KR102288358B1 - Line of sight moving controlling method of tracking appratus and line of sight moving controlling appratus of tracking appratus - Google Patents

Abstract

In accordance with an embodiment of the present invention, a movement control method of a line of sight of a tracker rotates and moves a tracker to a target position (X_cmd) to move a line of sight of the tracker to a position of interest and comprises: a process of determining a moving method which is a method for controlling the moving speed of a tracker from the current time (T_k) until the next time (T_k+1) by using the target position (X_cmd) and current position (X(K)) of the tracker, a maximum acceleration (a_max), and a maximum speed (V_max) at which the tracker can rotate and move; a control position generation process of generating a control position (X(K+1)) which is a position to which the tracker is to be moved until the next time (T_k+1) by the determined moving method; and a tracker moving process of moving the tracker to become the determined moving method and the generated control position. Therefore, in accordance with an embodiment of the present invention, when moving the tracker to the target position to move the line of sight of the tracker to the position of interest, the tracker can be moved without an overshoot in which the tracker is away from the target position. Also, the time for moving to the target position can be shortened while preventing an overshoot. Therefore, the accuracy for moving the line of sight of the tracker to the position of interest can be improved, and the moving time can be shortened.

Description

A method for controlling gaze movement of a tracker and a controller for gaze movement of a tracker

The present invention relates to a gaze movement control method of a tracker and a gaze movement controller of the tracker, and more particularly, to a gaze movement control of a tracker capable of shortening the movement time in moving the tracker so that the gaze of the tracker moves to a position of interest. It relates to a method and a gaze movement controller of a tracker.

An Electro-Optical Tracking System (ETOS) mounted on an aircraft is a device that tracks a target by displaying an image or image of a location of interest by moving a line of sight (LOS) according to a command. In this case, the shorter the time for moving the gaze of the electro-optical tracking device to the position of interest, the more advantageous.

Conventionally, in moving the gaze of the electro-optical tracking device to the position of interest, input a movement target position reflecting the position of interest, and input a large output (or control gain) to the electro-optical tracking device so that it can be moved as fast as possible. Controlled. In this case, although the movement time of the electro-optical tracking device is shortened, when the movement of the electro-optical tracking device is finished, there is a problem in that the electro-optical tracking device is located outside the moving target position.

Korean Patent Publication 10-2015-0055317

The present invention provides a method for controlling gaze movement of a tracker and a gaze movement controller of the tracker, which can reduce movement time.

The present invention provides a method for controlling the gaze movement of a tracker capable of moving the gaze of the tracker without occurrence of overshoot, and a gaze movement controller of the tracker.

An embodiment of the present invention is a method for controlling gaze movement of a tracker that rotates the _{tracker to a target position (X cmd} ) so that the gaze of the tracker is moved to a position of interest _{, and the maximum speed (V max} ) and maximum acceleration at which the tracker can rotate (a _max), using the current location (X (k)) and the target position (X _cmd) of the tracker, for controlling the speed of movement of the tracer from the present time (T _k) until the next time point (T _{k + 1)} a method of determining a moving method; a control position generating process of generating a control position (X(K+1)), which is a position to move the tracker to a next time point (T _{k+1) by the determined movement method;} and a tracker movement process of moving the tracker to the determined movement mode and the generated control position.

An embodiment of the present invention is a method for controlling gaze movement of a tracker that rotates the _{tracker to a target position (X cmd} ) so that the gaze of the tracker is moved to a position of interest. Using the current position (X(K)), the position error (X _e ) between the current position (X(K)) of the tracker and the target position (X _cmd ), accelerated movement method, constant velocity movement during the control period (T _{s )} a movement method determining process of determining whether to move the tracker by any one of a method and a deceleration movement method; a control position generating process of generating a control position (X(K+1)) that is a position to move the tracker during the control period (T _{s ) in the determined movement method;} and a tracker movement process of moving the tracker in the determined movement manner so that the tracker arrives at the control position created at the next time point (T _k+1).

The moving method determination process includes calculating a difference between the current position (X(K)) and the target position (X _{cmd ) of the tracker to obtain a position error (X e} ), and the current time point (T _k ) and the next time point (T _k+1 ) have a time difference as much as a preset control period (T _{s ).}

The mobile system determination process, before the time (T _k-1) the present time (T _k) is the moving speed (V _Ts) of the tracer during the control period corresponding to the maximum acceleration (a _max, which tracer can move rotated to from ) and the control period (T _s ) A first determination process of determining whether it is greater than or equal to the maximum allowable speed (V _{a ) determined by;} Earlier time (T _k-1) the present time (T _k) the control cycle where the amount of change in the tracker (△ X (K)) is the maximum speed (V _max) and a control period in which the tracker can move rotation during the up from (T _s ) a second determination process of determining whether the maximum position change amount (ΔX _V ) is greater than or equal to determined by; and a third determination process of determining whether the position error (X _e ) is smaller than the required position change amount (X _ts ) determined by the maximum velocity (V _max ) and the maximum acceleration (a _{max ).}

The second determination process is performed when, in the first determination process, the movement speed (V _Ts ) of the tracker during the control period is greater than or equal to the maximum allowable speed (V _a ), and in the second determination process and generating an acceleration section end signal when the position change amount ΔX(K) of the tracker during the control period _{is greater than or equal to the maximum position change amount ΔX V; and the third determination process} is carried out after the process of generating the acceleration section end signal, or when the position change amount (ΔX(K)) of the tracker during the control period is smaller than the _{maximum position change amount (ΔX V ) in the second determination process} do.

and a fourth determination process performed when the position error (X _e ) is greater than or equal to the required position change amount (X _ts ) in the third determination process, wherein the fourth determination process is performed after the second determination process and determining whether an acceleration section end signal is generated.

The mobile system determination process, in the fourth determination process, the second case that it is determined that the determination process that the acceleration period end signal is not generated after that, the present time (T _k), from the tracker to the next time point (T _{k + 1)} A process of determining an accelerated movement method for accelerated movement; And a constant speed mobile manner that the fourth determination process, the second determination process, after the acceleration period ends when it is determined that the signal is generated, the present time (T _k) from to move the tracker at constant speed, and then the time (T _{k + 1)} decision-making process;

The mobile system determination process, in the third determination process, the position error (X _e) if it is determined to be smaller than the required position change amount (X _ts), the present time (T _k), and then the time (T _{k + 1)} from It includes the process of determining the deceleration movement method of decelerating the tracker to

When the tracker starts to decelerate, the deceleration starts from a point in time when the position error (X _e ) becomes smaller than the position change amount (X _ts ).

In the control position generation process, when the acceleration movement method is determined as a method to move the tracker in the movement method determination process, the acceleration control position X(K+1) to move _{the tracker to the next time point (T k+1)} ), wherein the acceleration control position (X(K+1)) is the current position (X(K)) of the tracker, and the movement speed (V(K)) ), the control period (T _s ), and the acceleration (a _max ).

In the control position generation process, when the constant velocity movement method is determined as a method to move the tracker in the movement method determination process, the constant velocity control position X(K+1) to move _{the tracker to the next time point (T k+1)} ), wherein the constant velocity control position (X(K+1)) is the current position (X(K)) of the tracker, the maximum velocity (V _max ) and the control period (T). _s ) to create it.

In the control position generation process, when the deceleration movement method is determined as a method to move the tracker in the movement method determination process, the deceleration control position X(K+1) to move _{the tracker to the next time point (T k+1)} ), wherein the deceleration control position (X(K+1)) is the current position (X(K)) of the tracker, and the movement speed (V(K)) of the tracker at the present time. ), the control period (T _s ), and the acceleration (a _max ).

In the process of moving the tracker, when the acceleration movement method is determined as the method for moving the tracker in the movement method determination process, the tracker is moved to the determined acceleration movement method and the generated acceleration control position (X(K+1)). and performing the first determination process again when the tracker reaches the generated acceleration control position (X(K+1)).

In the tracker movement process, when a constant velocity movement method is determined as a method for moving the tracker in the movement method determination process, the tracker is moved to obtain the determined constant velocity movement method and the generated constant velocity control position (X(K+1)). and performing the third determination process again when the tracker reaches the generated constant velocity control position (X(K+1)).

In the process of moving the tracker, when the deceleration movement method is determined as the method for moving the tracker in the movement method determination process, the tracker is moved to the determined deceleration movement method and the generated deceleration control position (X(K+1)). and a movement end determination process of determining whether to end the movement of the tracker when the tracker reaches the generated deceleration control position (X(K+1)).

The process of determining the end of movement may include determining that the movement of the tracker is terminated when the position error (X _{e ) is less than or equal to the end reference value;} and a process of determining to continue the movement of the tracker when the position error (X _{e ) exceeds the end reference value.}

If it is determined in the movement end determination process to continue the movement of the tracker, the third determination process is performed again.

In the gaze movement controller of the tracker according to an embodiment of the present invention, the maximum speed (V _max ) and maximum acceleration (a _max ) at which the tracker can rotate, the current position (X(K)) of the tracker, and the gaze of the tracker are of interest a movement method determining unit for determining a movement method, which is a method for controlling the rotational movement speed of the tracker during a control period (T _{s ), using the target position (X cmd} ) of the tracker to be positioned; a control position generating unit for generating a control position (X(K+1)) which is a position to reach a next time point (T _k+1 ) by moving the tracker during the control period (T _{s ) in the determined movement method;} and a control unit for controlling the movement of the tracker to be the determined movement method and the generated control position (X(K+1)).

The movement method determining unit _{calculates the movement speed (V Ts} ) of the tracker during the control period corresponding to the _{previous time point (T k-1} ) to the current time point (T _k ), and moves the tracker during the calculated control period. a first determination unit for determining whether the speed (V _Ts ) is greater than or equal to the maximum allowable speed (V _a ) determined by the maximum acceleration (a _max ) and the control period (T _{s );} Earlier time (T _k-1) the present time from the (T _k) the control cycle where the change (△ X (K)) position change amount of the tracer during the control period calculated, and calculating the tracker during the up (△ X (K)) is greater than or equal to the maximum position change (ΔX _V ) determined by the maximum speed (Vmax) and the control period (T _s ) a second determination unit for determining whether; And calculating a positional error (X _e) between the current location (X (K)) and the target position (X _cmd) of the Tracker, and the calculated position error (X _e) the maximum velocity (V _max) and the maximum acceleration (a _max ) a third determination unit that determines whether the required position change amount (X _ts ) is small compared to the determined by;

The first determination unit, the control period (T _s ), the position error (X _e ) between the current position (X(K)) and the target position (X _cmd ) of the tracker, the previous time point (T _k-1 ) to the current time point (T position change amount of the tracer during the control period corresponding to a to _{k) (△ X (k)} ) using the formula below, which is reflected, calculates the moving speed (V _Ts) of the tracer during the control period,

In the second determination unit, the maximum amount of position change (ΔX _V ) calculated using the following equation is set,

The required position change amount X _ts calculated using the following equation is set in the third determination unit.

The movement method determining unit, through the determination process in the first to third determination units, moves the tracker in any one of an acceleration movement method, a constant velocity movement method, and a deceleration movement method during the _{control period (T s )} A method is determined, and the control position generating unit is configured to, when an acceleration movement method or a deceleration movement method is determined as a movement method to move the tracker, the current position (X(K)) of the tracker and the movement speed (V) of the tracker at the present time (K)), the control period (T _s ), and the first and third control position generators for calculating the acceleration control position or the deceleration control position using the following equation using the maximum acceleration (a _{max ); Tracker including a} 's gaze movement controller.

Generating said control position unit, when the constant-speed movement method determining the movement to move the tracer method, mathematical below using the current position of the tracer (X (K)), the maximum speed (V _max) and the control period (T _s) and a second control position generating unit for calculating the constant velocity control position by using the equation.

According to the embodiment of the present invention, in moving the tracker to the target position so that the gaze of the tracker is moved to the position of interest, the tracker can be moved without overshooting the target position. In addition, it is possible to reduce the time required to move to the target position while preventing overshoot from occurring. Accordingly, the accuracy of moving the tracker's gaze to the position of interest can be improved, and the moving time can be shortened.

1 is a view showing an example in which a tracking device according to an embodiment of the present invention is applied to a moving body.
2 is a block diagram conceptually illustrating a tracking device according to an embodiment of the present invention.
3 is a conceptual diagram for explaining a position of interest, a movement path, an initial position, and a target position of the tracker.
4 is a diagram exemplarily illustrating a position change of a tracker according to time.
FIG. 5 is a diagram illustrating an exemplary speed over time when rotational movement of the tracker is controlled to reach a target position using the controller according to an embodiment of the present invention.
6 is a flowchart illustrating a method for controlling movement of a tracker using a controller according to an embodiment of the present invention.
7 to 9 are views exemplarily showing the position and speed of the tracker according to time when the tracker is rotated using the controller according to an embodiment of the present invention.
10 is an experimental result of controlling the movement of the tracker using the control method according to the embodiment of the present invention, and FIG. 11 is the experimental result of controlling the movement of the tracker by the control method according to the comparative example.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art will be completely It is provided to inform you. The drawings may be exaggerated in order to explain the embodiments of the present invention, and like reference numerals in the drawings refer to like elements.

1 is a view showing an example in which a tracking device according to an embodiment of the present invention is applied to a moving body. 2 is a block diagram conceptually illustrating a tracking device according to an embodiment of the present invention.

1 and 2, the tracking device 1000 according to an embodiment of the present invention is capable of rotational movement or angular movement so that a line of sight (LOS) can be moved to a position of interest (IP) or a region of interest. It includes a tracker 1100 and a controller 1200 for controlling the operation of the tracker 1100 .

The tracker 1100 may include a tracker 1110 that is mounted on the movable body 10 to move the gaze to the location of interest (IP), and a driver 1120 that moves the tracker 1110 . Such a tracker 1100 may be a means called a gimbal system.

The movable body 10 may be, for example, an aircraft as a means capable of moving while the tracker 1100 is mounted or mounted.

The tracking unit 1110 may be a means for acquiring an image or a video image, and may be a means including an electro-optical device, for example, a camera. As such, when the tracking unit 1110 is a means having a camera, the line of sight (LOS) of the tracking unit 1110 may mean a direction in which the camera looks.

The driving unit 1120 is installed to be connected to the tracking unit 1110 , and is a means for rotating or angular motion of the tracking unit 1110 by receiving a driving command or signal from the controller 1200 . The driving unit 1120 may be a rotatable means, and the tracking unit 1110 may be provided to be rotatable by the rotation of the driving unit 1120 . The driving unit 1120 may be applied to various means capable of rotating the tracking unit 1110 , and may be, for example, a means including a motor.

In the tracking unit 1110 rotating by the operation of the driving unit 1120 , the maximum speed V _max and the maximum acceleration a _max that can be accelerated are determined by the driving unit 1120 . _{That is, the maximum speed (V max} ) at which the tracking unit 1110 can rotate and the maximum speed (V max ) at which the tracking unit 1110 can rotate according to the maximum performance such as torque and output (torque * rotation speed (rpm)) at which the driving unit 1120 can operate The maximum acceleration a _max is determined. In other words, the maximum velocity (V _max ) and the maximum acceleration (a _max ) of the tracker 1100 are determined when the tracker 1100 is manufactured or provided. And the maximum velocity (Vmax) and the maximum acceleration (a _max ) of the tracker 1100 are used to control the movement of the tracker 1100 in the controller 1200 to be described later.

The controller 1200 is a means for controlling the operation of the driving unit 1120 . More specifically, the controller 1200 operates the driving unit 1120 so that the tracking unit 1110 can look at the location of interest IP. That is, the controller 1200 controls the operation of the driver 1120 so that the gaze of the tracker 1110 is moved to the location of interest IP. In this way, since the tracking unit 1110 is rotated and its gaze is changed by the rotation of the driving unit 1120 , the controller 1200 rotates the tracker 1100 , which is a configuration including the tracking unit 1110 and the driving unit 1120 . It can be described as controlling movement.

As described above, the controller 1200 controls the rotational movement of the tracker 1100, and inputs a drive command to the drive unit 1120 of the tracker 1100 every _{predetermined period (T s), for example, 250 μs (microsecond).} That is, the controller 1200 controls the rotational movement of the tracker 1100 at regular intervals. More specifically, the controller 1200 determines a method (hereinafter, a movement method) for rotationally moving the tracker 1100 from the current point to the next point in time, and the position to move the tracker 1100 to the next point in time in the determined movement mode. (hereinafter, control position) or a position to be reached is created. Thereafter, the controller 1200 inputs the determined movement method and control position command to the driving unit 1120 so that the tracker 1100 moves from the current time to the next time in the determined movement method to reach the control position. In this way, in determining the movement method of the tracker 1100 and generating the control position, the controller 1200 utilizes at least one _{of the maximum speed (V max} ) and the maximum acceleration (a _{max ) of the tracker.}

Here, there is a time difference between the present time and the next time by a predetermined period. And the movement method includes any one of the acceleration movement method, the constant velocity movement method and the deceleration movement method, and in determining the movement method, it is determined as one of the above-described methods.

Hereinafter, for convenience of description, a predetermined period for controlling driving by the tracker 1100 or the driving unit 1120 or for inputting a driving command is referred to as a 'control period (T _s )'.

As shown in FIG. 2 , the controller 1200 as described above includes a movement method determining unit 1210 that determines a movement method to move the tracker 1100 from the current point to the next point in time, and the tracker 1100 as a movement method determined from the current point of time. ) to move the control position generating unit 1220 to generate a control position to position the tracker 1100 at the next time point, and a command to the driving unit 1120 so that the tracker 1100 is moved to the determined movement method and the generated control position. and a control unit 1230 for controlling the operation of the driving unit 1120 by inputting the input.

The movement method determining unit 1210 determines a movement method to move the tracker 1100 through the determination process of step 3 or the determination process of step 4 . To this end, the movement method determining unit 1210 may be configured to include first to fourth determining units 1211 , 1212 , 1213 , and 1214 . That is, in the movement method determining unit 1210 , through the determination process in the first to fourth determination units 1211 , 1212 , 1213 , 1214 , the movement method for moving the tracker 1100 is an accelerated movement method or a constant velocity movement method. and a deceleration movement method.

In addition, the control position generating unit 1220 determines the control position according to the movement method determined by the movement method determining unit 1210 . To this end, the control position generating unit 1220 includes a first control position generating unit 1221 that generates an acceleration control position, which is a position to be reached by accelerating the tracker 1100 when it is determined by the acceleration movement method, in a constant velocity movement method. When it is determined, the second control position generating unit 1222 generates a constant velocity control position, which is a position to be reached by moving the tracker 1100 at a constant velocity, and when it is determined as a deceleration movement method, the position to be reached by decelerating the tracker 1100 A third control position generating unit 1223 for generating a deceleration control position may be included.

A detailed description of a method for determining a movement method in the controller 1200 and generating a control position will be described later.

3 is a conceptual diagram for explaining a position of interest, a movement path, an initial position, and a target position of the tracker. 4 is a diagram exemplarily illustrating a position change of a tracker according to time.

FIG. 5 is a diagram illustrating an exemplary speed over time when rotational movement of the tracker is controlled to reach a target position using the controller according to an embodiment of the present invention. Here, Fig. 5 (a) shows a case in which the tracker performs deceleration, constant velocity, and deceleration movement, and Fig. 5 (b) shows a case in which the tracker accelerates and decelerates movement.

The tracker 1100 rotates around one axis (hereinafter, referred to as the central axis RA) to change the line of sight. Accordingly, a path (hereinafter referred to as a movement path) MC on which the tracker 1100 rotates is determined. In addition, one position on the movement path MC on which the tracker 1100 moves is a position that can face the position of interest IP. Accordingly, a position facing the position of interest IP on the movement path MC on which the tracker 1100 moves is called a target position X _cmd to which the tracker 1100 is to be moved. In other words, a position at which the gaze of the tracker 1100 becomes the position of interest IP on the movement path MC of the tracker 1100 is set as the target position X _cmd .

The movement of the gaze of the tracker 1100 means that it moves so that the angle θ (°) formed _{between the current position of the tracker 1100 and the target position (X cmd ) on the movement path of the tracker 1100 changes.} there is. More specifically, the movement of the gaze of the tracker 1100 means the current position (X(K)) of the tracker 1100 and the center of rotation of the tracker 1100 on the movement path on which the tracker 1100 moves. It may mean to move so that the angle θ between the straight line L _m connecting the axis RA and the straight line L _target connecting the target position X _{cmd and the central axis RA is changed.} At this time, as the position of the tracker 1100 _{approaches the target position X cmd} , the angle θ decreases as shown in FIG. _{3 θ 1} > θ ₂ > θ 3 .

The position of the tracker 1100 may be expressed as an angle on the movement path. That is, assuming that the position (hereinafter, the initial position) of the tracker 1100 before rotational movement on the movement path is 0°, the target position (X _cmd ) can be described as a difference in angle (θ) from the initial position. _{For example, a straight line (L 0} ) connecting the initial position of the tracker 1100 and the central axis (RA) on the movement path (MC) and a straight _{line (L target} ) connecting the target position (X _cmd ) and the central axis (RA) If the angular difference between them is 50°, the target position X _cmd on the movement path MC may be described as 50°.

And, as described above, since the initial position and the target position (X _cmd ) of the tracker 1100 on the movement path MC can be expressed in angles, the initial position is the initial angle, and the target position (X _cmd ) is the target angle. can be explained. In addition, the position of the section between the initial position and the target position X _cmd on the movement path MC may have an angle value between the initial angle and the target angle.

_{To explain with a more specific example, for example, a straight line (L 0} ) connecting the initial position of the tracker 1100 and the central axis (RA) on the movement path and the target position (X _cmd ) and the central axis (RA) are connected When the angle difference between the straight lines (L _target ) is 50°, the initial position (initial angle) may be 0°, and the target position (target angle) (X _cmd ) may be described as 50°. And, the position of the section between the initial position (initial angle) and the target position (target angle) (X _cmd ) on the movement path MC has an angle value greater than 0° and less than 50°. Accordingly, the position (X(K))) of the tracker 1100 at the present time has a value greater than or equal to the initial position (initial angle (0°)) and less than or equal to the target position (target angle (50°)). That is, the current position (X(K))) of the tracker 1100 may be named as the current angle of the tracker 1100, and the position (angle) is the initial position (initial angle (0°)) or more, the target position It has a value of (target angle (50°)).

In this case, as the movement time of the tracker 1100 elapses, the current position (X(K))) of the tracker, that is, the current angle may be closer to the target position (target angle). That is, as the moving time of the tracker 1100 elapses as shown in FIG. 4 , the current position (X(K)) value of the tracker increases, and it may approach the _{target position (X cmd ).}

And, when the tracker 1100 is moved to the target position by controlling the rotational movement of the tracker 1100 using the controller 1200 according to the embodiment, the tracker 1100 is from the initial position to the target position in FIG. As shown in , it may be moved through acceleration movement and deceleration movement. And at this time, as shown in Fig. 5 (a), a constant speed movement may be performed between the acceleration section and the deceleration section, or as shown in Fig. 5 (b), the deceleration movement may be performed without a constant speed movement after the acceleration is finished.

Hereinafter, a method of controlling the movement of the tracker using a controller according to an embodiment of the present invention will be described with reference to FIGS. 6 to 9 .

6 is a flowchart illustrating a method for controlling movement of a tracker using a controller according to an embodiment of the present invention. 7 to 9 are views exemplarily showing the position and speed of the tracker according to time when the tracker is rotated using the controller according to an embodiment of the present invention. Here, FIG. 7 shows a case in which the tracker is rotated in an accelerated manner, FIG. 8 is a case in which the tracker is rotated at a constant speed, and FIG.

Controller 1200 is a group with the maximum speed of the tracker or a predetermined set (V _max) and the maximum acceleration (a _max), the present time (T _k) from the next time point tracker 1100 to (T _{k + 1)} A movement method to be moved is determined, and the _{tracker 1100 is moved in the determined movement method at the next time point (T k+1} ) to generate a control position that is a target location to be located. Then, the controller 1200 moves the _{tracker 1100 in the determined movement manner from the current time point (T k} ) to the next time point (T _k+1 ), and when the next time point (T _k+1 ) is reached, the tracker 1100 Control by inputting a command to the driving unit 1120 so as to reach a preset control position. Here, the current _{time point (T k} ) and the next time point (T _k+1 ) have a time difference as much as the control period (T _{s ).}

In descriptions such as the current position and the control position described below, 'position' means an angle (°). More specifically, it means an angle for each position on the movement path that the tracker moves. Then, the control cycle will be described as an example of 250 μs (0.00025 s).

_{First, the maximum speed (V max} ) and the maximum acceleration (a _max ) of the tracker 1100 are input to the movement method determining unit 1210 and the control position generating unit 1220 of the controller 1200 (S110), and the control period (T _s ) and a target position (X _cmd ) are input (S120).

Next, the movement method determining unit 1210 determines a movement method in which the tracker 1100 is to be moved. That is, a movement method to move the tracker _{from the current time point (T k} ) to the next time point (T _{k+1 ) is determined.} To this end, the movement method determining unit 1210 first makes a first determination (S210).

The first determination unit 1211 performs a first determination process (S210). A first determining process (S210), the movement of the tracer for the previous time point (T _k-1) and the present time (T _k) the control period (T _s) the moving speed (V _Ts) (hereinafter, the control period of the tracker for between This is a process of determining whether the speed (V _Ts )) is greater than or equal to the maximum allowable speed (V _a ) (see Equation 1). Here, the previous time point (T _k-1 ) and the current time point (T _k ) have a time difference as much as the control period (T _{s ).}

The maximum allowable speed (V _a ) is a speed determined by a predetermined or set maximum acceleration (a _max ) of the tracker and a preset control period (T _s ). This is the maximum allowable speed (V _a) means the position change amount that is, speeds of up to from an earlier point in time (T _k-1) by the maximum acceleration (a _max) the present time (T _k) (see Equation 2). As described above, the maximum allowable speed (V _{a ) is a value determined by the maximum acceleration (a max} ) and the preset control period (T _s ), and may be calculated and determined by Equation 2 below.

_{The movement speed (V Ts} ) of the tracker during the control period is the control period (T _s ), the position difference between the target position (X _cmd ) and the current position (X(K)) of the tracker (hereinafter, position error (X _e )) and the amount of change in the position of the tracker (ΔX(K)) from the previous time (T _k-1 ) to the current time (T _k ) (hereinafter, the amount of change in the position of the tracker during the control period (ΔX(K))). can be (see Equation 3).

And, as described above, the position error (X _e ) is a difference value between the target position (X _cmd ) and the current position (X(K)) of the tracker, and may be expressed as Equation (4). In addition, when the position change amount (ΔX(K)) of the tracker during the control period is expressed by an equation, it may be as shown in Equation 5 below.

In the first determination process (S210), _{it is determined whether the movement speed (V Ts} ) of the tracker during the calculated control period is greater than or equal to the maximum allowable speed (V _a ) (see Equation 1). At this time, if the movement speed (V _Ts ) of the tracker during the control period is greater than or equal to the maximum allowable speed (V _a ) (Yes), it moves to the second determination process (S220). Here, if the movement speed (V _Ts ) of the tracker during the control period is greater than or equal to the maximum allowable speed (V _a ) (eg), the speed (V(K)) of the tracker at the present point (T _{k ) is the maximum speed (} V _max ) may be reached.

Conversely, if the movement speed (V _Ts ) of the tracker during the control period is smaller than the maximum allowable speed (V _a ) (No), the process of performing the first determination again (S210) is repeated. Here, during the control period, the movement speed (V _Ts ) of the tracker is less than the maximum allowable speed (V _a ) (No), which means that the speed (V(K)) of the tracker _{at the present point (T k ) is the maximum speed (V max ).} ), that is, it may mean that it is small compared to the _{maximum speed (V max ).}

A more specific example will be described below.

For example, it is assumed that the maximum acceleration a _max of the tracker 1100 is 300 °/sec ² and the control period T _{s is 250 μs.} In this case, the maximum allowable speed (V _a ) is calculated or determined as 0.075 °/sec by Equation (2).

And, when the angle difference between the initial position of the tracker and the position at which the gaze of the tracker 1100 is moved to the position of interest (IP) is 50° before driving the tracker 1100, the target position (X _cmd ) is 50 ° is set. At this time, the initial position of the tracker is 0°.

When the current position (X(K)) of the tracker 1100 is 0°, _{the position error (X e ) between the target position (X cmd} ) and the current position (X(K)) of the tracker 1100 is 50° (see Equation 4). In addition, when the current position (X(K)) of the tracker 1100 is 0°, the amount of change in the position of the tracker during the control period from the _{previous time point (T k-1} ) to the current time point (T _{k ) (ΔX(K))} is 0° (see Equation 5).

_{When calculated by applying the control period (T s} ) 250 μs, the position error (X _e ) 50°, and the position change amount (ΔX(K)) 0° of the tracker during the control period to Equation 3, the movement speed of the tracker during the control period (V _Ts ) is calculated as 200,000 °/sec. _{Thereafter, the movement speed (V Ts} ) of the tracker during the calculated control period and the maximum allowable speed (V _a ) are compared. At this time, the movement speed (V _Ts ) of the tracker during the calculated control period is 200,000 °/sec, _{which is larger than the maximum allowable speed (V a} ) of 0.075 °/sec (eg). In this case, the flow advances to the second determination process ( S220 ), which is the next determination process.

However, if the movement speed (V _Ts ) of the tracker during the calculated control period is smaller than the maximum allowable speed (V _a ) (No), the first determination process ( S210 ) is repeated again.

The second determination unit 1212 performs a second determination process ( S220 ). The second determination process ( S220 ) is a process of determining whether the position change amount ΔX(K) of the tracker is greater than or equal _{to the maximum position change amount ΔX V during the control period.}

Here, the position change amount of the tracer (△ X (K)) means a previous point in time (T _k-1) the present time (T _k) where the change of the tracer (△ X (K)) to in as described above (Math see Equation 5). In addition, the maximum position change amount (ΔX _V ) means a movable or allowable position change amount when the tracker is moved at the maximum speed (V _max ) during the control period (T _{s ), and can be calculated by Equation (6)} .

In the second determination process, as described above, the position change amount ΔX(K) of the tracker during the control period and the maximum position change amount ΔX _V are compared. That is, it is compared whether the position change amount ΔX(K) of the tracker during the control period _{is greater than or equal to the maximum position change amount ΔX V} (see Equation 7).

At this time, if the position change amount (ΔX(K)) of the tracker during the control period _{is greater than or equal to the maximum position change amount (ΔX V} ) (Yes), it moves to the third determination process ( S230 ).

Here, if the position change amount (ΔX(K)) of the tracker during the control cycle _{is greater than or equal to the maximum position change amount (ΔX V} ) (eg), it is the speed (V(K)) of the tracker _{at the current point (T k ).} ) may mean that the maximum speed (V _max ) has been reached. Therefore, when it is determined that the position change amount ΔX(K) of the tracker during the control period _{is greater than or equal to the maximum position change amount ΔX V} (Yes), an acceleration section end signal is generated (S300). That is, the tracker 1100 generates a signal informing that the section (acceleration section) to be moved by acceleration has ended.

Conversely, if the position change amount (ΔX(K)) of the tracker is small (No) compared _{to the maximum position change amount (ΔX V} ), it means that the velocity (V(K)) of the tracker 1100 _{at the current point (T k ) is} means that has not reached the small that is, the maximum speed (V _max) than the maximum velocity (V _max). In this case, it goes directly to the third determination process ( S300 ). That is, without generating the acceleration section end signal (S300), the process proceeds to the third determination process (S300).

The third determination unit 1213 performs a third determination process (S230). The third determination process (S230) is a process of determining whether the position error (X _{e ) at the current point (T k} ) is smaller than the required position change amount (X _ts ) (see Equation 8).

The required position change amount (X _ts ) is determined by the maximum speed (V _max ) and the required time (T _ts ), and the necessary time (T _ts ) time is the maximum speed (V _max ) and the maximum acceleration (a _max ) is determined by More specifically, the required time (T _ts ) may be determined by dividing the maximum speed (V _max ) by the maximum acceleration (a _{max ) as in Equation 9 below.} Then, when the maximum speed (V _max ) and the required time (T _ts ) are multiplied, a position value is calculated (refer to Equation 10), and this position value is the required position change amount (X _ts ).

By applying Equation 9 to T _ts of Equation 10, Equation 10 may be expressed differently, as shown in Equation 11 below.

In the third determination process (S230), it is determined whether the position error (X _{e ) at the current point (T k} ) is smaller than the required position change amount (X _{ts ).} More specifically, it is determined whether the position error (X _e ) at the current point (T _k ) is smaller than the required position change amount (X _{ts ).} In addition, it may be further determined whether the velocity V(K) of the current time point (T _{k ) exceeds zero.}

At this time, the present time (T _k), the position error (X _e) have to position change amount is small, or if less than (X _ts) (YES), the present time (T _k) from the tracker to the next time point (T _{k + 1)} in the It is determined to move by decelerating (1100) (S410).

Thereafter, the control position generating unit 1220 generates a position _{at which the tracker 1100 is to be positioned in a deceleration manner from the present time point (T k} ) to the next time point (T _k+1 ), that is, a deceleration control position (X(K+1)). do (S420). And, the control unit 1230 to the drive unit 1120 so that the tracker 1100 reaches the deceleration control position (X(K+1)) generated until the _{next time point (T k+1} ) in the deceleration movement method that is the determined movement method. By inputting a command, the movement of the tracker 1100 is controlled (S430). At this time, the controller 1230 controls the movement speed of the tracker 1100 to be decelerated from a point in time when the _{position error X e} becomes smaller than the required position change amount X _{ts .}

A method of generating the deceleration control position X(K+1) by the control position generating unit 1220 will be described in detail again below.

Returning to the third determination process (S230) again, if the position error (X _{e ) at the current point (T k} ) is greater than or equal to the required position change amount (X _ts ) (No), the next fourth determination process (S240) move to

The fourth determination unit 1214 performs a fourth determination process (S240). The fourth determination process ( S240 ) is a process of determining whether an acceleration section end signal is generated. For example, in the second determination process (S220), it is determined that the position change amount ΔX(K) of the tracker during the control period _{is smaller than the maximum position change amount ΔX V} (No), and an acceleration section end signal is generated If not, it is determined that the acceleration section end signal is not generated in the fourth determination process (S240) if the process has passed to the fourth determination process (S240) (No).

As another example, in the second determination process ( S220 ), it is determined that the position change amount (ΔX(K)) of the tracker during the control period _{is greater than or equal to the maximum position change amount (ΔX V} ) (Yes), and the acceleration period ends If the fourth determination process (S240) is passed after generating the signal (S300), it is determined that the acceleration section end signal is generated in the fourth determination process (S240) (Yes).

And, the fourth determination process (S240) in the case where it is judged as not the acceleration period end signal is not generated (NO), the present time (T _k) from moving to accelerate the next time point (T _{k + 1)} tracker 1100 to It is determined to be (S610). Then, the first control position generation section 1221 of the control point generator 1220 is the present time (T _k) from the next time point (T _{k + 1)} accelerated movement manner that is accelerated position to move the tracker 1100 is controlled by A position (X(K+1)) is created (S620). At this time, by using the present time position (X (K)), the present time _{(T k) (V (K} )), the control period (T _s) the speed of the tracker, the maximum acceleration (a _max) of the tracker (T _k) An acceleration control position X(K+1) is generated (refer to Equation 12 and (a) of FIG. 7). In generating the acceleration control position X(K+1), it may be calculated through integration using a backward Euler method (refer to FIG. 7(b) ).

Then, the control section 1230 tracker 1100, as shown in (b) of Figure 7 is the present time (T _k) from the next time point (T _{k + 1)} moved to the determined transfer method of accelerated movement of the way, and to Fig. 7 ( As in a), the movement of the tracker 1100 is controlled by inputting a command to the driving unit 1120 to reach the acceleration control position X(K+1) generated at the next time point T _{k+1 (} S630). Accordingly, the tracker 1100 arrives at the generated or calculated acceleration control position X(K+1) at the next time point T _k+1.

Thereafter, it returns to the first determination process 210 again, and a determination is made to compare _{the movement speed (V Ts} ) of the tracker during the control period and the maximum allowable speed (V _{a ).} Here, the moving speed (V _Ts) of the tracer during the control period is, before the time (T _k-1) and the present time (T _k) the control period (T _s) the moving speed (V _Ts) of the tracker for between.

As another example, the fourth determination process (S240) in the acceleration period ends when it is determined that the signal is generated (YES), the present time (T _k) from moving to the constant velocity to move the tracker 1100, the next time point (T _{k + 1)} It is decided to do (S510). Then, the second control position generation section 1222 of the control point generator 1220 is the present time (T _k) from the next time point (T _{k + 1)} position to move the tracker 1100, a constant speed movement method that is constant-speed control to A position (X(K+1)) is created (S520). At this time, the constant velocity control position (X(K+1)) is generated using the current position of the tracker (X(K)), the maximum velocity (V _max ), and the control period (T _{s ) (Equation 13 and FIG.} See (b) of 8). In generating the constant velocity control position X(K+1), it may be calculated through integration using a backward Euler method (see FIG. 8(b) ).

Then, the control section 1230 tracker 1100, as shown in Fig. 8 (b) the present time (T _k) from the next time, go to (T _{k + 1)} determined moving type of constant-velocity moving manner to, and Figure 8 ( As shown in a), the movement of the tracker 1100 is controlled by inputting a command to the driving unit 1120 to reach the constant velocity control position X(K+1) generated at the next time point T _{k+1 (} S530). Accordingly, the tracker 1100 arrives at the generated or calculated constant velocity control position X(K+1) at the next time point T _k+1.

Then, back to the third determination process (S230) again, the third determination (S230) of determining whether the position error (X _{e ) at the current time point (T k} ) is small compared to the required position change amount (X _ts ) is carried out do.

And, third, if the judgment process (S230) the present time (T _K), the position error (X _e) in the smaller compared to the necessary position change amount (X _ts) in (e), the present time (T _k) from the next time point (T _{k +1} ), it is determined that the tracker 1100 is moved by deceleration (S410).

Then, the third control position generation section 1223 of the control point generator 1220 is the present time (T _k) from the next time point (T _{k + 1)} deceleration position to move the tracker 1100, the mobile system that is the deceleration control until A position (X(K+1)) is created (S420). In this case, the method of generating the deceleration control position X(K+1) is the same as the method of generating the acceleration control position X(K+1) described above. That is, the present time (T _k) position (X (K)) of the tracker 1100, the present time (T _k) of the speed (V (K)) of the tracker 1100, the control period (T _s), the maximum acceleration ( a _max ) is used to generate the deceleration control position X(K+1) (refer to Equation 12 and (a) of FIG. 9 ).

Then, the control section 1230 tracker 1100, as shown in (b) of Figure 9 is the present time (T _k) from the next time point (T _{k + 1)} moved to the determined moving type of deceleration movement method, and to Fig. 9 ( As in a), the movement of the tracker 1100 is controlled by inputting a command to the driving unit 1120 to reach the deceleration control position X(K+1) generated at the next time point T _{k+1 (} S430). In this case, the controller 1230 controls the deceleration of the tracker 1100 to start from a point in time when the _{position error X e} becomes smaller than the required position change amount X _{ts .} Accordingly, the tracker 1100 arrives at the generated or calculated acceleration control position X(K+1) at the next time point T _k+1.

Thereafter, it is determined whether to end the movement of the tracker 1100 ( S700 ). At this time, the difference between the position (X(K)) and the target position (X _cmd ) of the tracker 1100 at the current point (T _k ), that is, the position error (X _e ) is less than or equal to the end reference value (eg), the controller 1200 ends the movement of the tracker 1100 . However, if the position error (X _e ) exceeds the end reference value (No), it returns to the third determination process (S230).

Here, the end reference value may be, for example, 0.001° as an angle value. Of course, the end reference value is not limited to the above-described example and may be variously changed.

According to such a controller and control method, when moving the tracker to the target position so that the gaze of the tracker is moved to the position of interest, the tracker can be moved without overshooting the target position. In addition, it is possible to reduce the time required to move to the target position while preventing overshoot from occurring. Accordingly, the accuracy of moving the tracker's gaze to the position of interest can be improved, and the moving time can be shortened.

10 is an experimental result of controlling the movement of the tracker using the control method according to the embodiment of the present invention, and FIG. 11 is the experimental result of controlling the movement of the tracker by the control method according to the comparative example. Here, the control method according to the comparative example is controlled using only the current position of the tracker and the target position. Here, the current position of the tracker is a position value detected or sensed using a sensor.

Table 1 is a table summarizing the _{maximum acceleration (a max} ) and maximum speed (V _max ) and target position (X _cmd ) of the tracker used in the experiment.

maximum acceleration (a _max ) 300°/sec ² Maximum speed (V _max ) 100°/sec Target position (X _cmd ) 100°

Since the example and the comparative example use the same tracker, the maximum acceleration (a _max ) is the same as 300°/sec ² , and the maximum speed (V _max ) is the same as 100°/sec. Also, the difference between the initial position before moving the tracker and the position where the tracker's gaze moves to the position of interest, that is, the target position, was equal to 100°. That is, the target position (X _cmd ) was equal to 100°.

division Time to reach the target position (sec) Example 1.341 comparative example 1.5

10 and Table 2, when the movement of the tracker is controlled by the control method according to the embodiment, the time for the tracker _{to reach the target position (X cmd} ) is 1.341 seconds (sec). However, when controlled by the control method according to the comparative example, the time for the tracker _{to reach the target position (X cmd} ) is 1.5 seconds (sec) as shown in FIGS. 11 and 2 .

From this, it can be seen that the control method according to the embodiment _{shortens the time for the tracker to reach the target position (X cmd ) compared to the comparative example.} That is, it is possible to reduce the time taken for the tracker to move to the target position while preventing the overshoot from being deviated from the target position. Accordingly, the accuracy of moving the tracker's gaze to the position of interest can be improved, and the moving time can be shortened.

1100: tracker 1110: tracker
IP: location of interest

Claims (22)

A method for controlling gaze movement of a tracker for rotationally moving the tracker _{to a target position (X cmd} ) so that the gaze of the tracker is moved to a position of interest,
Using the maximum speed (V _max ) and maximum acceleration (a _max ), the tracker’s current position (X(K)), and the target position (X _cmd ), the tracker can rotate and move from the current point (T _k ) to the next point in time (T _k+1 ) a movement method determination process that is a method of controlling the movement speed of the tracker;
a control position generating process of generating a control position (X(K+1)), which is a position to move the tracker to a next time point (T _{k+1) by the determined movement method;} and
a tracker movement process of moving the tracker to the determined movement mode and the generated control position;
including,
The movement method determination process includes a process of obtaining a position error (X _e ) by calculating a difference between the current position (X(K)) and the target position (X _{cmd ) of the tracker,}
The current time point (T _k ) and the next time point (T _k+1 ) have a time difference as much as a preset control period (T _{s ),}
The moving method determination process is,
Earlier time (T _k-1) moving speed (V _Ts) of the tracer during the control period corresponding to up to the present time (T _k) from the, maximum acceleration (a _max) and a control period in which the tracker can move rotation (T _s ) a first determination process of determining whether it is greater than or equal to the maximum allowable speed (V _{a ) determined by;}
Earlier time (T _k-1) the present time (T _k) the control cycle where the amount of change in the tracker (△ X (K)) is the maximum speed (V _max) and a control period in which the tracker can move rotation during the up from (T _s ) a second determination process of determining whether the maximum position change amount (ΔX _V ) is greater than or equal to determined by;
a third determination process of determining whether the position error (X _e ) is smaller than the required position change amount (X _ts ) determined by the maximum velocity (V _max ) and the maximum acceleration (a _{max );}
A method for controlling gaze movement of a tracker comprising a. A method for controlling gaze movement of a tracker for rotationally moving the tracker _{to a target position (X cmd} ) so that the gaze of the tracker is moved to a position of interest,
Using the performance of the tracker that the tracker can perform maximum rotational movement, the current position of the tracker (X(K)), and the position error (X _e ) _{between the current position of the tracker (X(K)) and the target position (X cmd )} Thus, during the control period (T _s ), a movement method determining process for determining whether to move the tracker by any one of an acceleration movement method, a constant speed movement method, and a deceleration movement method;
a control position generating process of generating a control position (X(K+1)) that is a position to move the tracker during the control period (T _{s ) in the determined movement method;} and
a tracker movement process of moving the tracker in the determined movement manner so that the tracker arrives at the control position created at a next time point (T _k+1);
including,
The moving method determination process is,
Earlier time (T _k-1) moving speed (V _Ts) of the tracer during the control period corresponding to up to the present time (T _k) from the, maximum acceleration (a _max) and a control period in which the tracker can move rotation (T _s ) a first determination process of determining whether it is greater than or equal to the maximum allowable speed (V _{a ) determined by;}
Earlier time (T _k-1) the present time (T _k) the control cycle where the amount of change in the tracker (△ X (K)) is the maximum speed (V _max) and a control period in which the tracker can move rotation during the up from (T _s ) a second determination process of determining whether the maximum position change amount (ΔX _V ) is greater than or equal to determined by;
a third determination process of determining whether the position error (X _e ) is smaller than the required position change amount (X _ts ) determined by the maximum velocity (V _max ) and the maximum acceleration (a _{max );}
A method for controlling gaze movement of a tracker comprising a. delete delete The method according to claim 1 or 2,
The second determination process is performed when, in the first determination process, the movement speed (V _Ts ) of the tracker during the control period is greater than or equal to the maximum allowable speed (V _{a ),}
In the second determination process, if the position change amount (ΔX(K)) of the tracker during the control period _{is greater than or equal to the maximum position change amount (ΔX V} ), generating an acceleration section end signal, and ,
The third determination process is performed after the process of generating the acceleration section end signal, or in the second determination process, the position change amount (ΔX(K)) of the tracker during the control period is the maximum position change amount (ΔX _V ) A method for controlling gaze movement of a tracker that is performed in a case where it is small compared to that. 6. The method of claim 5,
and a fourth determination process performed when the position error (X _e ) is greater than or equal to the required position change amount (X _ts ) in the third determination process,
The fourth determination process includes determining whether an acceleration section end signal is generated after the second determination process. 7. The method of claim 6,
The moving method determination process is,
In the fourth determination process, in the second determination, if it is determined that the acceleration that period end signal is not generated after the process, the present time (T _k) from the acceleration movement, which movement then accelerate the tracker and the time (T _{k + 1)} method decision-making process; and
In the fourth determination process, the determination at a constant speed mobile manner to the second judgment process after the acceleration period ends when it is determined that the signal is generated, the present time (T _k) from to move the tracker at constant speed, and then the time (T _{k + 1)} process;
A method for controlling gaze movement of a tracker comprising a. 8. The method of claim 7,
The moving method determination process is,
The third in the judgment process, the position error (X _e) have to position change amount when it is determined to be smaller than (X _ts), the present time (T _k) from the next time point (T _{k + 1)} to the deceleration of the deceleration to move the tracker A method for controlling gaze movement of a tracker including the process of determining a movement method. 9. The method of claim 8,
The starting point of the deceleration of the tracker is a method of controlling the gaze movement of the tracker to start decelerating from the point when _{the position error (X e} ) becomes smaller than the position change amount (X _{ts ).} 8. The method of claim 7,
The process of generating the control position is
When the acceleration movement method is determined as the method for moving the tracker in the movement method determination process, the control position is generated for generating the acceleration control position X(K+1) to move _{the tracker to the next time point T k+1} including the process of
The acceleration control position (X(K+1)) includes the current position (X(K)) of the tracker, the movement speed (V(K)) of the tracker at the current point, the control period (T _s ), and the acceleration (a _{max ).} ) to control the gaze movement of the tracker created using 8. The method of claim 7,
The process of generating the control position is
When the constant velocity movement method is determined as the method for moving the tracker in the movement method determination process, a control position is generated for generating a constant velocity control position X(K+1) to move _{the tracker to the next time point T k+1} including the process of
The constant velocity control position (X(K+1)) is a gaze movement control method of the tracker that is generated using the _{current position (X(K)), the maximum speed (V max} ), and the control period (T _{s ) of the tracker} . 8. The method of claim 7,
The process of generating the control position is
When the deceleration movement method is determined as the method to move the tracker in the movement method determination process, a control position is generated for generating the deceleration control position X(K+1) to move _{the tracker to the next time point T k+1} including the process of
The deceleration control position (X(K+1)) includes the current position (X(K)) of the tracker, the current movement speed (V(K)) of the tracker, the control period (T _s ), and the acceleration (a _max). ) to control the gaze movement of the tracker created using 11. The method of claim 10,
In the process of moving the tracker, when the acceleration movement method is determined as the method for moving the tracker in the movement method determination process, the tracker is moved to the determined acceleration movement method and the generated acceleration control position (X(K+1)). including the process of moving
A method for controlling gaze movement of a tracker by re-executing the first determination process when the tracker reaches the generated acceleration control position (X(K+1)). 12. The method of claim 11,
In the tracker movement process, when a constant velocity movement method is determined as a method for moving the tracker in the movement method determination process, the tracker is moved to obtain the determined constant velocity movement method and the generated constant velocity control position (X(K+1)). including the process of moving
A method for controlling gaze movement of a tracker by re-executing the third determination process when the tracker reaches the generated constant velocity control position (X(K+1)). 13. The method of claim 12,
The tracker movement process is
When the deceleration movement method is determined as the method for moving the tracker in the movement method determination process, moving the tracker to the determined deceleration movement method and the generated deceleration control position (X(K+1)); ,
and determining whether to end the movement of the tracker when the tracker reaches the generated deceleration control position (X(K+1)). 16. The method of claim 15,
The movement end determination process is,
When the position error (X _e ) is less than or equal to the end reference value, the process of determining to end the movement of the tracker; and
When the position error (X _e ) exceeds the end reference value, the process of determining to continue the movement of the tracker;
A method for controlling gaze movement of a tracker comprising a. 17. The method of claim 16,
If it is determined in the movement end determination process to continue the movement of the tracker, the third determination process is re-executed. _{Maximum velocity (V max} ) and maximum acceleration (a _max ) at which the tracker can rotate, the current position of the tracker (X(K)), and the target position of the tracker such that the tracker's gaze becomes the position of interest (X _cmd ) a movement method determining unit for determining a movement method, which is a method to control the rotational movement speed of the tracker during the control period (T _s);
a control position generating unit for generating a control position (X(K+1)) which is a position to reach a next time point (T _k+1 ) by moving the tracker during the control period (T _{s ) in the determined movement method;} and
a control unit controlling the movement of the tracker so as to be the determined movement method and the generated control position (X(K+1));
including,
The movement method determining unit,
Earlier time, calculates the present time the moving speed (V _Ts) of the tracer during the control period corresponding to up to (T _k) from (T _k-1), and the traveling speed (V _Ts) of the tracer during the controlled period calculated a first determination unit that determines whether the maximum acceleration (a _max ) and the control period (T _s ) are greater than or equal to the maximum allowable speed (V _{a ) determined by;}
Calculate the position change amount (ΔX(K)) of the tracker during the control period from the previous time point (T _k-1 ) to the current time point (T _{k ), and the position change amount (ΔX) of the tracker during the calculated control period} (K)) a second determination unit for determining whether the maximum speed (Vmax) and the control period (T _s ) is greater than or equal to the maximum position change (ΔX _{V) determined by the control period (T s);} and
The position error (X _e ) between the current position (X(K)) and the target position (X _cmd ) of the tracker is calculated, and the calculated position error (X _e ) is the maximum velocity (V _max ) and the maximum acceleration (a _{max ).} ) a third determination unit for determining whether the required position change amount (X _ts ) is small compared to determined by;
Gaze movement controller of the tracker comprising a. delete 19. The method of claim 18,
The first determination unit, the control period (T _s ), the position error (X _e ) between the current position (X(K)) and the target position (X _cmd ) of the tracker, the previous time point (T _k-1 ) to the current time point (T position change amount of the tracer during the control period corresponding to a to _{k) (△ X (k)} ) using the formula below, which is reflected, calculates the moving speed (V _Ts) of the tracer during the control period,

In the second determination unit, the maximum amount of position change (ΔX _V ) calculated using the following equation is set,

The eye movement controller of the tracker is set in the third determination unit, the required position change amount (X _{ts ) calculated using the following equation.}

19. The method of claim 18,
The movement method determining unit, through the determination process in the first to third determination units, moves the tracker in any one of an acceleration movement method, a constant velocity movement method, and a deceleration movement method during the _{control period (T s )} decide how to
The control position generating unit,
When the acceleration movement method or the deceleration movement method is determined as the movement method to move the tracker, the current position (X(K)) of the tracker, the movement speed (V(K)) of the tracker at the present time, and the control period (T _s ) , first and third control position generators for calculating an acceleration control position or a deceleration control position using the following equation using the maximum acceleration a _{max ;}

Gaze movement controller of the tracker comprising a. 19. The method of claim 18,
The control position generating unit,
When the constant velocity movement method is determined as the movement method to move the tracker, constant velocity is controlled using the following equation using _{the current position (X(K)), the maximum speed (V max} ), and the control period (T _{s ) of the tracker} A gaze movement controller of the tracker including a second control position generating unit for calculating a position.

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