JP2014216823A - Space stabilization device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a space stabilization device for reducing an influence to a pickup image due to the displacement of a vibration-proof member.SOLUTION: A space stabilization device 100 includes: a mounting part 11 and a frame body 12 for rotatably supporting a camera casing 13 including a camera imaging part 14a; a pitching drive motor 18 for rotationally driving the camera casing 13 in a pitching direction; an elastic member 15 for reducing vibration to be transmitted from the mounting part 11 to the camera casing 13; a heaving detection sensor 16 for detecting a displacement amount H of the camera casing 13 in a direction where it comes close to and separates from the mounting part 11; and a control device 21. The control device 21 detects an imaging distance L between the camera imaging part 14a and a position P of a power transmission line 50, and calculates the displacement of an optical axis OA of the camera imaging part 14a caused by the displacement of the camera casing 13 on the basis of the imaging distance L and the displacement amount H of the camera casing 13, and allows the pitching drive motor 18 to drive the camera casing 13 to rotate in the pitching direction such that the calculated displacement of the optical axis OA is reduced.

Description

  The present invention relates to a space stabilizer.

In a space stabilization device that can fix a camera to a movable object such as a flying object such as a helicopter or a vehicle, and arbitrarily change the imaging direction of the camera, the adverse effect of the vibration of the object on the captured image of the camera In order to suppress this, an anti-vibration mechanism is provided.
For example, Patent Document 1 describes a camera device in which a camera head is attached to a body bracket fixed to a body of an unmanned helicopter via a spring as a vibration isolating member constituting a vibration isolating mechanism. The camera pan / tilt head can rotate the supporting camera in the yaw direction around the pan axis perpendicular to the airframe bracket, and can rotate in the pitching direction around the tilt axis perpendicular to the pan axis. In this camera device, the tilt in the yaw direction and the tilt in the pitching direction of the camera are detected by a pan gyro and a tilt gyro, respectively, and the camera is moved in the opposite direction to the detected tilt to cancel the tilt and receive from the camera. By removing high-frequency vibrations such as vibrations and noises caused by engine vibrations, rotor rotations, and the like from the captured image data, the influence on the captured image due to helicopter vibrations is reduced.

JP 2006-264567 A

  In the camera device described in Patent Document 1, the displacement of the camera is detected as a rotation angle around the pan axis and the tilt axis using a pan gyro and a tilt gyro, and the imaging direction is corrected, and image control is performed. The captured image is corrected by removing high-frequency vibration components from the captured image using an apparatus. However, if the spring expands and contracts in the vertical direction (heaving direction) perpendicular to the airframe bracket due to the helicopter's swinging and vibration, etc., the camera head is displaced relative to the airframe bracket. The subject is displaced up and down, but neither the correction by the pan gyroscope or the tilt gyroscope nor the correction by the image control device can reduce the displacement of the subject in the captured image, and is clear. There is a problem that a stable captured image without blur cannot be obtained.

  The present invention has been made to solve such problems, and an object of the present invention is to provide a space stabilization device that reduces the influence on the captured image due to the displacement of the vibration isolating member.

  In order to solve the above-described problems, a space stabilizer according to the present invention is a space stabilizer having a housing including an imaging camera that is rotatable in a pitching direction. A support body that rotatably supports the pitching direction, a drive device that rotationally drives the housing in the pitching direction, and an anti-vibration member that is provided on the support body and has elasticity that reduces vibration transmitted from the support body to the housing. , A displacement detection device for detecting the displacement of the housing in a direction approaching and moving away from the support, and a control device connected to control the operation of the drive device and receive the detection result to the displacement detection device And the control device detects the imaging distance between the camera and the imaging object, and based on the imaging distance and the displacement of the housing received from the displacement detection device, the optical axis of the camera caused by the displacement of the housing It calculates the displacement to rotate the housing in the pitching direction so as to reduce the displacement of the optical axis of the calculated camera.

The control device may detect a distance between lenses arranged in a plurality of layers in the camera, and calculate an imaging distance between the camera and the imaging object based on the distance between the lenses.
The control device may calculate the displacement of the optical axis of the camera due to the displacement of the housing as the angular displacement in the pitching direction of the camera.
The support body includes an attachment portion attached to the attachment object, and a frame body rotatably connected to the attachment portion in the yaw direction and rotatably supporting the casing in the pitching direction. May be provided between the attachment portion and the frame body, and the displacement detection device may detect the displacement of the frame body in a direction approaching and leaving the attachment portion.
Further, in the space stabilization device, a plurality of displacement detection devices are provided, and the control device detects the displacement of the housing in the direction of approaching and moving away from the support, and the support from the detection results of the plurality of displacement detection devices. And the displacement of the optical axis of the camera may be calculated using the calculated displacement and inclination angle of the housing.

  According to the space stabilizer according to the present invention, it is possible to reduce the influence on the captured image due to the displacement of the vibration isolation member.

It is a typical side view of a helicopter provided with the space stabilizer concerning an embodiment of this invention. It is the typical side view to which the space stabilizer of FIG. 1 was expanded. It is a figure which shows the state of the optical axis correction by the space stabilizer of FIG. It is a figure which shows the state of the captured image by the space stabilizer in the state shown in FIG. It is a figure which shows the state of the optical axis correction by the modification of a space stabilizer.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment First, the configuration of a space stabilizer 100 according to an embodiment of the present invention will be described.
Referring to FIG. 1, a helicopter 1 equipped with a space stabilizer 100 is shown. As illustrated, when the space stabilizer 100 is mounted on the helicopter 1, the space stabilizer 100 is attached to the lower part of the body 1 a with the built-in camera imaging unit 14 a facing down. The space stabilizing device 100 enables the camera imaging unit 14a to capture images in all directions around and below the helicopter 1 by changing the orientation of the camera imaging unit 14a.
Here, the camera imaging unit 14a constitutes an imaging camera.

FIG. 2 shows the details of the space stabilizer 100 in a side view.
The space stabilizer 100 includes a plate-like attachment portion 11 that is attached and fixed to the body 1 a of the helicopter 1, and a frame body that is disposed below the attachment portion 11 and has a base portion 12 b embedded in the attachment portion 11. 12, a spherical camera housing 13 supported by the frame body 12, and a camera imaging unit 14 a housed in the camera housing 13. In the present embodiment, the camera imaging unit 14a has a configuration capable of capturing a digital still image and a digital moving image.
The frame body 12 is integrated with a frame main body portion 12a having a U-shaped cross section extending in the depth direction of the paper surface and facing downward on the paper surface, and the attachment portion 11 side of the frame main body portion 12a. And an annular base portion 12 b extending toward the attachment portion 11.
Here, the airframe 1a of the helicopter 1 constitutes an attachment object, and the attachment portion 11 and the frame body 12 constitute a support.

  A part of the base portion 12 b is located in the attachment portion 11. Further, an annular protrusion engaging portion 11a which is a part of the attachment portion 11 is engaged with play in an annular recess 12b1 formed along the circumferential direction on the outer peripheral side of the base portion 12b, and the base portion 12b is prevented from coming off. This prevents the frame body 12 from deviating from the attachment portion 11. The attachment portion 11 has a support column 11b extending so as to protrude into the frame main body portion 12a of the frame body 12 at the center inside the annular base portion 12b. Further, a ball bearing 11c is provided between the outer peripheral surface of the support column 11b and the inner peripheral surface of the base portion 12b. Therefore, the base 12b of the frame 12 is supported by the ball bearing 11c and the support 11b so as to be rotatable in the yaw direction around the support 11b.

In addition, an annular elastic member 15 is provided at the end of the base 12 b of the frame 12 on the side opposite to the frame main body 12 a inside the attachment portion 11. The elastic member 15 is in contact with the base portion 12b and is in contact with the member of the attachment portion 11 on the side opposite to the base portion 12b. And the elastic member 15 is comprised by spring members, such as plate-shaped silicon rubber, or the coil spring extended in the axial direction of the support | pillar 11b. Therefore, the elastic member 15 attenuates the vibration / shake applied to the mounting portion 11 from the body 1a or the like, and reduces the vibration / shake transmitted to the base 12b. The elastic member 15 constitutes a vibration-proof member having elasticity, and in this embodiment, it is a plate-like silicon rubber.
Incidentally, the frame body 12 forms a gap between the frame main body portion 12a and the tip end portion of the support column 11b of the mounting portion 11 and between the frame main body portion 12a and the ball bearing 11c, and the projecting engagement of the mounting portion 11 Since the base portion 12b is loosely engaged with the portion 11a, the elastic member 15 can be moved in the vertical direction (heaving direction) while deforming the elastic member 15 in the axial direction of the column 11b with respect to the attachment portion 11.

  Furthermore, a first heaving detection sensor 16a is provided inside the frame main body 12a of the frame 12 so as to face the protruding tip of the support 11b. The first heaving detection sensor 16a detects the amount of displacement of the frame 12 that is displaced in the vertical direction (heaving direction) when the elastic member 15 expands and contracts in the axial direction of the column 11b. A second heaving detection sensor 16b is also provided at the tip of the column 11b, and the second heaving detection sensor 16b detects the amount of heaving displacement of the column 11b, that is, the mounting portion 11. And the 1st heaving detection sensor 16a and the 2nd heaving detection sensor 16b comprise the heaving detection sensor 16 which detects the relative displacement amount of the frame 12 with respect to the support | pillar 11b, ie, the heaving displacement amount of the elastic member 15. FIG.

In the present embodiment, the first heaving detection sensor 16a and the second heaving detection sensor 16b are acceleration sensors that detect acceleration. The 1st heaving detection sensor 16a and the 2nd heaving detection sensor 16b are electrically connected so that a detection result may be transmitted to control device 21 arranged inside body 1a. And the control apparatus 21 calculates a relative displacement amount by calculating the relative acceleration of the frame 12 with respect to the support | pillar 11b from the acceleration of the frame 12 and the support | pillar 11b sent from the two heaving detection sensors 16a and 16b.
Here, the heaving detection sensor 16 constitutes a displacement detection device.

  The frame body 12 is provided with a yaw drive motor 17 that rotates the frame body 12 in the yaw direction. The yaw drive motor 17 is provided integrally with the frame main body portion 12a of the frame body 12, and mechanically connects a rotating portion (not shown) to the column 11b of the mounting portion 11 by gear engagement or the like to rotate the rotating portion. Thus, the frame body 12 is rotated relative to the support column 11b in the yaw direction. The yaw drive motor 17 is electrically connected to the control device 21 so that its operation is controlled. Further, a yaw rotation angle sensor 17a is provided around the support column 11b, and the yaw rotation angle sensor 17a detects the rotation angle of the frame 12 in the yaw direction with respect to the support column 11b and transmits it to the control device 21. It is configured. Therefore, the control device 21 controls the operation of the yaw drive motor 17 based on the rotation angle information in the yaw direction of the frame 12 received from the yaw rotation angle sensor 17a, and rotates the frame 12 at a desired rotation angle. Can do.

  Moreover, the camera housing | casing 13 is comprised by the spherical main body part 13a and the cylindrical part 13b which protrudes from the main body part 13a. A lens of the camera imaging unit 14a is embedded in the cylindrical part 13b. The main body 13a is rotatably supported from both sides by arm-like portions 12a1 on both sides of the frame main body 12a of the U-shaped frame 12. The camera housing 13 can rotate about an axis perpendicular to the axial direction of the support column 11b of the mounting portion 11, that is, can rotate in the pitching direction.

Furthermore, a pitching drive motor 18 is provided inside the arm-shaped part 12a1. The pitching drive motor 18 is mechanically coupled to the rotation shaft of the camera housing 13 and rotationally drives the camera housing 13 in the pitching direction. The pitching drive motor 18 is electrically connected to the control device 21 so that its operation is controlled. A pitching rotation angle sensor 18 a is provided around the rotation axis of the camera housing 13, and the pitching rotation angle sensor 18 a detects the rotation angle of the camera housing 13 in the pitching direction with respect to the frame body 12. It is configured to transmit to the control device 21. Therefore, the control device 21 controls the operation of the pitching drive motor 18 based on the rotation angle information in the pitching direction of the camera casing 13 received from the pitching rotation angle sensor 18a, and rotates the camera casing 13 at a desired rotation angle. Can be made.
Here, the pitching drive motor 18 constitutes a drive device.

  Further, the digital camera imaging unit 14 a in the camera housing 13 is electrically connected to the camera body 14 b disposed inside the machine body 1 a via the control device 21, and images are taken via the control device 21. The image data is transmitted to the camera body 14b. Then, the camera body 14b displays the received captured image on an attached monitor or the like. Note that the image projected by the camera body 14 b can be displayed on the monitor by connecting another monitor to the control device 21. Furthermore, the camera imaging unit 14a is controlled in the imaging operation such as focusing, exposure adjustment, shutter speed adjustment, shutter operation, and moving image imaging start / end by being operated in the camera body unit 14b.

  In addition, the lens of the camera imaging unit 14a includes a moving lens (not shown) that is a focus lens that is moved to obtain an image with a focus, and a fixed lens (not shown) whose position does not change. include. The camera imaging unit 14a is provided with an inter-lens distance detection sensor 19 that detects the distance between the moving lens and the fixed lens. The inter-lens distance detection sensor 19 is electrically connected to the control device 21 so as to transmit the detected distance information between the lenses. The control device 21 calculates the distance from the camera imaging unit 14a that is focused in the position state of the lens from the received distance information between the moving lens and the fixed lens.

The controller 21 is electrically connected to an operation controller 22 provided inside the machine body 1a. The operation controller 22 transmits the stick operation information input by the user to the control device 21, and the control device 21 drives the yaw drive motor 17 and the pitching drive motor 18 based on the received stick operation information, and requests the user. The lens in the cylindrical portion 13b of the camera housing 13 can be oriented to match the input information.
Therefore, the space stabilizer 100 can arbitrarily direct the lens in the cylindrical portion 13b of the camera housing 13 by driving the yaw drive motor 17 and the pitching drive motor 18 by the control device 21.

Next, the operation of the space stabilizer 100 according to the embodiment of the present invention will be described.
Referring to FIGS. 1 and 2 together, in the space stabilization device 100 mounted on the lower part of the fuselage 1a of the helicopter 1, an operator in the fuselage 1a is sent from the camera imaging unit 14a and projected on the camera body 14b. By operating the operation controller 22 while confirming the captured image, the orientation of the cylindrical portion 13b of the camera housing 13 is adjusted in the yaw direction and the pitching direction, whereby the camera imaging portion in the cylindrical portion 13b is adjusted. The lens 14a is directed toward the subject. Furthermore, when the operator manually operates the camera body 14b, the lens of the camera imaging unit 14a is focused on the subject.

Referring to FIG. 3 together with FIG. 2, for example, in the space stabilizer 100, the optical axis OA of the lens of the camera imaging unit 14 a is directed to the position P on the power transmission line 50, and the focal point is the position P on the power transmission line 50. Adapted to manual operation. At this time, the inter-lens distance detection sensor 19 detects a distance between a moving lens (not shown) of the camera imaging unit 14 a and a fixed lens, and transmits the detection result to the control device 21. The control device 21 calculates a distance (imaging distance) L from the camera imaging unit 14a that is in focus in the state of the received moving lens and fixed lens at the inter-lens distance. That is, the control device 21 calculates the imaging distance L from the camera imaging unit 14a to the position P on the power transmission line 50 in focus.
Here, the power transmission line 50 forms an imaging object.

  In addition, vibrations of the engine and rotor of the helicopter 1 and vibrations and vibrations caused by the vertical movement of the helicopter 1 are transmitted to the space stabilizer 100 via the airframe 1a. The transmitted vibration and vibration are transmitted to the elastic member 15 via the mounting portion 11, and the elastic member 15 that receives vibration and vibration while being sandwiched between the mounting portion 11 and the frame body 12 expands and contracts. Is done. Due to the expansion and contraction of the elastic member 15 at this time, the frame 12 is relatively displaced in the heaving direction with respect to the mounting portion 11, and the amount of heaving displacement H is detected by the heaving detection sensor 16 and transmitted to the control device 21.

Then, the control device 21 uses the imaging distance L calculated above and the heaving displacement amount H received from the heaving detection sensor 16 to calculate a correction angle α (unit: radians) obtained by the following equation. The displacement amount H takes a positive value in the case of upward displacement and takes a negative value in the case of downward displacement.
α = ATAN (H / L)
Atan (H / L) is an arc tangent (inverse tangent function) of H / L.

  In FIG. 3, when the frame 12 is displaced upward by a displacement amount H due to vibration, shaking, etc., the optical axis OA of the camera imaging unit 14a moves to the optical axis OA1, and the camera imaging unit 14a positions the center of the captured image at the position P. From the position P, the power transmission line 50 is imaged by moving the position P to the position P1 moved upward by the distance H. That is, as shown in FIG. 4 representing an image captured by the camera imaging unit 14a, in the captured image 60, the power transmission line 50 moves downward from the state A indicated by the solid line to the state B indicated by the broken line. And if the frame 12 displaces up and down, the power transmission line 50 in the captured image 60 will shake up and down.

2 and 3, the control device 21 uses the correction angle α (α is a positive value because the displacement amount H is a positive value) calculated by the above formula, and the camera housing The pitching drive motor 18 is operated to rotate the 13 camera imaging units 14a (that is, the cylindrical portion 13b) downward in the pitching direction by an angle α (upward angle −α), and the position P is captured. The optical axis is changed to the optical axis OA2 so as to return to the center.
By repeatedly executing the above-described control by the control device 21, the position P of the power transmission line 50 is maintained at the center position in the captured image 60, and blurring of the power transmission line 50 in the captured image 60 is suppressed. .

  As described above, the space stabilizer 100 according to the embodiment of the present invention has the camera housing 13 including the camera imaging unit 14a so as to be rotatable in the pitching direction. The space stabilizing device 100 is attached to the body 1a of the helicopter 1 and supports the camera housing 13 so as to be rotatable in the pitching direction, and rotationally drives the camera housing 13 in the pitching direction. A pitching drive motor 18, an elastic member 15 that is provided on the attachment portion 11 and the frame body 12 and that reduces vibrations transmitted from the attachment portion 11 to the camera housing 13, and a camera that approaches and moves away from the attachment portion 11. A heaving detection sensor 16 that detects a displacement amount H of the housing 13 and a control device 21 that controls the operation of the pitching drive motor 18 and is connected to receive the detection result from the heaving detection sensor 16 are provided. The control device 21 detects the imaging distance L between the camera imaging unit 14 a and the subject (power transmission line 50), and based on the imaging distance L and the displacement amount H of the camera housing 13 received from the heaving detection sensor 16, The displacement of the optical axis OA of the camera imaging unit 14a due to the displacement of the housing 13 is calculated, and the camera housing 13 is rotated in the pitching direction so as to reduce the calculated displacement of the optical axis OA of the camera imaging unit 14a.

  At this time, the control device 21 determines the displacement of the optical axis of the camera imaging unit 14a that has been displaced from the optical axis OA to the optical axis OA1 when the camera housing 13 is displaced in a direction approaching or moving away from the attachment unit 11. It is calculated from the displacement amount H and the imaging distance L of the camera housing 13 so that the position of the subject at the optical axis OA1 shifted from the optical axis OA in the captured image is returned to the state at the optical axis OA. The position of the camera housing 13 in the pitching direction is controlled. As a result, the position of the subject in the captured image is maintained at a constant position, and blurring of the subject in the captured image can be reduced.

  In the space stabilization apparatus 100, the control device 21 detects the distance between the lenses arranged in a plurality of layers in the camera imaging unit 14a, and the camera imaging unit 14a and the subject (power transmission line 50) based on the detected distance between the lenses. ) Is calculated. At this time, since the camera imaging unit 14a only needs to be provided with the inter-lens distance detection sensor 19 for detecting the distance between the lenses, the structure can be simplified and miniaturized.

  In the space stabilizer 100, the control device 21 calculates the displacement of the optical axis OA of the camera imaging unit 14a due to the displacement of the camera housing 13 as the angular displacement α in the pitching direction of the camera imaging unit 14a. Thereby, operation control in the pitching direction of the camera housing 13 by the control device 21 for reducing the displacement of the optical axis OA is facilitated.

  In addition, the space stabilization device 100 is connected to the helicopter 1 body 1a as a support, and is attached to the attachment 11 so as to be rotatable in the yaw direction, and the camera housing 13 can be rotated in the pitching direction. The elastic member 15 is provided between the attachment portion 11 and the frame body 12, and the heaving detection sensor 16 is in the direction of approaching and leaving the attachment portion 11. The displacement of the frame 12 is detected. As a result, in the space stabilization apparatus 100 capable of moving the camera casing 13 (camera imaging unit 14a) in the yaw direction and the pitching direction, the camera casing 13 is displaced in a direction toward and away from the mounting portion 11. It is possible to reduce the displacement of the optical axis OA of the camera imaging unit 14a at the time.

  Further, in the space stabilizer 100 of the embodiment, the relative displacement amount of the frame body 12 with respect to the mounting portion 11 is detected using a pair of the first heaving detection sensor 16a and the second heaving detection sensor 16b. It is not limited to this. For example, as shown in FIG. 5, in the frame body 12, a plurality of first heaving detection sensors 16 a are provided in an annular shape around the support pillar 11 b, and the first heaving detection sensor 16 a on the back of the elastic member 15 is attached to the attachment portion 11. The second heaving detection sensor 16b may be provided in an annular shape at the facing position. At this time, even if the frame 12 is displaced in the heaving direction and tilted with respect to the mounting portion 11 due to the expansion and contraction of the elastic member 15, the control is performed even when the optical axis OA of the camera imaging unit 14a moves to the optical axis OA1. The device 21 can suppress blurring of the power transmission line 50 in the captured image due to the displacement of the optical axis OA. Specifically, the control device 21 calculates the relative displacement amount of the frame body 12 with respect to the mounting portion 11 at each sensor position from the detection results of the plurality of first heaving detection sensors 16a and the second heaving detection sensor 16b. From the calculated relative displacement amount, an average value H of the relative displacement amount and an inclination angle β (an angle in the pitching direction) of the frame body 12 with respect to the attachment portion 11 are calculated. Then, the control device 21 calculates a correction angle α for the heaving displacement from the average relative displacement amount H, and moves the camera housing 13 in the pitching direction with a correction angle (α + β) obtained by adding the correction angle α and the inclination angle β. By rotating, the optical axis OA of the camera imaging unit 14a is changed to the optical axis OA2, so that the position P of the power transmission line 50 becomes a fixed position in the captured image.

  Moreover, in the space stabilizer 100 of embodiment, although the 1st heaving detection sensor 16a and the 2nd heaving detection sensor 16b which are acceleration sensors were used for the heaving detection sensor 16, it is not limited to this. Absent. The heaving detection sensor 16 has a configuration in which piezoelectric bodies are stacked, a piezoelectric element that converts expansion and contraction of the piezoelectric body into electric charges, and laser measurement that rejects measurement of the target object based on the reflected wave of the laser irradiated to the target object. A distance device, a direct acting position sensor that directly detects the movement of the object to be detected, or the like can be used. When using a piezo element or a direct-acting position sensor, these contact both the attachment portion 11 and the frame body 12 at a position between the support column 11b of the attachment portion 11 and the frame body 12 or adjacent to the elastic member 15. In addition, the relative displacement amount of the frame body 12 with respect to the attachment portion 11 can be detected by being arranged so as to be displaced along with the expansion and contraction of the elastic member 15. Further, when the laser distance measuring device is used, the relative displacement amount of the frame body 12 with respect to the attachment portion 11 can be detected by irradiating the attachment portion 11 with laser from the frame body 12 at a position close to the elastic member 15. it can.

  Further, in the space stabilization device 100 of the embodiment, the control device 21 uses the inter-lens distance detection sensor 19 to determine the distance between the moving lens and the fixed lens in the camera imaging unit 14a that is manually focused. By detecting, the imaging distance from the camera imaging unit 14a to the focused subject is calculated, but the present invention is not limited to this. In the space stabilization apparatus 100, the control device 21 irradiates the subject with laser, infrared rays, ultrasonic waves, or the like from the camera imaging unit 14a, and detects the time until the reflected wave returns and the irradiation angle, thereby detecting the subject. The imaging distance up to may be detected.

Alternatively, the camera imaging unit 14a may have an autofocus function such as an active method or a passive method, and the control device 21 may use a measurement rejection result up to a subject that is implemented by the autofocus function. .
For example, in the case of active autofocus, the camera imaging unit 14a irradiates the subject with infrared rays, ultrasonic waves, and the like, and detects the imaging distance to the subject based on the time until the reflected wave returns and the irradiation angle. Therefore, the control device 21 can use the distance to the subject measured by the camera imaging unit 14a.

  In the case of the phase difference autofocus that is a passive method, the camera imaging unit 14a divides the light entering from the lens into two and guides it to a dedicated sensor, and determines the direction and amount of focus from the interval between the two images formed. Judging. Therefore, the control device 21 can calculate the imaging distance from the camera imaging unit 14a to the subject from the focus direction and amount determined by the camera imaging unit 14a. In contrast, in contrast autofocus, which is a passive method, the camera imaging unit 14a searches for a place where the contrast (contrast) is large while moving the focus lens (moving lens) based on the image reflected on the image sensor. Adjust. At this time, the control device 21 can calculate the imaging distance from the camera imaging unit 14a to the subject by detecting the distance between the moving lens and the fixed lens.

  Moreover, in embodiment, although the space stabilizer 100 was described as what is mounted in the helicopter 1, it is not limited to this, For another flying body, the vehicle which moves on land, a ship, etc. It may be mounted.

  DESCRIPTION OF SYMBOLS 1 Helicopter, 1a Helicopter fuselage (attachment object), 11 Mounting part (support), 12 Frame (support), 13 Camera housing, 14a Camera imaging part (imaging camera), 15 Elastic member (anti-vibration) Member), 16 heaving detection sensor (displacement detection device), 18 pitching drive motor (drive device), 21 control device, 50 power transmission line (object to be imaged), 100 space stabilization device, L imaging distance, H housing displacement, OA, OA1, OA2 Optical axis, α, β Optical axis angular displacement.

Claims (5)

In a space stabilizer having a housing including an imaging camera rotatably in the pitching direction,
A support that is attached to an object to be attached and supports the housing rotatably in the pitching direction;
A driving device for rotationally driving the housing in the pitching direction;
An anti-vibration member provided on the support and having elasticity to reduce vibrations transmitted from the support to the housing;
A displacement detection device for detecting a displacement of the housing in a direction approaching and moving away from the support;
A control device connected to control the operation of the drive device and receive a detection result to the displacement detection device;
The controller is
Detecting an imaging distance between the camera and the imaging object;
Based on the imaging distance and the displacement of the housing received from the displacement detection device, the displacement of the optical axis of the camera due to the displacement of the housing is calculated,
A space stabilizer that rotates the housing in the pitching direction so as to reduce the calculated displacement of the optical axis of the camera.   The said control apparatus detects the distance between the lenses arrange | positioned at the said camera at multiple layers, and calculates the imaging distance between the said camera and an imaging target object based on the distance between the said lenses. Space stabilizer.   The space control device according to claim 1, wherein the control device calculates a displacement of an optical axis of the camera due to a displacement of the housing as an angular displacement in a pitching direction of the camera. The support body includes an attachment portion attached to the attachment object, and a frame body rotatably connected to the attachment portion in the yaw direction and supporting the housing rotatably in the pitching direction,
The vibration isolation member is provided between the attachment portion and the frame body,
The space stabilizing device according to any one of claims 1 to 3, wherein the displacement detecting device detects a displacement of the frame body in a direction approaching and leaving the mounting portion. A plurality of the displacement detection devices are provided,
The controller is
From the detection results by the plurality of displacement detection devices, the displacement of the housing in the direction approaching and leaving the support and the inclination angle of the housing with respect to the support are calculated,
The space stabilizer according to any one of claims 1 to 4, wherein the displacement of the optical axis of the camera is calculated using the calculated displacement and inclination angle of the casing.

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