the gimbal mechanism based on the image data so that the imaging direction faces the target;
Measuring the angular velocity of the flying object;
Comprising
The controlling step includes
Based on the angular velocity of the flying object, the first axis is rotated so that the flying object around the first axis is eliminated, and the flying object around the second axis is eliminated. Rotating the second shaft as follows:
When the movement of the flying object around the first axis is not corrected only by the rotation of the first axis, the image data is converted so that the fluctuation around the first axis is corrected, and the second axis In the case where the movement of the flying object around the second axis is not corrected by only the rotation of, the image data is converted so that the fluctuation around the second axis is corrected, and converted image data is generated. A spatial stabilization method comprising steps. The space stabilization method according to claim 8, comprising:
Furthermore,
Measuring an angular velocity during rotation of the first axis as a first gimbal angular velocity, and measuring an angular velocity during rotation of the second axis as a second gimbal angular velocity;
Comprising
In the controlling step, the flying angular velocity of the flying object is further changed to a third angular velocity that is orthogonal to the angular velocity around the first axis, the angular velocity around the second axis, and the first axis and the second axis. Comprising the step of converting to a rocking angular velocity about the axis,
In the step of generating the converted image data, the image data is converted so that the oscillation around the first axis is corrected based on the difference between the oscillation angular velocity around the first axis and the first gimbal angular velocity. Spatial stabilization comprising the step of converting and converting the image data so that the oscillation around the second axis is corrected based on the difference between the oscillation angular velocity around the second axis and the second gimbal angular velocity. Method. A space stabilization method according to claim 8 or 9, wherein
The step of measuring the flying angular velocity of the flying object includes, as the flying angular speed of the flying object, the flying angular speed of the flying object around the roll axis, the shaking angular speed of the flying object around the pitch axis, and the flying angular speed of the flying object around the yaw axis. A spatial stabilization method comprising the step of measuring a rocking angular velocity. A space stabilization method according to any one of claims 8 to 10,
The gimbal mechanism is further configured to rotate around the third axis,
The step of controlling further includes the step of rotating the third axis so as to eliminate the fluctuation of the flying object around the third axis based on the angular velocity of the flying object.
The step of generating the converted image data further includes the step of generating the image data with respect to the third axis when the movement of the flying object around the third axis is not corrected only by the rotation of the third axis. A spatial stabilization method comprising the step of converting to be corrected. A space stabilization method according to claims 8 to 11,
The first axis is a roll axis;
The space stabilization method, wherein the second axis is an axis orthogonal to the roll axis. The space stabilization method according to claim 12, comprising:
The imaging device is configured such that an imaging region moves along a first direction when the gimbal mechanism rotates around the second axis,
The controlling step further comprises:
Calculating a moving point of the target based on the image data;
Rotating the one axis so that the first direction coincides with a moving point of the target,
The step of generating the converted image data further includes a step of converting the image data so that a change in the position of the target in the imaging region due to the rotation of the first axis is offset. Method. A space stabilization method for stabilizing the space of an imaging device provided on a flying object, imaging a target and generating image data,
The imaging direction of the imaging device is rotated about the first axis and the second axis by rotating a first axis that coincides with the roll axis of the gimbal mechanism and a second axis that is orthogonal to the first axis. Step to
Controlling the operation of the gimbal mechanism based on the image data so that the imaging direction faces the target;
Comprising
The imaging device is configured such that an imaging region moves along a first direction when the second axis rotates,
The controlling step includes
Calculating a moving point of the target based on the image data;
Rotating the first axis so that the first direction matches a moving point of the target;
Converting the image data, and generating the converted image data,
The step of generating the converted image data includes a step of converting the image data so that a change in the position of the target in the imaging region due to the rotation of the first axis is eliminated. Stabilization method.   The space stabilization program for implement | achieving the space stabilization method in any one of Claims 8 thru | or 14 with a computer.

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