WO2013162161A1 - Dispositif pour le panoramique et le travelling vertical destiné à un stabilisateur tridimensionnel - Google Patents

Dispositif pour le panoramique et le travelling vertical destiné à un stabilisateur tridimensionnel Download PDF

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Publication number
WO2013162161A1
WO2013162161A1 PCT/KR2013/000923 KR2013000923W WO2013162161A1 WO 2013162161 A1 WO2013162161 A1 WO 2013162161A1 KR 2013000923 W KR2013000923 W KR 2013000923W WO 2013162161 A1 WO2013162161 A1 WO 2013162161A1
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WO
WIPO (PCT)
Prior art keywords
information
image
stabilizer
pan tilt
dimensional
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Application number
PCT/KR2013/000923
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English (en)
Korean (ko)
Inventor
노태성
전주영
권성진
연주연
Original Assignee
주식회사 로보멕
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Publication of WO2013162161A1 publication Critical patent/WO2013162161A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • 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.
  • Patent Document 1 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 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.
  • FIG. 1 is a side view of a moving platform to which the three-dimensional stabilizer pan tilt device of the present invention is applied;
  • FIG. 2 is a block diagram showing the configuration of the three-dimensional stabilizer pan tilt device shown in FIG.
  • FIG. 3 is a block diagram showing in detail the configuration of the filter shown in FIG.
  • 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
  • Figure 6 is a perspective view showing an embodiment of the pan tilt exercise mechanism shown in FIG.
  • 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
  • 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.
  • 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
  • the one-dimensional electronic stabilizer information refers to the image camera 120 according to the rolling change of the mobile platform 110.
  • 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.
  • IMU intial measurement unit
  • GPS global positioning system
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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).
  • 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.
  • DSP digital signal processor
  • the processing speed is improved, and either a Kalman filter or a Direction Cosine Matrix (DCM) filter is used.
  • DSP digital signal processor
  • 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.
  • 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.
  • 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.
  • 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.
  • the image controller 150 receives the image information from the image camera 120 first, The illustrated 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 mobile platform 110 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.
  • 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
  • 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.
  • the video camera 120 installed in the car changes its position according to the posture of the car. Adjust the position of 120).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a target point that is, a target image T1
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention se rapporte à un dispositif pour le panoramique et le travelling vertical destiné à un stabilisateur tridimensionnel, qui comprend : une plateforme mobile (110) ; une caméra vidéo (120) qui est disposée hors de la plateforme mobile (110) et qui capture les environs de ladite plateforme mobile (110) afin de générer et d'émettre des informations vidéo ; un mécanisme pour le panoramique et le travelling vertical (130) qui se trouve du côté inférieur de la caméra vidéo (120) et qui reçoit des informations de stabilisateur mécanique bidimensionnel afin de faire un panoramique ou un travelling vertical avec la caméra vidéo (120) ; une unité de commande de stabilisation de l'orientation (140) qui est placée entre la plateforme mobile (110) et ledit mécanisme pour le panoramique et le travelling vertical (130) dans le but de mesurer l'orientation de la plateforme mobile (110) et qui émet les informations de stabilisateur mécanique bidimensionnel et informations de roulement respectives pour ajuster la position de la caméra vidéo (120) en fonction du changement d'orientation de la plateforme mobile (110) ; et une unité de commande vidéo (150) qui est connectée à la fois à la caméra vidéo (120) et à ladite unité de commande de stabilisation de l'orientation (140) afin de recevoir les informations vidéo et informations de roulement respectives et qui affiche les informations vidéo par rotation et génération d'informations de stabilisateur électronique unidimensionnel conformément aux informations de roulement. Grâce à l'orientation de la plateforme mobile, il est possible de corriger un point cible devant être capturé par la caméra vidéo afin qu'il n'y ait aucun écart.
PCT/KR2013/000923 2012-04-26 2013-02-05 Dispositif pour le panoramique et le travelling vertical destiné à un stabilisateur tridimensionnel WO2013162161A1 (fr)

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KR1020120043612A KR101185136B1 (ko) 2012-04-26 2012-04-26 3차원 스테빌라이져 팬틸트 장치
KR10-2012-0043612 2012-04-26

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CN106325309A (zh) * 2016-11-02 2017-01-11 兰州大学 一种无线体感云台控制装置
CN108683854A (zh) * 2018-07-02 2018-10-19 羊晓东 一种自带图像采集摄像头的稳定器
CN114071008A (zh) * 2020-07-31 2022-02-18 华为技术有限公司 一种图像采集装置和图像采集方法
US11548516B2 (en) * 2019-01-15 2023-01-10 Apollo Intelligent Driving Technology (Beijing) Co., Ltd. Data acquisition method, apparatus, device and computer-readable storage medium
WO2023035106A1 (fr) * 2021-09-07 2023-03-16 深圳市大疆创新科技有限公司 Procédé de mise à niveau de cardan, appareil de commande de cardan, cardan et support de stockage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106325309A (zh) * 2016-11-02 2017-01-11 兰州大学 一种无线体感云台控制装置
CN108683854A (zh) * 2018-07-02 2018-10-19 羊晓东 一种自带图像采集摄像头的稳定器
US11548516B2 (en) * 2019-01-15 2023-01-10 Apollo Intelligent Driving Technology (Beijing) Co., Ltd. Data acquisition method, apparatus, device and computer-readable storage medium
CN114071008A (zh) * 2020-07-31 2022-02-18 华为技术有限公司 一种图像采集装置和图像采集方法
WO2023035106A1 (fr) * 2021-09-07 2023-03-16 深圳市大疆创新科技有限公司 Procédé de mise à niveau de cardan, appareil de commande de cardan, cardan et support de stockage

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