JP5378660B2 - Gimbal mechanism, infrared induction device, and control method of gimbal mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gimbal mechanism capable of quickly and accurately controlling an orientation, an infrared guidance device and a control method for the gimbal mechanism. <P>SOLUTION: This gimbal mechanism includes: a first casing 5a making a detecting part 2 turnable around a first axis in a first plane, a first driving part 6a, a first angle detecting part 7a, a second detecting casing 5b making the first casing 5a turnable around a second axis in a second plane, a second driving part 6b, a second angle detecting part 7b, a third casing 5c making the second casing 5b turnable around a third axis in the first plane, a third driving part 6c, a third angle detecting part 7c, a fourth casing 5d making the third casing turnable around a fourth axis in the second plane, a fourth driving part 6d, and a fourth angle detecting part 7d wherein, when the second casing 5b is turned by the third driving part 6c, the detecting pat 2 is turned to cancel deviation in rotating angle, and when the third casing 5c is turned by the fourth driving part 6d, the first casing 5a is turned to cancel deviation in rotating angle. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a gimbal mechanism, a device including the gimbal mechanism, and a control method for the gimbal mechanism, and more particularly, to a gimbal mechanism for mounting an infrared detector, an infrared induction device including the gimbal mechanism, and a control method for the gimbal mechanism. .

  As an infrared guidance device mounted on a flying object such as a missile, there is a device as shown in FIG. This infrared guiding device 12 includes a biaxial freedom gimbal 13 installed in the dome at the tip of the flying object, and a first drive unit 14a and a second drive unit 14b that drive the gimbal 13 with each of the two axes. A first angle detector 15a and a second angle detector 15b for detecting the biaxial angle of the gimbal 13; a rate detector 9 for detecting the angular velocity (rate) of the flying object; The condensing optical system 3 and the detector 4, and signals from the detector 4 are processed to generate an infrared image, the infrared image is transmitted to the autopilot 18, and the angle command from the autopilot 18 and the first angle Rate control based on angle control signal based on angle information from detection unit 15a and second angle detection unit 15b, rate command from autopilot 18 and rate information from rate detection unit 9 A control processing unit 17 that generates a control signal composed of a signal and transmits the control signal to the drive control unit 16, and the first drive unit 14a and the second drive unit 14b based on the control signal from the calculation processing unit 17 Autopilot which detects the target by analyzing the infrared image from the drive control unit 16 to be controlled and the arithmetic processing unit 17 and controls the traveling direction of the flying object, and sends the angle command and the rate command to the arithmetic processing unit 17 18.

  And the infrared rays radiated from the target are condensed on the detector 4 by the condensing optical system 3, and the condensed infrared rays are converted into electric signals by the detector 4 and sent to the arithmetic processing unit 17 for arithmetic processing. The unit 17 generates an infrared image in a form suitable for a display device such as a TV monitor from the signal and transmits it to the autopilot 18. The autopilot 18 detects the target by analyzing the infrared image and detects the flying object. While controlling the traveling direction, an angle command that is a target value of an angle and a rate command that is a target value of a rate are sent to the arithmetic processing unit 17. On the other hand, the biaxial angles of the gimbal 13 are detected by the first angle detector 15a and the second angle detector 15b, respectively, and sent to the arithmetic processing unit 17, and the angular velocity of the flying object is detected by the rate detector 9. To the arithmetic processing unit 17.

  The arithmetic processing unit 17 generates an angle control signal based on the angle command from the autopilot 18 and the angle information from the first angle detection unit 15a and the second angle detection unit 15b, and transmits the angle control signal to the drive control unit 16. Based on the rate command from the autopilot 18 and the rate information from the rate detector 9, a rate control signal is generated and transmitted to the drive controller 16. The drive control unit 16 that has transmitted these control signals controls the first drive unit 14a and the second drive unit 14b, and tracks the target with the gimbal 13 facing the target. As an infrared guidance device that performs such control, for example, there is an infrared tracking device described in Patent Document 1 below.

JP 2000-147123 A (page 3-6, FIG. 1)

  As described above, in the infrared guiding device, in order to scan a wide area, as shown in FIG. The detector 2 including the detector 4 that detects the incident light is placed, and two driving means (a first driving unit 14a and a second driving unit 14b) such as an outer torque motor and an inner torque motor, The direction of the detection unit 2 is controlled using angle detection means (first angle detection unit 15a and second angle detection unit 15b).

  However, when the gimbal 13 is rotated using one driving means for each shaft, the gimbal 13 cannot be stopped accurately at the target rotation angle due to the characteristics of the driving means such as a torque motor. As shown in FIG. 9A, the rotation angle fluctuates due to overshoot or undershoot, and there is a problem that it takes time to reach the target rotation angle. In addition, as shown in FIG. 9B, it is possible to gradually reduce the rotation speed to suppress overshoot and undershoot. However, even with this method, it takes time to reach the target rotation angle. There was a problem that it took.

  The present invention has been made in view of the above problems, and its main object is to provide a gimbal mechanism, an infrared induction device, and a control method for the gimbal mechanism that can quickly and accurately control the orientation of a control object. It is to provide.

In order to achieve the above object, the present invention provides a gimbal mechanism for controlling the orientation of an object to be controlled, and includes two axes in a first plane and a second plane that intersects the first plane. The two axes are configured to be rotatable about four axes, and one axis in the first plane and one axis in the second plane are orthogonal to each other in the second plane. One axis is orthogonal to the other axis in the first plane, the other axis in the first plane is orthogonal to the other axis in the second plane, and all axes are The gimbal mechanism intersects at substantially one point, and the gimbal mechanism is fixed to the first casing that holds the control target so as to be rotatable about a first axis in a first plane, and to the first casing. A first drive unit that rotates the object to be controlled around the first axis, and a first drive unit in a second plane that intersects the first plane with the first housing. A second housing that is rotatably held about the axis of the second, and a second drive unit that is fixed to the second housing and rotates the first housing about the second axis; A third housing for rotatably holding the second housing around a third axis in the first plane; and the second housing is fixed to the third housing, and the second housing is attached to the first housing. A third drive section that rotates about a third axis, a fourth casing that holds the third casing so as to be rotatable about a fourth axis in the second plane, and the first A fourth drive unit fixed to the four housings and rotating the third housing around the fourth axis; and a drive control unit, wherein the drive control unit uses the third drive unit. when rotating the second housing, such that the rotational speed of the control object with respect to the third housing in the rotational angle of the target of the second housing relative to the third housing becomes zero The target of the third housing relative to the fourth housing when the control object is rotated using the first driving portion and the third housing is rotated using the fourth driving portion. And controlling the rotation of the first casing using the second drive unit so that the rotation speed of the control object with respect to the fourth casing becomes zero at a rotation angle of To do.

In addition, an infrared guiding device according to the present invention includes the above-described gimbal mechanism, and includes a detection unit including a condensing optical system that condenses incident infrared light and a detector that converts the collected infrared light into an electrical signal. The flying object is guided to the target with reference to an image generated based on the electric signal from the detection unit as the control object .

The present invention is also a method for controlling a gimbal mechanism that controls the orientation of a control object, wherein the gimbal mechanism is configured to have a second axis that intersects the two axes in the first plane and the first plane. It is configured to be rotatable about four axes including two axes in a plane, and one axis in the first plane and one axis in the second plane are orthogonal to each other, and the second plane And the other axis in the first plane is orthogonal, the other axis in the first plane is orthogonal to the other axis in the second plane, and all axes A shaft intersects at substantially one point, and is fixed to the first housing, the first housing holding the control object so as to be rotatable around a first shaft in a first plane, and the first housing A first drive unit that rotates the control object about one axis, and a second axis in a second plane that intersects the first plane with the first housing. A second housing that is pivotably held, a second drive unit that is fixed to the second housing and rotates the first housing around the second axis, and the second housing A third housing that holds the body pivotably about a third axis in the first plane, and is fixed to the third housing, and the second housing is attached to the third shaft. A third drive unit that rotates about the center, a fourth case that holds the third case so as to be rotatable about a fourth axis in the second plane, and the fourth case A fourth drive unit that is fixed and rotates the third housing around the fourth axis, and when the second housing is rotated using the third drive unit,
Using the first drive unit, the control object is set so that the rotation speed of the control object with respect to the third housing becomes zero at a target rotation angle of the second housing with respect to the third housing . the performing a first control to rotate, when rotating the third housing with said fourth driving unit, the rotation angle of a target of the third housing with respect to the fourth casing, The second control for rotating the first casing using the second drive unit is performed so that the rotation speed of the control target with respect to the fourth casing becomes zero.

  According to the control method of the gimbal mechanism, the infrared guiding device, and the gimbal mechanism of the present invention, the direction of the control object such as the detection unit can be controlled quickly and accurately.

  The reason is that the gimbal mechanism has a first housing that allows a control object such as a detection unit including a condensing optical system and a detector to rotate about a first axis in the first plane, 1 drive part, 1st angle detection part, 2nd housing | casing which can rotate centering on the 2nd axis | shaft in the 2nd plane which cross | intersects 1st housing | casing to a 1st plane, 2nd drive part And a second angle detector, a third housing that allows the second housing to rotate around a third axis in the first plane, a third drive unit, a third angle detector, and a third Drive control for controlling the operation of the gimbal mechanism, which includes a fourth housing, a fourth drive unit, and a fourth angle detection unit that allow the housing to rotate about a fourth axis in the second plane. When the second housing is rotated about the third axis using the third drive unit, the first drive unit is used to cancel the rotational angle deviation of the second housing. Control target around 1 axis When the third housing is rotated around the fourth axis using the fourth drive unit, the second drive unit is used so as to cancel the shift of the rotation angle of the third housing. This is because control is performed to rotate the first housing around the second axis.

  As shown in the prior art, a conventional infrared guidance device is provided with a gimbal mechanism that rotates a detection unit including a condensing optical system and a detector on two orthogonal axes. , The gimbal cannot be stopped accurately at the target rotation angle, so-called overshoot or undershoot occurs, and it takes time to reach the target rotation angle. This is a serious problem for an infrared guidance device that captures and tracks a target flying at high speed.

  Therefore, in this application, in order to control the direction of the detection unit quickly and accurately, the gimbal mechanism is not driven in two axes, but in a first plane (for example, a plane orthogonal to the incident axis of infrared light). Two axes and two axes in a second plane (for example, a plane including an incident axis of infrared light) intersecting the first plane can be rotated about a total of four axes, and two pairs are formed. When rotating around one of the two axes, control is performed to rotate the other axis in the direction opposite to the other axis so as to cancel out the deviation of the rotation angle.

  Thereby, overshoot and undershoot are suppressed, and the direction of the detection unit can be controlled quickly and accurately.

  In order to describe the above-described embodiment of the present invention in more detail, a gimbal mechanism, an infrared guiding device, and a gimbal mechanism control method according to an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram schematically showing the configuration of an infrared guiding device according to an embodiment of the present invention, and FIG. 2 is a plan view schematically showing the structure of a gimbal mechanism. FIG. 3 is a perspective view schematically showing the structure of the gimbal mechanism, in which (a) shows the relationship between the third housing and the fourth housing, and (b) shows the detection unit and the first housing in the third housing. It is a figure which shows the relationship between 1 housing | casing and 2nd housing | casing. 4 and 5 are diagrams for explaining the operation of the gimbal mechanism, and FIG. 6 is a flowchart showing a target tracking procedure using the infrared guiding device of the present embodiment.

  As shown in FIG. 1, the infrared guiding device 1 of the present embodiment includes an optical condensing optical system 3 that condenses incident infrared light on a detector 4 and an infrared detecting element that converts incident light into an electric signal in an array form. , A gimbal 5 that rotatably holds the detector 2 including the condensing optical system 3 and the detector 4, and first to fourth drive units 6a that drive the gimbal 5 with four axes. To 6d, first to fourth angle detectors 7a to 7d for detecting the angle of each axis, a rate detector 9 for detecting the angular velocity (rate) of the flying object, and a signal from the detector 4 are amplified. An infrared image in a form suitable for a display means such as a TV monitor is generated and transmitted to the autopilot 11, and the angle command from the autopilot 11 and the first to fourth angle detectors 7a to 7d are transmitted. Angle control signal based on angle information and autopilot 1 From the arithmetic processing unit 10, the control processing unit 10 generates a control signal composed of a rate control signal based on the rate command from the base station and the rate information from the rate detection unit 9, and transmits the control signal to the drive control unit 8. Based on the control signal, the drive control unit 8 that controls the first to fourth drive units 6a to 6d and the infrared image transmitted from the arithmetic processing unit 10 are analyzed to detect a high-temperature target, and the flying object An autopilot 11 that controls the traveling direction and generates an angle command and a rate command based on the position information of the high-temperature target in the infrared image and transmits it to the arithmetic processing unit 10 is provided.

  Here, the arithmetic processing unit 10 is configured to perform all of the processing for generating an infrared image, the processing for generating an angle control signal, and the processing for generating a rate control signal. However, each processing is performed independently (for example, The image signal processing unit, the search processing unit, the tracking processing unit, and the like may be individually performed.

  As shown in FIGS. 2 and 3, the gimbal mechanism (referred to as a gimbal mechanism including a casing and driving means constituting the gimbal 5 and, if necessary, angle detection means) is a condensing optical system 3. And the detection unit 2 including the detector 4 is connected to a first axis (in this case, a plane including the vertical direction of the paper surface and the vertical direction of the paper surface in FIG. 2) perpendicular to the incident axis of the infrared light. Here, the frame-shaped first casing 5a and the first casing are provided so as to be rotatable about an axis in the vertical direction of FIG. 2 and provided with an opening on the infrared light incident side as necessary. A first drive unit 6a that is fixed to the body 5a and rotates the detection unit 2 about the first axis; a first angle detection unit 7a that detects a rotation angle of the detection unit 2 with respect to the first housing 5a; A second plane (here, in FIG. 2) intersecting the first housing 5a with the first plane (the intersecting angle is arbitrary, but preferably orthogonal) 2) within the plane including the horizontal direction of the plane and the vertical direction of the plane) (in this case, the axis in the horizontal direction of the plane of FIG. 2) is held so as to be rotatable. The second drive unit 6b, which is fixed to the frame-like second housing 5b having an opening on the incident side and the second housing 5b, and rotates the first housing 5a about the second axis, The second angle detector 7b that detects the rotation angle of the first housing 5a with respect to the housing 5b, and the second housing 5b are connected to a third axis in the first plane (here, the vertical direction of the page of FIG. 2). And is fixed to a box-shaped third housing 5c and a third housing 5c provided with windows on the infrared light incident side, and the second housing 5b is fixed to the second housing 5b. A third drive unit 6c that rotates about the third axis, a third angle detection unit 7c that detects a rotation angle of the second housing 5b with respect to the third housing 5c, and a third housing 5c, 4th in the plane A fourth housing 5d that is rotatably held around an axis (here, a horizontal axis in FIG. 2) is fixed to the fourth housing 5d, and the third housing 5c is centered on the fourth axis. And a fourth angle detector 7d for detecting the rotation angle of the third housing 5c relative to the fourth housing 5d.

  2 and 3 are examples, and the detection unit 2 and the first unit are not limited as long as each case does not interfere with the detection unit 2 and other cases and does not disturb the optical path of incident infrared light. The shape, size, interval, etc. of the fourth casings 5a to 5d are not particularly limited. For example, the first casing 5a and the second casing 5b are formed in a ring shape, or the infrared light incident side is opened. It can also be a letter shape. In FIGS. 2 and 3, the second axis and the fourth axis are formed only on one side, but the second axis is not provided on either side of the first housing 5a as long as the optical path of the incident infrared light is not obstructed. May be provided, or a fourth axis may be provided on both sides of the third housing 5c.

  In addition, the detector 2 and the first to third housings 5a to 5c may be configured to rotate in only one direction, or may be configured to reciprocate by reversing the rotation direction sequentially. Further, the rotation angles of the detector 2 and the first to third casings 5a to 5c are not particularly limited, but the third casing 5c (or the first casing 5a) may be used in order to detect the hemisphere in the flight direction. The rotation angle is preferably 360 ° (or ± 180 °), and the rotation angle of the second housing 5b (or detection unit 2) is preferably about 180 ° (or ± 90 °). In addition, one of the first housing 5a and the third housing 5c, and one of the detection unit 2 and the second housing 5b may each be capable of offsetting the shift of the rotation angle of the other. The smaller one makes the structure of the gimbal mechanism simpler, so it can be set to about 5 °.

  2 and 3, the first to fourth drive units 6a to 6d are simply shown. However, they are respectively centered around the first to fourth axes, and the detection unit 2 and the first drive unit 6a to 6d. Any structure that can drive the first to third housings 5a to 5c at a desired rotation angle may be used. For example, a torque motor or the like can be used. The torque, minimum rotation angle, and the like of the torque motor can be appropriately set according to the weight of the component to be driven, the rotation accuracy required for the infrared induction device 1, and the like.

  2 and 3, the first to fourth angle detection units 7a to 7d are simply shown, but these are rotations of the detection unit 2 and the first to third housings 5a to 5c, respectively. Any structure may be used as long as the angle can be detected. For example, the structure may be such that the angle is detected by a stator and a rotor, or the angular velocity may be detected by an acceleration sensor or the like.

  Next, a specific operation of the gimbal mechanism will be described with reference to FIGS. FIG. 4 shows a case of turning around the first axis and the third axis, and FIG. 5 shows a case of turning around the second axis and the fourth axis.

  First, when controlling the elevation angle of the detection unit 2, as shown in FIG. 4A, the third drive unit 6c fixed to the third housing 5c is driven according to the control signal of the drive control unit 8, The second housing 5b is rotated around the third axis.

  At that time, it is difficult to accurately stop the driving means such as a torque motor at a target rotation angle. Normally, as shown in FIG. 4B, the rotation angle of the second housing 5b is set to a target. Since it fluctuates in the vicinity of the rotation angle (here, θ1) and gradually converges to θ1, it takes time to adjust the detection unit 2 to the target rotation angle. Therefore, in the present embodiment, the drive control unit 8 calculates a deviation amount of the angle of the second housing 5b with respect to the third housing 5c from θ1 based on the angle signal from the third angle detection unit 7c. As shown in 4 (c), the first drive unit 6a fixed to the first housing 5a is driven so as to cancel out the shift amount, and the detection unit 2 is rotated around the first axis.

  Thereby, as shown in FIG.4 (d), the elevation angle of the detection part 2 can be adjusted to (theta) 1 rapidly and correctly. FIG. 4A shows a state in which the first axis and the third axis coincide with each other. If the first housing 5a rotates about the second axis, the first axis The axis and the third axis are displaced in the first plane. In this case, if the first drive unit 6a is driven in consideration of the angle formed by the first axis and the third axis. It can be adjusted to θ1.

  On the other hand, when adjusting the rotation angle of the detection unit 2, the fourth drive unit 6d fixed to the fourth housing 5c is driven according to the control signal of the drive control unit 8 as shown in FIG. Then, the third housing 5c is rotated around the fourth axis.

  At this time, as shown in FIG. 5B, the rotation angle of the third housing 5c fluctuates in the vicinity of the target rotation angle (here, θ2) and gradually converges to θ2. It takes time to adjust 2 to the target rotation angle. Therefore, in this embodiment, the drive control unit 8 calculates the amount of deviation from the angle θ2 of the third housing 5c with respect to the fourth housing 5c based on the angle signal from the fourth angle detector 7d. As shown in FIG. 5 (c), the second drive unit 6b fixed to the second housing 5b is driven so as to cancel the shift amount, and the first housing 5a is rotated around the second axis. Let

  Thereby, as shown in FIG.5 (d), the rotation angle of the detection part 2 can be rapidly and correctly adjusted to (theta) 2. FIG. 5 shows a state in which the second axis and the fourth axis coincide with each other. If the second housing 5b rotates about the third axis, the second axis and In this case, if the second drive unit 6b is driven in consideration of the angle between the second axis and the fourth axis, the angle becomes θ2. Can be combined.

  4 and 5, the first drive unit 6a cancels out the rotational angle shift of the third drive unit 6c, and the second drive unit 6b cancels out the rotational angle shift of the fourth drive unit 6d. However, it is also possible to adopt a configuration in which the shift of the rotation angle of the first drive unit 6a is canceled by the third drive unit 6c, and the shift of the rotation angle of the second drive unit 6b is canceled by the fourth drive unit 6d.

  Here, the first drive unit 6a (or the second drive unit 6b) is controlled based on the angle signal from the third angle detection unit 7c (or the fourth angle detection unit 7d). Since the tendency of the rotational angle deviation of the driving unit 6c (or the fourth driving unit 6d) (that is, the convergence pattern) is considered to be substantially constant, the first driving unit 6a (or the second driving unit 6a (or the second driving unit 6c) is determined according to a predetermined pattern. The drive unit 6b) may be controlled, and in this case, the angle detection unit may be omitted.

  Next, a procedure for tracking a target using the infrared guiding device 1 having the above-described configuration will be described with reference to the flowchart of FIG.

  First, in step S101, a flying object such as a missile is launched in a direction in which a target is considered to be present.

  Next, in step S102, the direction of the detection unit 2 is controlled using the first to fourth drive units 6a to 6d. At that time, when the second housing 5b is rotated around the third axis using the third driving unit 6c, the first driving unit 6a is offset so as to cancel out the deviation amount from the target rotation angle. Is used to rotate the detection unit 2 around the first axis. Further, when the third housing 5c is rotated around the fourth axis using the fourth drive unit 6d, the second drive unit 6b is set so as to cancel out the deviation amount from the target rotation angle. Using the first casing 5a, the first casing 5a is rotated around the second axis.

  The control using the third drive unit 6c and the first drive unit 6a and the control using the fourth drive unit 6d and the second drive unit 6b may be performed separately or simultaneously. However, only one of them may be performed. Further, as described above, if the first housing 5a is rotated, the first axis and the third axis are displaced in the first plane, and if the second housing 5b is rotated, the second axis Since the axis and the fourth axis are displaced in the second plane, the first axis is considered in consideration of the angle between the first axis and the third axis and the angle between the second axis and the fourth axis. It is preferable to control the drive unit 6a and the second drive unit 6b.

  Next, in step S103, the incident infrared rays are condensed by the condensing optical system 3 and incident on the detector 4. The detector 4 converts the collected infrared rays into an electrical signal and transmits it to the arithmetic processing unit 10. To do. Then, the arithmetic processing unit 10 amplifies the electrical signal transmitted from the detector 4 to generate an infrared image of a visual field at a predetermined angle and transmits it to the autopilot 11. On the other hand, the first to fourth angle detection units 7a to 7d detect the angles of the detection unit 2 and the first to third housings at that time and transmit angle information to the arithmetic processing unit 10, and the rate detection unit 9 flies. The angular velocity of the body is detected and the rate information is transmitted to the arithmetic processing unit 10.

  Next, in step S104, the autopilot 11 analyzes the received infrared image and searches for a predetermined target in the field of view. Specifically, in the case of an infrared image, the intensity of the signal increases as the temperature of the target increases, and therefore the target can be detected by specifying a region having a signal intensity equal to or higher than a threshold value.

  In step S105, if there is no target in the field of view, the process returns to step S103, the field of view at the next angle is imaged, and the same processing is repeated. On the other hand, when the target is detected in step S105, in step S106, the autopilot 11 controls the traveling direction so that the flying object meets the target based on the position and angle information of the target on the infrared image. At the same time, an angle command and a rate command are transmitted to the arithmetic processing unit 10.

  Next, in step S107, the arithmetic processing unit 10 generates an angle control signal based on the angle command and the angle information from the first to fourth angle detection units 7a to 7d, and from the rate command and the rate detection unit 9. The rate control signal is generated based on the rate information and the control signal is transmitted to the drive control unit 8.

  In step S108, it is monitored whether the target is moving. If the target is out of the designated position on the infrared image, the process returns to step S106, and the autopilot 11 detects the target on the infrared image. The traveling direction of the flying object is controlled again based on the position and angle information, and the target is tracked by repeating the operations in steps S106 to S108.

  As described above, according to the infrared guiding device 1 of the present embodiment, when the second housing 5b is rotated around the third axis using the third driving unit 6c, the rotation of the second housing 5b is performed. The third housing is rotated around the first axis using the first drive unit 6a and the fourth housing is used around the fourth axis using the fourth drive unit 6d so as to cancel the angular deviation. To rotate the first housing 5a around the second axis by using the second drive unit 6b so as to cancel the shift of the rotation angle of the third housing 5c when rotating the 5c. The direction of the detector 2 can be controlled quickly and accurately by suppressing the overshoot and undershoot of the third drive unit 6c and the fourth drive unit 6d.

  In the above embodiment, the gimbal of the present invention can be driven by four axes. However, the present invention is not limited to the above embodiment, and one axis in the first plane and the second axis. A total of three axes of two axes in the plane, a total of three axes of two axes in the first plane and one axis in the second plane, two axes in the first plane and the second plane It is also possible to adopt a structure in which driving is performed with a total of five or more axes of the two axes in the third plane and the axes in the third plane intersecting both the first plane and the second plane.

  In the above embodiment, the case where the structure of the present invention is applied to the infrared guiding device 1 has been described. However, any infrared imaging in which it is desired to detect infrared rays in a specific wavelength band, such as weather observation and fire monitoring. The same applies to the device.

  Further, in the above embodiment, the case where the detection unit 2 is placed on the gimbal mechanism of the present invention has been described. However, a gimbal mechanism for placing any device that requires orientation control, a device including the gimbal mechanism, and the The present invention can be similarly applied to the control method of the gimbal mechanism.

  INDUSTRIAL APPLICABILITY The present invention can be used for a gimbal mechanism that controls the direction of an object to be controlled, a device including the gimbal mechanism, and a method for controlling the gimbal mechanism.

It is a figure which shows typically the structure of the infrared guidance apparatus which concerns on one Example of this invention. It is a top view which shows the structure of the gimbal mechanism of the infrared rays guidance apparatus which concerns on one Example of this invention. It is a perspective view which shows the structure of the gimbal mechanism of the infrared guidance device which concerns on one Example of this invention, (a) is the relationship between a 3rd housing | casing and a 4th housing | casing, (b) is the detection in a 3rd housing | casing. It is a figure which shows the relationship between a part, a 1st housing | casing, and a 2nd housing | casing. It is a figure for demonstrating operation | movement of the gimbal mechanism of the infrared guidance apparatus which concerns on one Example of this invention. It is a figure for demonstrating operation | movement of the gimbal mechanism of the infrared guidance apparatus which concerns on one Example of this invention. It is a flowchart figure which shows the tracking method of the target using the infrared guidance device which concerns on one Example of this invention. It is a figure which shows typically the structure of the conventional infrared guidance apparatus. It is a perspective view which shows the structure of the gimbal mechanism of the conventional infrared guidance apparatus. It is a figure which shows the angle control characteristic of the gimbal in the conventional infrared guidance apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Infrared guidance device 2 Detection part 3 Condensing optical system 4 Detector 5 Gimbal 5a 1st housing | casing 5b 2nd housing | casing 5c 3rd housing | casing 5d 4th housing | casing 6a 1st drive part 6b 2nd drive part 6c 3rd Drive part 6d 4th drive part 7a 1st angle detection part 7b 2nd angle detection part 7c 3rd angle detection part 7d 4th angle detection part 8 Drive control part 9 Rate detection part 10 Arithmetic processing part 11 Autopilot 12 Infrared guidance device 13 gimbal 14a first drive unit 14b second drive unit 15a first angle detection unit 15b second angle detection unit 16 drive control unit 17 arithmetic processing unit 18 autopilot

Claims (4)

A gimbal mechanism for controlling the direction of a controlled object,
It is configured to be rotatable on four axes consisting of two axes in the first plane and two axes in the second plane intersecting the first plane,
One axis in the first plane is orthogonal to one axis in the second plane, and one axis in the second plane is orthogonal to the other axis in the first plane. The other axis in the first plane and the other axis in the second plane are orthogonal to each other, and all the axes intersect at approximately one point,
The gimbal mechanism is
A first casing that holds the control object so as to be rotatable about a first axis in a first plane, and the control that is fixed to the first casing and that is centered on the first axis. A first drive unit for rotating the object;
A second housing for rotatably holding the first housing around a second axis in a second plane intersecting the first plane; and fixed to the second housing, A second drive unit for rotating the first housing around a second axis;
A third housing for rotatably holding the second housing around a third axis in the first plane; and the second housing is fixed to the third housing, and the second housing is attached to the first housing. A third drive unit that rotates about the axis of 3;
A fourth housing that holds the third housing so as to be rotatable about a fourth axis in the second plane, and is fixed to the fourth housing, and the third housing is attached to the first housing. A fourth drive unit that rotates about the axis of 4;
A drive control unit,
When the second control unit rotates the second housing using the third driving unit, the drive control unit is configured to rotate the second housing at a target rotation angle of the second housing with respect to the third housing. Rotating the control object using the first drive unit so that the rotation speed of the control object becomes zero ,
When the third housing is rotated using the fourth drive unit, the control target object with respect to the fourth housing is rotated at a target rotation angle of the third housing with respect to the fourth housing. A gimbal mechanism that performs control to rotate the first housing using the second drive unit so that the rotation speed becomes zero . A control unit comprising the gimbal mechanism according to claim 1 and including a condensing optical system that condenses incident infrared light and a detector that converts the condensed infrared light into an electrical signal is the control object, and An infrared guidance device for guiding a flying object to a target with reference to an image generated based on an electrical signal from a detection unit. A control method of a gimbal mechanism for controlling the direction of a control object,
The gimbal mechanism
It is configured to be rotatable on four axes consisting of two axes in the first plane and two axes in the second plane intersecting the first plane,
One axis in the first plane is orthogonal to one axis in the second plane, and one axis in the second plane is orthogonal to the other axis in the first plane. The other axis in the first plane and the other axis in the second plane are orthogonal to each other, and all the axes intersect at approximately one point,
A first casing that holds the control object so as to be rotatable about a first axis in a first plane, and the control that is fixed to the first casing and that is centered on the first axis. A first drive unit for rotating the object;
A second housing for rotatably holding the first housing around a second axis in a second plane intersecting the first plane; and fixed to the second housing, A second drive unit for rotating the first housing around a second axis;
A third housing for rotatably holding the second housing around a third axis in the first plane; and the second housing is fixed to the third housing, and the second housing is attached to the first housing. A third drive unit that rotates about the axis of 3;
A fourth housing that holds the third housing so as to be rotatable about a fourth axis in the second plane, and is fixed to the fourth housing, and the third housing is attached to the first housing. And a fourth drive unit that rotates about the axis of 4,
When the second housing is rotated using the third driving unit, the control object rotates with respect to the third housing at a target rotation angle of the second housing with respect to the third housing. First control is performed to rotate the control object using the first drive unit so that the speed becomes zero,
When the third housing is rotated using the fourth drive unit, the control object with respect to the fourth housing is rotated at a target rotation angle of the third housing with respect to the fourth housing. A control method for a gimbal mechanism, characterized in that second control for rotating the first housing using the second drive unit is performed so that the rotation speed becomes zero. In the first control, a rotation range of the control object with respect to the first casing is made smaller than a rotation range of the second casing with respect to the third casing,
In the second control, a rotation range of the first housing with respect to the second housing is made smaller than a rotation range of the third housing with respect to the fourth housing. 4. A control method of the gimbal mechanism according to 3.

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