WO2013162161A1

WO2013162161A1 - Panning and tilting device for three-dimensional stabilizer

Info

Publication number: WO2013162161A1
Application number: PCT/KR2013/000923
Authority: WO
Inventors: 노태성; 전주영; 권성진; 연주연
Original assignee: 주식회사 로보멕
Priority date: 2012-04-26
Filing date: 2013-02-05
Publication date: 2013-10-31
Also published as: KR101185136B1

Abstract

The present invention relates to a panning and tilting device for a three-dimensional stabilizer, which comprises: a moving platform (110); a video camera (120) that is disposed outside of the moving platform (110) and captures the surroundings of the moving platform (110) in order to generate and output video information; a panning and tilting mechanism (130) that is disposed on the lower side of the video camera (120) and receives two-dimensional mechanical stabilizer information in order to pan or tilt the video camera (120); an orientation stabilization control unit (140) that is disposed between the moving platform (110) and the panning and tilting mechanism (130) in order to measure the orientation of the moving platform (110), and that outputs the respective two-dimensional mechanical stabilizer information and rolling information in order to adjust the position of the video camera (120) according to a change in the orientation of the moving platform (110); and a video control unit (150) that is connected to both the video camera (120) and the orientation stabilization control unit (140) in order to receive the respective video information and rolling information, and that displays the video information through rotation by generating one-dimensional electronic stabilizer information according to the rolling information. Using the orientation of the moving platform, a target spot to be captured by the video camera can be corrected for zero deviation.

Description

3D Stabilizer PanTilt Device

The present invention relates to a three-dimensional stabilizer pan tilt device, and more particularly, to a three-dimensional stabilizer pan tilt device having a posture stabilization function that can be corrected so as not to deviate from the target point is taken by the video camera by the attitude of the moving platform It is about.

Forest resources should be well managed and require a large number of people and resources to manage them. Forest fires are the highest level of management of forest resources, and many human resources are required to manage them.

Korean Patent Registration No. 1037402 (Patent Document 1) relates to an unmanned wildfire monitoring device, which installs special imaging equipment and a direction sensor on the top of a mountain, and monitors the wildfire by transmitting the photographed images and the angles of the camera to the general situation room. It is an apparatus for doing so.

Patent document 1 is configured to monitor the forest fire by fixing the image equipment and the direction sensor to the top of the mountain, and then detect the direction of the imaging equipment, and transmits the image taken from the detected direction to the comprehensive situation room. The forest fire monitoring device described in Patent Document 1 has a problem in that it is impossible to monitor the initial occurrence of forest fire due to the overlapping of mountains when the mountain is made of a steep mountain by being fixedly installed at the top of the mountain.

An object of the present invention has been made to solve the above-described problems, and the posture stabilization function that can detect the posture of the moving platform, the image camera to shoot according to the detected posture, to correct so as not to deviate from the target point It is to provide a three-dimensional stabilizer pan tilt device having.

Still another object of the present invention is to detect the posture of the mobile platform, the video camera is photographed according to the detected posture, and corrected so as not to deviate from the target point using a video camera in a mobile platform for moving the mountainous region or the sea, etc. The present invention provides a three-dimensional stabilizer pan tilt device capable of accurately and reliably photographing a desired target point.

The three-dimensional stabilizer pan tilt device of the present invention comprises a moving platform; An image camera installed outside the mobile platform and generating and outputting image information by photographing a surrounding environment of the mobile platform; A pan tilt mechanism installed at a lower side of the video camera and receiving a two-dimensional mechanical stabilizer information to pan or tilt the video camera; A posture stabilization control unit installed between the mobile platform and the pan tilt mechanism to output the two-dimensional mechanical stabilizer information and the rolling information for measuring the posture of the mobile platform to adjust the position of the image camera according to the posture change of the mobile platform. Wow; And an image control unit connected to the image camera and the posture stabilization control unit to receive image information and rolling information, respectively, to generate one-dimensional electronic stabilizer information according to the rolling information, and to rotate and display the image information.

The three-dimensional stabilizer pan tilt apparatus of the present invention detects the attitude of the moving platform, the image camera photographs according to the detected attitude, and corrects it so as not to deviate from the target point. The advantage is that the camera can accurately and reliably capture the desired target point.

1 is a side view of a moving platform to which the three-dimensional stabilizer pan tilt device of the present invention is applied;

2 is a block diagram showing the configuration of the three-dimensional stabilizer pan tilt device shown in FIG.

3 is a block diagram showing in detail the configuration of the filter shown in FIG.

4 is a view showing a position correction method of a video camera using a three-dimensional stabilizer pan tilt device of the present invention,

5 is an operation state diagram of the three-dimensional stabilizer pan tilt device of the present invention,

Figure 6 is a perspective view showing an embodiment of the pan tilt exercise mechanism shown in FIG.

Hereinafter, an embodiment of a three-dimensional stabilizer pan tilt apparatus of the present invention will be described with reference to the accompanying drawings.

As shown in FIGS. 1 to 5, the three-dimensional stabilized pan-tilt apparatus of the present invention includes a moving platform 110, an image camera 120, a pan tilt mechanism 130, and a posture stabilization control unit ( 140 and the image controller 150.

The moving platform 110 is a moving object moving on land, sea or sky, and the image camera 120 is installed outside the moving platform 110 and generates and outputs image information by photographing the surrounding environment of the moving platform 110. do. The pan tilt mechanism 130 is installed below the video camera 120 and receives the 2D mechanical stabilizer information to pan or tilt the video camera 120, and the posture stabilization control unit 140 moves the platform 110. And the pan tilt mechanism 130 are installed to measure the attitude of the mobile platform 110 to generate pitching information, yawing information, and rolling information, respectively. The posture stabilization control unit 140 also outputs 2D mechanical stabilizer information and rolling information for controlling the position of the image camera 120 in the calculated pitching information and yawing information. The image controller 150 is connected to the image camera 120 and the posture stabilization controller 140, respectively, to receive the image information and the rolling information, and to rotate the image information according to the received rolling information (1D Electronic Stabilized) ) Information is generated, and the image information is rotated and displayed according to the generated one-dimensional electronic stabilizer information. The two-dimensional mechanical stabilizer information output from the posture stabilization control unit 140 is applied to the pan tilt mechanism 130 to drive the pan tilt mechanism 130, and the one-dimensional electronic stabilizer information receives the information received from the image camera 120. By rolling, each implements a three-dimensional stabilizer pan tilt device. The two-dimensional mechanical stabilizer information refers to the information according to the mechanical position change according to the pitching or yawing change of the mobile platform 110, and the one-dimensional electronic stabilizer information refers to the image camera 120 according to the rolling change of the mobile platform 110. Means information for correcting a change in the field of view (FOV) of the.

The configuration of the three-dimensional stabilizer pan tilt apparatus of the present invention will be described in more detail with reference to the accompanying drawings.

The mobile platform 110 may be one of a car, a ship, an aircraft, a mobile robot, and an amphibian moving on land, at sea, or in the sky.

Image camera 120 is installed on the outside of the vehicle when the mobile platform 110 is a car as shown in Figure 1, the center of gravity of the mobile platform 110 to improve the reliability of the operation of the three-dimensional stabilizer pan tilt device In the case of cars, it is installed on the upper side. In the case of a ship or aircraft, the video camera 120 is installed at a position for monitoring terrorism or risk factors in the case of a ship.

The pan tilt mechanism 130 is installed at the lower side of the video camera 120 to receive the two-dimensional mechanical stabilizer information and adjusts the position of the video camera 120 by panning or tilting the video camera 120. The pan tilt mechanism 130 is omitted because it is a known technique consisting of a bracket 133 on which the pan movement mechanism 131, the tilt movement mechanism 132, and the image camera 120 are installed, as shown in FIG. 6. do.

The posture stabilization control unit 140 is installed between the moving platform 110 and the pan tilt mechanism 130 as shown in FIG. 2 to measure the posture of the moving platform 110 and the image camera according to the change of the posture of the moving platform 110. Outputs two-dimensional mechanical stabilizer information and rolling information for adjusting the position of the 120, respectively, and includes an IMU (inertial measurement unit) sensor 141, a global positioning system (GPS) module 142, a filter 143, It consists of one controller 144 and a joystick 145.

The IMU sensor 141 is installed between the moving platform 110 and the pan tilt mechanism 130 to measure the posture of the moving platform 110 so as to measure three-axis angular velocity vector information (roll, pitch, yaw) and three-axis acceleration vector information. Outputs (X, Y, Z), the IMU sensor 141 is composed of a gyro sensor (141a) and an acceleration sensor (141b). The gyro sensor 141a selectively uses one of one axis to three axes, and measures the posture of the moving platform 110, that is, pitching, yawing and rolling states, when the three-axis gyro sensor 141a is used. Generate and output vector information (roll, pitch, yaw). The acceleration sensor 141b selectively uses one of one to three axes, respectively, and measures the acceleration applied to the moving platform 110 when the three-axis acceleration sensor 141b is used. , Z)

The GPS module 142 is used to improve the measurement accuracy of the IMU sensor 141 or to check the traveling direction of the mobile platform 110. The GPS module 142 receives GPS satellite information from a GPS satellite (not shown) and receives position coordinate information. Is generated and output to the filter 143.

The filter 143 receives and corrects the three-axis angular velocity vector information and the three-axis acceleration vector information through the process as shown in FIG. 3, respectively, for pitching information, yawing information, rolling information, and cumulative correction. Generates and outputs the information, for this purpose, first, when the three-axis angular velocity vector information, three-axis acceleration vector information and position coordinate information is received from the IMU sensor 141 or GPS module 142, respectively, 3 of the mobile platform 110; The axis position information is converted into a coordinate system (S11). That is, in the coordinate transformation step (S11), the three-axis attitude information according to the body coordinate system (bodyframe) of the mobile platform 110 is received, and the three-axis attitude information according to the local geographic reference frame is converted and output. When converted to the coordinate system, the rotation matrix information (R Matrix) is converted through normalization (S12) to generate and output pitching information, yawing information, rolling information, and cumulative correction information.

At this time, the yawing error of the generated pitching information, yawing information and rolling information is compensated for using yaw information using cumulative correction information and position coordinate information (S13). After calculating the direction information of the actual traveling direction, and comparing the direction information and yaw information, if the difference is generated, the error generated by the difference is compensated for the yawing information. That is, when the yawing error compensation is completed, the error of the pitching / rolling information is compensated for by using the axial acceleration vector information (S14), and if the error of the pitching / rolling information is compensated for, PI (Proportional-Integral) control is performed (S15). 143 outputs the corrected pitching information, yawing information, and rolling information to the first controller 114.

In addition, by implementing the algorithm of the filter 142 by using a digital signal processor (DSP), the processing speed is improved, and either a Kalman filter or a Direction Cosine Matrix (DCM) filter is used.

The first controller 144 receives the pitching information, the yawing information, and the rolling information output from the filter 143, respectively, and uses the received pitching information and the yawing information, respectively, and the image camera 120 according to the posture change of the mobile platform 110. Two-dimensional mechanical stabilizer information and rolling information for adjusting the position of) are respectively output.

In addition, the joystick 145 is used by the user to manually adjust the position of the image camera 120, and when the user manipulates the joystick 145, a position adjustment signal for adjusting the position of the image camera 120 is generated. Then, the generated position adjustment signal is received by the first controller 144. The first controller 144 generates two-dimensional mechanical stabilizer information according to the received position adjustment signal, and mechanically rotates the pan tilt mechanism 130 according to the position adjustment signal to adjust the position of the image camera 120. Used.

The image controller 150 receives and displays an image signal output from the image camera 120 as shown in FIG. 2, and includes an image processor 151, a display 152, and a second controller 153.

The image processor 151 receives analog image information output from the image camera 120, processes the digital image information, and outputs the digital signal.

The second controller 153 receives the image information output from the image frost unit 151 and the rolling information output from the first controller 144 and transmits the image information to the display 152. As shown in FIG. 4, when the change of the field of view (FOV) area of the image camera 120 according to the rolling change of the mobile platform 110, that is, the image information is received together with the FOV area F2, the first controller Received from 144 and rotated using the rolling information to correct the FOV area (F1) to be displayed on the display 152. Here, the one-dimensional electronic stabilizer information indicates that the rotation angle is calculated using the image information and the rolling information.

The display 152 receives and displays the corrected video image from the second controller 153 using the 1D electronic stabilizer information.

The three-dimensional stabilizer pan tilt apparatus of the present invention is provided with an auto tracking control method using image information.

An auto tracking control method using image information is pre-programmed and stored in the image controller 150. When the user selects an auto tracking control method using the image information by using an input device (not shown) such as a keyboard, the image controller 150 receives the image information from the image camera 120 first, The illustrated target image T1 is tracked. When the target image T1 is tracked, the image controller 150 compares the origin M1 of the tracked target image T1 with the origin M2 of the field of view (FOV) area F1 of the image camera 120. Calculate the origin distance difference. The image controller 150 converts the origin distance difference into two-dimensional mechanical stabilizer information and transmits it to the first controller 144 when the calculated origin distance difference is greater than a preset distance difference, and the pan tilt mechanism 130 is calculated. The auto tracking is performed so that the image camera 120 does not deviate from the target point.

The operation and operation of the embodiments of the three-dimensional stabilizer pan tilt device of the present invention configured as described above will be described with reference to the accompanying drawings.

As shown in FIG. 5, when a mobile platform is used as a vehicle, the mobile platform 110 operates a dirt road or a rough terrain in order to photograph and observe a forest fire or other risk factors using the vehicle. In the case where the vehicle is driving unpaved or rough terrain, the vehicle may be caused by yawing, pitching, and rolling depending on the terrain. Yawing represents a phenomenon in which the direction of movement of the vehicle changes to the right or left, and pitching represents a phenomenon in which the front and rear of the vehicle change like a seesaw. Rolling refers to a phenomenon in which the entire vehicle is inclined in one direction.

When the yaw, pitching, or rolling occurs in the car, the video camera 120 installed in the car changes its position according to the posture of the car. Adjust the position of 120).

First, the posture of the vehicle is measured by the posture stabilization control unit 140. The posture stabilization control unit 140 is installed between the mobile platform 110, that is, the car and the pan tilt mechanism 130 through the IMU sensor 141 and the GPS module 142, and measures the posture of the car. (roll, pitch, yaw) and 3-axis acceleration vector information (X, Y, Z) are output.

The gyro sensor 141a measures a vehicle's posture when a three-axis gyro sensor is used to generate and output three-axis angular velocity vector information (roll, pitch, yaw), and the acceleration sensor 141b is a three-axis acceleration sensor. When used, the attitude of the vehicle is measured and the three-axis acceleration vector information (X, Y, Z) is output. The posture of the mobile platform 110 is measured through the IMU sensor 141 of the posture stabilization control unit 140, and the three-axis angular velocity vector information (roll, pitch, yaw) and the three-axis acceleration vector information (X, Y, Z) are obtained. The GPS module 142 measures the position coordinate information of the mobile platform 110.

The filter 143 corrects the information when the three-axis angular velocity vector information (roll, pitch, yaw), the three-axis acceleration vector information (X, Y, Z), and the position coordinate information are received, thereby pitching and yawing. Information and rolling information are generated and output respectively. The filter 143 also receives the position coordinate information from the filter 143, calculates the direction information of the mobile platform 110, and compensates and outputs yawing information using the calculated direction information.

When the pitching information, yawing information, and rolling information are output from the filter 143, the first controller 144 receives the pitching information, yawing information, and rolling information of the image camera 120 according to the posture change of the mobile platform 110 using the pitching information and the yawing information. Two-dimensional mechanical stabilizer information and rolling information for adjusting the position are output respectively.

When the two-dimensional mechanical stabilizer information is output, the pan tilt mechanism 130 receives it and adjusts the position of the image camera 130 according to the two-dimensional mechanical stabilizer information. The position of the image camera 130 is adjusted and the image signal photographed by the image camera 130 is output to the image processor 151 of the image controller 150. The image processor 151 converts the image signal into digital image information and transmits the image signal to the second controller 153. The second controller 153 uses the rolling information output from the first controller 144 to display an image of the image information. The 1D electronic stabilizer information is generated by checking whether the is rotated, and the image information is rotated using the developed 1D electronic stabilizer information to be displayed on the display 152.

While the image information is displayed on the display 152, the user manipulates the joystick 145 to change the target point. The joystick 145 generates an operation amount of the joystick 145 when the user manipulates it and transmits it to the first controller 144, and the first controller 144 generates a pan tilt control signal according to the received operation amount. The pan tilt control signal is received by the pan tilt mechanism 130. The pan tilt mechanism 130 drives the video camera 120 according to the received pan tilt control signal to adjust the position of the video camera 120 according to the joystick 145 manipulation amount of the user.

The auto tracking control method using the image information is implemented by the selection of the image controller 150, and this setting is implemented by programming the second controller 153 of the image controller 150 in advance.

The image controller 150 performs an auto tracking control method according to a user's selection. In the auto tracking control method using image information, first, a target point, that is, a target image T1, is tracked in the image information as shown in FIG. 4. When the target image T1 is tracked, the image controller 150 compares the origin M1 of the tracked target image T1 with the origin M2 of the FOV area F1 of the image camera 120 to determine the origin distance difference ( d) is calculated.

The origin distance difference d is the coordinate of the origin M1 of the target image T1 tracked on the X and Y axes and the origin M2 of the FOV region F1 of the image camera 120 as shown in FIG. 4. Is calculated using the pixel information of the image information. When the origin distance difference d is calculated, the image controller 150 transmits the origin distance difference d to the first controller 144, and the first controller 144 uses the received origin distance difference d. The pan tilt mechanism 130 is transmitted by changing to two-dimensional mechanical stabilizer information. When the pan tilt mechanism 130 receives the 2D mechanical stabilizer information, the pan tilt mechanism 130 adjusts the position of the video camera 120 according to the 2D mechanical stabilizer information to automatically track the target image of the video camera 120, that is, the shooting target. It will improve the stability and attitude control of the three-dimensional stabilizer.

As described above, the three-dimensional stabilizer pan tilt device of the present invention implements the three-dimensional stabilizer pan tilt device using two-dimensional mechanical stabilizer information and one-dimensional electronic stabilizer information. The three-dimensional stabilizer pan tilt apparatus of the present invention detects the attitude of the moving platform, moves the image camera according to the detected attitude, and shoots, and moves to move the mountain region or the sea by correcting not to deviate from the target point. The advantage of using the video camera on the platform is to accurately and reliably capture the desired target point.

The three-dimensional stabilizer pan tilt apparatus of the present invention can be applied to the field of forest fire monitoring or security monitoring system.

Claims

A moving platform;

An image camera installed outside the mobile platform and generating and outputting image information by photographing a surrounding environment of the mobile platform;

A pan tilt mechanism installed at a lower side of the video camera and receiving a two-dimensional mechanical stabilizer information to pan or tilt the video camera;

A posture stabilization control unit installed between the mobile platform and the pan tilt mechanism to output the two-dimensional mechanical stabilizer information and the rolling information for measuring the posture of the mobile platform to adjust the position of the image camera according to the posture change of the mobile platform. Wow;

And an image control unit connected to the image camera and the posture stabilization control unit, respectively, to receive image information and rolling information, respectively, to generate one-dimensional electronic stabilizer information according to the rolling information, and to rotate and display the image information. Dimension stabilizer pan tilt device.
The three-dimensional stabilizer pan tilt device of claim 1, wherein the moving platform is one of an automobile, a ship, an aircraft, a mobile robot, and an amphibian.
The IMU (inertial measurement unit) according to claim 1, wherein the posture stabilization control unit is installed between the mobile platform and the pan tilt mechanism to measure posture of the mobile platform and output the triaxial angular velocity vector information and the triaxial acceleration vector information. A sensor;

A filter for receiving and correcting the three-axis angular velocity vector information and the three-axis acceleration vector information to generate and output pitching information, yawing information, rolling information, and cumulative correction information, respectively;

2 for receiving the pitching information, the yawing information, the rolling information, and the cumulative correction information, respectively, and adjusting the position of the image camera according to the posture change of the moving platform using the received pitching information, the yawing information, and the cumulative correction information. A three-dimensional stabilizer pan tilt device, characterized by comprising a first controller for outputting the two-dimensional mechanical stabilizer information and the rolling information, respectively.
According to claim 3, The filter is provided with a global positioning system (GPS) module for outputting the position coordinate information of the mobile platform, the GPS module receives the GPS satellite information to generate and output the position coordinate information, which is output 3D stabilizer pan tilt device that receives the position coordinate information from the filter to calculate the direction information of the mobile platform and then compensate the yawing information using the calculated direction information.
The 3D stabilizer pan tilt apparatus according to claim 3, wherein the filter is one of a Kalman filter and a Direction Cosine Matrix (DCM) filter.
The method of claim 3, wherein the first controller is provided with a joystick for generating a position adjustment signal for adjusting the position of the image camera, the joystick generates a position adjustment signal for adjusting the position of the image camera, 3D stabilizer pan tilt device, characterized in that for receiving the position adjustment signal from the first controller to generate and output the two-dimensional mechanical stabilizer information in accordance with the position adjustment signal.
The image processing apparatus of claim 1, wherein the image control unit comprises: an image processing unit receiving an analog image signal output from an image camera and processing the digital image signal to output image information;

A display for receiving and displaying the image information;

Selectively receiving the image information output from the image processing unit and the rolling information output from the first controller, and transmitting the image information to the display or generating 1D electronic stabilizer information according to the rolling information to rotate the image information and transmitting the image information to the display. The three-dimensional stabilizer pan tilt device, characterized in that configured as a second controller.
The 3D stabilizer pan tilt apparatus according to claim 7, wherein the second controller receives position coordinate information of the mobile platform output from the GPS module and outputs the same to the display.
The image control unit of claim 1, wherein the image controller receives the image information, tracks the target image, calculates an origin distance difference by comparing the origin of the tracked target image with the origin of the field of view (FOV) area of the image camera, and calculates the target image. 3. The pan tilt apparatus according to claim 1, wherein when the origin distance difference is greater than a preset distance difference, the origin distance difference is converted into two-dimensional mechanical stabilizer information and transmitted to the first controller.