JPS62201381A - Angular velocity detecting device in automatic tracking - Google Patents

Abstract

PURPOSE:To improve the operability and the detection accuracy of an angular velocity by outputting driving control information to a swiveling and elevating device so that a mobile body is positioned in the frame of an image pickup signal through image processing. CONSTITUTION:The attitude of a camera 2 is controlled by a manual device 10 over a lock at an image display device 3 so that the image of an air craft T picked up by a TV camera 2 is positioned in the center of a screen. It is confirmed that the air craft T is displayed in the center of the screen and then the image is inputted as a target of automatic tracking to a high-speed digital image processor 4 from an input device 9. When an automatic tracking mode is entered, the device 4 outputs control information to a swivel and elevation controller 5 to drive and control the camera 2 through a swivel and elevation driving device 6 so that the camera 2 tracks the aircraft T. A swivel and elevation angular velocity detector 7 coupled with the device 6 outputs the swivel and elevation angular velocities of the aircraft T to observe and track the mobile body which moves over a wide range, thereby improving the operativity and angular velocity detection accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to an automatic tracking angular velocity detection device that observes and tracks a target moving object and detects its tracking angular velocity. When tracking and detecting the tracking angular velocity, the angular velocity was detected by manually operating a telescope or optical sight.In addition to such manual tracking, there are also radar tracking technologies, robotics fields, and digital In the field of image processing, automatic tracking of objects using TV cameras is being performed.

Problems to be Solved by the Invention Among these conventional techniques, those in which manual tracking operation is performed have problems in terms of operability and angular velocity detection accuracy.

In addition, in digital image processing using a TV camera used in the robot field as mentioned above, it is necessary to
A method was used in which the center of gravity (center) position of the target object imaged by a camera was plotted on a graphic screen, and angular velocity data was calculated from this point plot.

For this reason, there is a problem in that it is not possible to track a target object when it moves over a wide range that cannot be covered by the imaging frame of a stationary TV camera. Therefore, this invention observes and tracks a moving object, and the tracking angular velocity By solving the above-mentioned disadvantages of the conventional technology when detecting objects, it is possible to observe and track moving objects that move over a wide range, and it is possible to improve operability, functionality, and angular velocity detection accuracy. The purpose is to provide an automatic tracking angular velocity detection device.

Structure of the Invention The automatic tracking angular velocity detection device according to the present invention supports an imaging device with a rotation/elevation drive device, inputs an imaging signal of a moving object obtained by the imaging device to an image processing device, and processes the image processing device by inputting an imaging signal of a moving object obtained by the imaging device. Drive control information is output to the rotation/elevation device so that the moving object is located at the center of the frame of the image signal through image processing, and the tracking angular velocity of the moving object is detected by an angular velocity detector connected to the rotation/elevation drive device. The points are distinctive.

Example DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be explained below with reference to illustrated embodiments.

The attached drawing shows an airplane T moving at high speed toward a tracking target.
A control block diagram of the automatic tracking angular velocity detection device 1 is shown.

This device 1 is equipped with a TV right camera that takes an image of a moving object T, and the TV right camera is supported by a swing/elevation drive device 6 so as to be freely pivotable/elevation. Further, a video signal of the airplane T captured by the TV right camera is input to the image display device 3 and the high-speed digital image processing device 4. The image display device 3 is a normal type CRT display that displays the video signal, and the high-speed digital image processing device 4 is the image display device 3.
Performs appropriate digital image processing by comparing past and current information about the moving object displayed at the center of the screen.
Control information necessary to display the airplane T at the center of the image display device is output to a turning/elevation control device 5, which will be described later.

An input device 9 is connected to the high-speed tintal image processing device 4 to input an automatic tracking start signal.
In addition, the high-speed digital image processing device 4 to the image display device 6
A signal output line is provided to the image display device 3, so that a cursor or a specific pattern can be displayed superimposed on the image displayed on the image display device 3.

Further, the control information outputted from the high-speed digital image processing device is input to the turning/elevation control device 5, and from the turning/elevation control device 5, the turning/elevation control device 5 controls the turning/elevation control device to make the TV right camera follow the airplane T based on the information. The rotational angular velocity command value in the elevation direction is output to the turning/elevation drive device 6.

Turning/elevation/elevation angular velocity detector 7 for the drive device B
The rotation/elevation angle detector 8 is connected to the rotation/elevation angle detector 8, and the angular velocity and angle detection values of the rotation/elevation transmitted from the rotation/elevation drive device 6 to the TV right camera are fed back to the rotation/elevation control device 5 to generate a high-speed tinkle image. Based on the control information from the processing device 4, the TV right camera is controlled to follow the moving object.

Further, the turning/elevation control device 5 is equipped with a manual device 1°, and when the automatic tracking angular velocity detection device 1 starts operating, the turning/elevation drive device 6 is controlled by the manual device 10 while viewing the image on the image display device 3. Activate it to perform initial positioning of the TV right camera. The manual device 10 is also used when restarting when automatic tracking is interrupted by another object and lost.

In the above configuration, when using this device 1, T
While viewing the image of the airplane T captured by the V right camera on the image display device 6, adjust the attitude of the TV right camera using the manual device 10 so that the moving object (if there is more than one) to be automatically tracked is located in the center of the screen. Control.

While continuing this manual operation, it is confirmed that the moving object, the airplane T, is displayed in the center of the screen of the image processing device B, and the input device 9 inputs it to the high-speed digital image processing device 4 as a target for automatic tracking.

In this way, when the automatic tracking mode is started, the high-speed digital image processing device 4 outputs control information to the turning/elevation control device 5, and the TV camera 2 is driven to track the airplane T via the turning/elevation drive device 6. Control.

During automatic tracking, if the image of a moving object disappears for more than a specified time or deviates from the center of the screen by more than a specified distance, the automatic tracking mode is canceled and the high-speed digital image processing device 4
The control information output from is stopped.

In this case, the moving object is set at the center of the image display device 6 using the input device 9 and the manual device 10 in the same way as the settings at the time of startup, and automatic tracking is restarted.

When setting a moving object as a target at the center of the image display device 6, in addition to operating the TV camera 2 using the manual device 10, it is also possible to designate the target using a cursor on the screen.

During the above operation, the turning/elevation angular velocity of the airplane T is output from the turning/elevation angular velocity detector 7.

In this embodiment, the target to be tracked is an airplane, but it can also be applied to a robot, a transport device, etc.

Effects of the Invention The embodiments of the automatic tracking angular velocity detection device according to the present invention are as described above, and the following effects can be achieved.

The automatic tracking angular velocity detection device is capable of observing and tracking moving objects that move over a wide range, and has improved operability, functionality, and angular velocity detection accuracy.

[Brief explanation of drawings]

The drawing is a control block diagram showing an embodiment of the present invention. 1. Automatic tracking angular velocity detection device, 2. TV camera 6
... Image display device, 4. High-speed digital image processing device, 5. Turning/elevation control device, 6. Turning/elevation drive device, 7. Turning/elevation angle speed detector, 8. Turning/elevation angle. Detector, 9...Input device, 10...Manual device, T...
·plane.

Claims (1)

[Scope of Claims] An imaging device that images a moving object and outputs an imaging signal; A swing/elevation driving device that supports the imaging device and is capable of rotating/elevation driving; and inputs an imaging signal from the imaging device. an image processing device that performs image processing and outputs drive control information to the swing/elevation drive device so that the moving object is located at the center of the frame of the imaging signal; An automatic tracking angular velocity detection device, comprising: a rotation/elevation angular velocity detector for detecting a rotation/elevation angular velocity of the device, the detection value of the rotation/elevation angular velocity of the imaging device being taken as the angular velocity of a moving object.