WO1992014982A1 - Dispositif d'alignement - Google Patents

Dispositif d'alignement Download PDF

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Publication number
WO1992014982A1
WO1992014982A1 PCT/SE1991/000105 SE9100105W WO9214982A1 WO 1992014982 A1 WO1992014982 A1 WO 1992014982A1 SE 9100105 W SE9100105 W SE 9100105W WO 9214982 A1 WO9214982 A1 WO 9214982A1
Authority
WO
WIPO (PCT)
Prior art keywords
picture
person
camera
thing
unit
Prior art date
Application number
PCT/SE1991/000105
Other languages
English (en)
Inventor
Göte PÅLSGÅRD
Lars-Olov ÖSTLIN
Original Assignee
Paalsgaard Goete
Oestlin Lars O
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Paalsgaard Goete, Oestlin Lars O filed Critical Paalsgaard Goete
Publication of WO1992014982A1 publication Critical patent/WO1992014982A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
    • F41G3/225—Helmet sighting systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves

Definitions

  • the present invention relates to a device for alignment controlled by the gaze direction of a person of an object with respect a thing, which comprises means for determining the gaze direction of a person, an evaluating unit adapted to treat information received from said means about the gaze direction of the person and emit control signals, and a unit for receiving the control signals from the eva ⁇ sieing unit so as to by an adjusting member adjust the direction of the object in dependence on the gaze direction of the person.
  • Such a device is already known by for example US patent publication 3 462 604 which describes a device for ad ⁇ justing the direction of a weapon or a machine in de ⁇ pendence on the gaze direction of a person.
  • the person is in this device looking directly on the thing towards which the weapon shall be adjusted and a picture sensor senses the picture of the eye of the person so as to determine in which direction the person looks and on the basis thereof control the weapon.
  • a disadvantage of this device is that said thing towards which a person intends to direct a weapon may be located in the periphery of the field of sight of the person and watching that thing may be un ⁇ comfortable.
  • Another disadvantage is that the person may not himself by simple means control that the weapon is really directed in the direction he is looking in.
  • the object of the present invention is to provide a device of the kind mentioned in the introduction, which is freed from the disadvantages of the device discussed above.
  • This object is according to the invention obtained by providing a device of said kind with a camera arranged to by means of a displaying arrangement show a picture in ⁇ cluding said thing to the person, that said means are adapted to determine the direction of the gaze of said person, when this is directed towards said thing on this picture, that the camera is fixed to or constitutes the object, and that the evaluating unit is adapted to send control signals to the direction adjusting unit adapted to cause the latter to adjust the object and by that the camera so that the gaze of the person strikes said thing in a certain position on said picture.
  • a camera is adapted to by means of a displaying arrangement show a picture including said thing to the person and the camera is fixed to or constitu ⁇ tes the object to be aligned with respect to said thing, the person may look at said thing in a desired part of the field of sight corresponding to comfortable looking, and the person may easily check that the object has a certain alignment with respect to said thing, since the position of said thing on the picture viewed at directly corresponds to the alignment of the object with respect to said thing.
  • An advantage characteristic of the invention is defined in subclaim 3, namely that the evaluating unit is arranged to in dependence on the gaze direction of a person influence the direction adjusting unit to adjust the object and by that the camera so that the thing viewed at by the person arrives in the middle of the camera picture. This makes it very comfortable for the person to achieve the alignment adjustment of the object aimed at.
  • the present invention also concerns a device for distance measuring, which has as object to simplify the measuring of a distance to a thing with respect to prior art devices for this purpose.
  • This object is according to the invention obtained by a device comprising two cameras located at a mutual distance along a base line and so as to be directed with their camera axes substantially in the same plane, and a picture filter unit adapted to receive picture signals from the respective cameras and filter them, so as to send picture lines with certain serial numbers coming from one camera and picture lines with the rest of the serial numbers coming from the other camera to a displaying arrangement also being a part of the device, that the displaying arrangement is arranged to show a picture created by the picture lines sent from the picture filter unit, that at least one of the cameras is pivotally arranged, that the direction of the camera axes relative to each other is arranged to be adjusted so that a thing to which a distance is to be measured occures continuously in the middle of a picture shown by the displaying arrangement, and that means are arranged to after this adjustment measure the angle of each of the camera axes relative to the base line so as to permit to calculate the distance between the thing and a chosen point along said base line by means of infomation about these two angles
  • the characteric of the picture filter unit to send on only certain picture lines from the respective camera to the displaying arrangement, it is possible to create one single picture from the two camera pictures and in a very exactly way direct the two cameras towards the thing in question.
  • the distance between said thing and a point on said base line for example one of the cameras, may be calculated by putting the two angles and a distance between the cameras into trigonometric formulas.
  • the cameras may be provided with a zoom function, so that first of all a coarse adjustment may be made with a comparatively large picture angle and after that a fine adjutment may be carried out with a smaller picture angle, i. e. with the thing magnified on the picture of the displaying arrange ⁇ ment.
  • Fig. 1 is a simplified block diagram illustrating the function of an embodiment of the alignment device according to the invention
  • Fig. 2 is a perspective view illustrating a second embodi ⁇ ment of the alignment device according to the invention
  • Fig. 3 is a simplified block diagram illustrating a first embodiment of the distance measuring device according to the invention.
  • Fig. 4 is a schematic view illustrating a particular application of the distance measuring device according to the invention.
  • the principal of function of a preferred embodiment of the alignment device according to the invention is illustrated in a simplified way in Fig. 1.
  • the device is adapted to align an object 1 with respect to a thing 3 viewed at through a camera 2.
  • the camera 2 is fixed to the object 1 and accordingly movable together therewith.
  • the camera 2 is arranged to send picture signals to a displaying arrange ⁇ ment, which comprises a camera picture producing unit 4, a cable 6 with optical fibres carrying a picture from the unit 4 to a carrier 5, the end of said cable being arranged with the cross section surface in a fixed position on the carrier and so directed that light from the cable 6 strikes a first lens arranged on the carrier 5, which is adapted to carry the light from the unit 4 on to a first plane mirror 8, which is so arranged that it reflects the light last mentioned towards a second lens 9.
  • the light from the unit 4 will strike a second plane mirror 10 and behind this plane mirror produce a virtual picture 12 perceptable to an eye 11 of a person, said picture corresponding to the picture produced by the camera 2 through the camera picture producing unit 4.
  • the carrier 5 is intended to be arranged in a fixed posi ⁇ tion with respect to and in front of an eye of a person.
  • the carrier may be constituted by conventional glasses, spectacle frames being specially designed and the like.
  • the device comprises also means for determining the gaze direction of the eye 11 of the person.
  • These means comprise a second plane mirror 10, which is so arranged that the light emitted by the eye 11 of the person strikes said mirror and is reflected towards the second lens 9, which is arranged to bring said light together, so that it strikes a third lens 13 being considerably smaller, which is arranged to influence the light emitted by the eye to strike upon a comparatively small third plane mirror 14 located therebe- hind, which is so directed that it guides said light towards a cross section surface of a second cable 15 with optical fibres.
  • the light striking said cross section surface corresponds to a picture of the eye 11.
  • Light information arriving to the cable 15 is passed on by this and transmitted to a light sensitive element 16, for example a photo-diod.
  • the piece of light information are here converted to a picture corresponding to the direction of the eye, which is made possible by the fact that dif ⁇ ferent parts of the eye emit light of different intensity, e.g. the light intensity emitted from the pupil surface unit is considerably lower than the one emitted from the white part of the eye.
  • Information about the direction of the eye is sent on from the light sensitive element 16 to an evaluating unit 17 schematically indicated, which is adapted to treat said information and send control signals to a unit 18 for adjusting the direction of the object 1 through an adjusting member 19.
  • a black plate 20 is at ⁇ tached to the carrier 5 in a suitable position with respect to the optical system, which consists of the parts 9, 10, 13-15, in order to avoid that environmental light is falling onto the third plane mirror 14 and reflected by the cable 15, with incorrect information about the position of the eye 11 as a consequence.
  • the picture 12 shown to the eye 11 of the person is devided by the evaluating unit 17 into an imagined system of Cartesian coordinates with the origin of coordinates in the middle of the picture. It is the intention that the person with his eye 11 shall view at the thing 3 shown on the virtual picture 12.
  • the evaulating unit is adapted to, from the piece of picture information coming from the light sensitive element 16, derive a signal corresponding to the X-coordinate of the striking point of the gaze on the picture shown and a signal corresponding to the Y-coordi- nate thereof and convert these coordinate signals to signals for adjusting the direction of the object 1, so that said thing 3 is moved to the origin of coordinates of the imagined system of coordinates.
  • an alignment of the camera 2 towards said thing 3 takes place and thanks to the fixation of the camera to the object 1 also of the latter with respect to said thing 3.
  • the object 1 may be directed parallelly to the camera 2, so that also the object 1 with one extremity thereof points towards said thing 3, but it would also be conceivable that a different relative alignment of the object 1 and the thing 3 takes place.
  • the evaluating unit may be adapted to send control signals to the direction adjusting unit 18 not until it during a predetermined period of time has received substantially unchanged information about the gaze direction of the person from the light sensitive element 16. This delay may be advantageous so as to avoid disturbances of the direc ⁇ tion adjustment of the object 1 induced by short twinklings or side glances of the eye of the person.
  • FIG. 2 A preferred embodiment of the device according to the invention is shown in Fig. 2.
  • the object to be aligned or directed and the camera are in this embodiment combined in a TV-camera 1.
  • the carrier 5 is arranged on a spectical frame in front of one eye of the person and has the compo ⁇ nents with the reference numerals 4-10 and 13-17 shown in Fig. 1.
  • the evaluating unit arranged on the carrier is adapted to send control signals to the direction adjusting unit 18, which in its turn is adapted to cause adjusting of the direction of the TV-camera 1.
  • the person in question may accordingly look at a desired thing on the picture shown by the TV-camera 1 through the displaying arrangement and by his gaze control the TV-camera to be aligned with said thing, i.e. bring it into the middle of the picture. This may be a very comfortable way to control a TV-camera.
  • the alignment device replace the means shown in Fig. 1 for determining the gaze direction of the eye of a person by any other means with the same ability, for instance a camera directed towards the eye of the person.
  • a carrier fixed with respect to the eye of the person of the type shown in Figs. 1 and 2, since otherwise problems arise concerning the position of the eye of the person with respect to the means for determining the gaze direction.
  • the device comprises two cameras 1, 2, which are pivotally arranged about one optical centre each, said optical centres being located at a fixed mutual distance along a base line.
  • the cameras may be pivotally arranged also in the vertical direction besides in the horisontal direction, but it is the intention that the camera axis of one of the cameras is continuously directed in the same plane as the camera axis of the other camera.
  • the cameras 1, 2 are adapted to send picture signals to a picture filter unit 3 schematically indicated, which is arranged to filter these signals so as to only send picture lines having odd serial numbers and coming from one of the cameras and picture lines having even serial numbers and coming from the other camera to a displaying arrangement.
  • the displaying arrange ⁇ ment is adapted to show a picture created by the picture lines sent by the picture filter unit, as in the case in Fig. 3, since the two cameras 1 and 2 are directed towards the stick A, in which also B is a stick, looks like the picture indicated in the Figures at the reference numeral 4. When the two cameras are directed towards one and the same thing, here the stick A, this thing may accordingly occur continuously in the middle of the picture.
  • the reference numeral 4 represents here the displaying arrange ⁇ ment as well as the picture shown thereby.
  • Pieces of information about the appearance of the picture are led or are by hand entered into an evaluating unit 5, which is arranged to treat these pieces of information and send control signals elaborated on the basis thereof to adjusting members not shown for adjusting the direction of the cameras.
  • Trigonometrical formulas well known are adapted for the calculation of the distance mentioned above. Assume that for example the distance C between the stick A and the optical centre of the camera 1 shall be calculated. The calculating unit 7 is then using the following formula.
  • the cameras 1, 2 may advantageously be provided with a zoom function, so that first of all a coarse adjustment may be done with a comparatively large picture angle of the cameras and the evaluating unit sends signals to the cameras after obtaining a continious picture of the thing in question in the middle of the picture so as to reduce the picture angle, i.e. magnifying said thing, for fine adjustment of the camera angles before the calculating unit 7 is activated. This further increases the reliability of the distance measuring device already delivering very accurate results.
  • One of the cameras 1 is fixed on a gun-carriage 8 of a gun.
  • the gun-carriage is rotatable about a vertical axis, but preferably also about a horisontal axis, so as to adjust the direction of the camera 1.
  • the camera 2 is rotatably arranged about an optical centre in at least the horisontal direction, but preferably also in the vertical direction.
  • the relative distance between the centres of rotation of the two cameras is preferably fixed, but it could also be varied in the case there are means for determining the distance existing therebetween in each moment.
  • Picture signals are led from the two cameras to a picture filter unit 9. This unit is adapted to filter the picture signals and send signals corresponding to requested picture lines from a respective camera on to a displaying arrangement.
  • This displaying arrangement is of the type described in Fig. 1 and arranged on a carrier 10 located in front of an eye of a person.
  • Means for determining the gaze direction of the person of the kind shown in Fig. 1 are also arranged on the carrier 10.
  • these means include an optical system with mirror and lenses. Accordingly, a virtual picture is shown to the person, said picture being created by the views of the cameras 1 and 2.
  • the person directs his gaze towards a presumtive target on said picture and after determining the gaze direction of the person information thereabout is sent to an evaluating unit 11, which is arranged to, from these pieces of information, elaborate control signals and send them to direction adjusting units 12 of the gun-carriage 8 and the second camera 2, respectively, (not shown).
  • the picture filter unit 9 may be adapted to, during a first period of time, attend to that the displaying arrangement only show the picture from a first camera to the person and a direction adjustment of this camera towards said thing takes place through information about the gaze direction of the person and the evaluating unit, whereupon, during a second period of time, the picture filter unit 9 only sends pictures from the second camera to the displaying arrange ⁇ ment, whereupon a direction adjustment of the second camera takes place through the gaze direction of the person and the evaluating unit.
  • the picture filter unit could after that send picture lines coming from one of the cameras and having odd serial numbers and picture lines coming from the other camera and having even serial numbers to the display ⁇ ing arrangement, so as to display the continuous thing in the middle point of the picture.
  • the thing is movable
  • means are arranged to, after adjustment of said thing in the middle of the picture, make the direction adjusting units and by that the direction of the cameras to slaves of the position of the target so as to keep the target picture in the middle of the picture shown independent of the movement of the target.
  • the picture filter unit does in this case send information on directly to the evaluating unit, which elaborates and sends control signals to the direction adjusting units for continuously correcting deviations from the picture centre of the respective camera of said thing occuring. This death may be started automatically or by the person, when he is satisfied with the direction adjust ⁇ ment of the two cameras.
  • the gun-carriage 8 By the fixed arrangement of the first camera 1 on the gun-carriage 8 of the canon the gun-carriage 8 will on directing the camera 1 towards said thing automatically also be directed thereagainst.
  • Angle measuring members are arranged on each camera to send information about the angle between the camera axis of the camera in question and the base line connecting the centres of rotation of the two cameras to a calculating unit 13.
  • the calculating unit 13 functions in the way described in connection with the calculating unit 7 in Fig. 3.
  • the calculating unit 13 may calculate a distance between the camera 1, i.e. the gun-carriage 8 and the thing 14, in this case an aeroplane.
  • the calculating unit 13 is adapted to send this piece of distance information to a unit 15 for controlling the elevation adjustment of the tube 16 of the canon in dependence thereon.
  • the angle measuring unit and a computor unit may also be incorporated into the unit 15.
  • the calcu ⁇ lating unit 13 may also be adapted to, from information about the movement of the camera 1 and the distance change between the camera 1 and said thing 14, calculate the velocity of said thing and send these signals to the unit 15, so that a direction adjustment of the tube 16 may take place while taking the movability of the target into consideration.
  • the tube may also be laterally movable, so that an aming ahead may be achieved on lateral movement of the target.
  • the invention is of course not limited to the distance measuring devices described above, but several modification possibilities thereof would be apparent to a man skilled in the art without diverting from the basic idea of the invention.
  • the displaying arrangement in the device according to Fig. 3 could for instance be arranged to show the picture of said thing on a viewing screen with a cursor controllable by a so called joy-stick, wherein the actuation of said joy-stick then would be intended to generate and send control signals to the adjustment members for adjusting the relative direction of the camera axis.
  • the picture filter unit could of course be arranged to select picture lines coming from a camera and having arbitary serial numbers and picture lines coming from the other camera and having the rest of the serial numbers for the displaying arrangement.
  • the rest here means the picture lines lying between the picture lines selected from the first camera in the region of the picture in which the thing in question is located, so that said thing may be reproduced continuously on the picture.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Eye Examination Apparatus (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)

Abstract

Dispositif d'alignement commandé par la direction du regard fixe d'une personne, d'un objet (1) par rapport à une chose (3), comprenant un système (9, 10, 13-16) permettant de déterminer la direction du regard fixe d'une personne, une unité d'évaluation (17) conçue pour traiter les informations reçues en provenance de ce système concernant la direction du regard fixe d'une personne et pour émettre des signaux de commande, et une unité (18) destinée à recevoir les signaux de commande provenant de l'unité d'évaluation de manière à régler, à l'aide d'un élément de réglage (19) la direction d'un objet en fonction de la direction du regard fixe d'une personne. Ce dispositif comprend également une caméra (2) pourvue d'un système d'affichage (4, 6-10) conçue pour fournir à la personne une image comportant ladite chose (3). La caméra (2) est fixée sur l'objet ou constitue ce dernier. L'unité d'évaluation (17) est prévue pour envoyer des signaux de commande vers l'unité de réglage de la direction (18) conçue pour que cette dernière aligne l'objet et par conséquent la caméra de sorte que le regard fixe de la personne heurte ladite chose suivant une certaine position sur ladite image.
PCT/SE1991/000105 1989-09-07 1991-02-14 Dispositif d'alignement WO1992014982A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8902940A SE466517B (sv) 1989-09-07 1989-09-07 Anordning foer av en persons blickriktning styrd inriktning av ett objekt relativt ett foeremaal

Publications (1)

Publication Number Publication Date
WO1992014982A1 true WO1992014982A1 (fr) 1992-09-03

Family

ID=20376818

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE1991/000105 WO1992014982A1 (fr) 1989-09-07 1991-02-14 Dispositif d'alignement

Country Status (2)

Country Link
SE (1) SE466517B (fr)
WO (1) WO1992014982A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2748586A1 (fr) * 1996-05-13 1997-11-14 Aerospatiale Dispositif de guidage d'un missile
WO2002067067A2 (fr) * 2001-02-20 2002-08-29 Siemens Aktiengesellschaft Information de poursuite oculaire combinee dans un systeme a realite amplifiee
US6965394B2 (en) * 2001-03-30 2005-11-15 Koninklijke Philips Electronics N.V. Remote camera control device
EP2261590A1 (fr) * 2009-06-10 2010-12-15 LFK-Lenkflugkörpersysteme GmbH Procédé et dispositif de mesure de l'éloignement d'une cible volante
JP2013117361A (ja) * 2011-12-05 2013-06-13 Kawasaki Heavy Ind Ltd 飛しょう体の誘導システム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE353393B (fr) * 1967-08-23 1973-01-29 Honeywell Inc
US4109145A (en) * 1974-05-20 1978-08-22 Honeywell Inc. Apparatus being controlled by movement of the eye
US4209255A (en) * 1979-03-30 1980-06-24 United Technologies Corporation Single source aiming point locator
US4570530A (en) * 1983-12-14 1986-02-18 Rca Corporation Workpiece alignment system
US4644845A (en) * 1972-05-18 1987-02-24 Garehime Jacob W Jr Surveillance and weapon system
SE458395B (sv) * 1983-07-23 1989-03-20 Ferranti Int Signal Anordning foer att bestaemma riktningen av en siktlinje

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE353393B (fr) * 1967-08-23 1973-01-29 Honeywell Inc
US4644845A (en) * 1972-05-18 1987-02-24 Garehime Jacob W Jr Surveillance and weapon system
US4109145A (en) * 1974-05-20 1978-08-22 Honeywell Inc. Apparatus being controlled by movement of the eye
US4209255A (en) * 1979-03-30 1980-06-24 United Technologies Corporation Single source aiming point locator
SE458395B (sv) * 1983-07-23 1989-03-20 Ferranti Int Signal Anordning foer att bestaemma riktningen av en siktlinje
US4570530A (en) * 1983-12-14 1986-02-18 Rca Corporation Workpiece alignment system

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2748586A1 (fr) * 1996-05-13 1997-11-14 Aerospatiale Dispositif de guidage d'un missile
EP0807876A1 (fr) * 1996-05-13 1997-11-19 Aerospatiale Societe Nationale Industrielle Dispositif de guidage d'un missile
WO2002067067A2 (fr) * 2001-02-20 2002-08-29 Siemens Aktiengesellschaft Information de poursuite oculaire combinee dans un systeme a realite amplifiee
WO2002067067A3 (fr) * 2001-02-20 2003-06-19 Siemens Ag Information de poursuite oculaire combinee dans un systeme a realite amplifiee
US6965394B2 (en) * 2001-03-30 2005-11-15 Koninklijke Philips Electronics N.V. Remote camera control device
EP2261590A1 (fr) * 2009-06-10 2010-12-15 LFK-Lenkflugkörpersysteme GmbH Procédé et dispositif de mesure de l'éloignement d'une cible volante
JP2013117361A (ja) * 2011-12-05 2013-06-13 Kawasaki Heavy Ind Ltd 飛しょう体の誘導システム

Also Published As

Publication number Publication date
SE466517B (sv) 1992-02-24
SE8902940D0 (sv) 1989-09-07
SE8902940L (sv) 1991-03-08

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