JPH02175398A - Directional control device for visual sensor mounted on artificial satellite - Google Patents

Abstract

PURPOSE:To stably catch a target object by processing an image signal from a visual sensor mounted on an artificial satellite, calculating the deviation of the target object from an image center and carrying out the directional control of the visual sensor so as to reduce the deviation. CONSTITUTION:An image signal inputted from a visual sensor 5 is inputted into an image processing computer 6 to calculate the deviation of the target object from an image center. A visual sensor directional controlled variable calculator 7 calculates the turning angle of the visual sensor 5 for catching a target object in the image center based on the calculated deviation and outputs same to a servo circuit 8 to drive a visual sensor rotating mechanism 9 and carry out the directional control of the visual sensor 5. By this structure, even when the target object is in motion or even when the posture of the artificial satellite is varied, the target object can be stably caught.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] FIG. 4 is a block diagram showing a conventional pointing compensation system for spacecraft equipment disclosed in, for example, Japanese Patent Publication No. 83-500931. What is being considered here is other than the visual sensor that is the object of this invention.

General spacecraft equipment such as antennas and solar panels.

In this figure, the directional controller (3) is a combination of a servo circuit and a directional control mechanism.

Next, the operation will be explained. First, a turning command to each spacecraft device 1 to n is outputted through the respective device command logic circuit (1) by communication from the ground or other means. This command is input to the spacecraft motion compensation logic circuit (21), and each device 1
Find the motion that occurs in the spacecraft when ~n moves according to the command, and add this i''L to the initial turning command and set the directional controller f.
Send it to 31 and perform the directional side @. The final controlled result is sent to the closed-loop spacecraft dynamics (4) and held in the compensation logic circuit (21) as a guinamics for calculating the compensation value 't-.

[The problem that the invention is trying to solve]

Conventional pointing control devices are designed to capture stationary targets such as the earth or the sun, and are configured as described above. The problem was that commands to track all objects had to be given at high speed from the ground. In addition, in the method of correcting pointing errors due to changes in the satellite's attitude due to the operation of onboard equipment, all attitude control is performed based on calculations in advance, so it is relatively easy to correct for movements of equipment such as antennas that have small movements. It is difficult to solve the dynamics of devices that make large movements, such as manipulators, and the problem is that the calculation time is long.

This invention was made to eliminate the above-mentioned problems, and the visual sensor can be used both when capturing moving objects and when the attitude of the satellite changes due to the movement of on-board equipment. The purpose of this invention is to obtain a pointing control device for a visual sensor mounted on an artificial satellite that can stably capture a target.

[Means to solve the problem]

A pointing control device for a visual sensor onboard an artificial satellite according to the present invention includes: (1) an image processing unit that processes an image signal input from the visual sensor onboard an artificial satellite and calculates the deviation of a target from the center of the image; It is equipped with a rotary machine #4 that controls the orientation of the visual sensor so that the deviation is small.

[Effect]

The pointing control device for a visual sensor mounted on an artificial satellite in this invention determines the position of a target within the picture plane from image information captured by the visual sensor, and directs the visual sensor so that the deviation from the center of the image is small. Since the control is performed, the target can be automatically and stably tracked even if the target moves significantly.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a directional control device for a visual sensor mounted on an artificial satellite according to an embodiment of the present invention, which includes a visual sensor (5), 4 image processing computers (6), and a visual sensor directional control amount calculation. It consists of a sensor (71), a servo circuit (81), and a visual sensor rotation mechanism (9).

FIG. 2 is a flowchart showing the operation of the pointing control device according to an embodiment of the present invention, and the following is a flow chart showing the operation of the pointing control device according to an embodiment of the present invention.

The operation will be explained based on FIGS. 1 and 2.

The image input from the visual sensor (5) is processed by an image processing computer (
6) and perform the processing 1, for example, by the method shown in FIG.
Find the deviation of the target object from the center of the image. That is, step Q
In step I), an image signal is input from the visual sensor 15), and in step I, edges are extracted from this image signal.

Further, in step α2, a contour line is extracted. Next, in step aj, the background and the target are separated, and in step α, the handling point of the target, that is, the operating point of the target that is known in advance, is read, and in step α9, this handling point is read. Calculate the deviation from the center of the two images. The deviation thus obtained is converted into a rotation angle of the visual sensor 151 in the primary visual sensor orientation control it calculator (7). Then, the visual sensor rotation mechanism (9) uses the servo circuit (8) to achieve the specified rotation angle.
2. For example, controlling a motor to change the orientation of the visual sensor (5).

Figure 3 is a block configuration diagram showing the entire configuration of a directional control device for a visual sensor onboard an artificial satellite according to another embodiment of the present invention. A quantity adjuster αη is added.

In the case of the third factor, the rotation angle of the visual sensor (5) is calculated in the same manner as shown in FIG. Separately, the attitude change of the satellite is input from the satellite attitude detector a11, and the visual sensor finger control @flrn output unit 2 (72)
The rotation angle to prevent the change in attitude of the satellite from affecting the pointing of the visual sensor (5) is determined.

The control amount adjuster αη adds up the visual sensor rotation angles obtained from these two methods and outputs the control amount for the rotation angle of the visual sensor (5) so as to achieve smooth control. ) Directional control of the visual sensor is actually performed using the 8-rotation mechanism (9). If you do this,
Furthermore, smooth pointing control can be performed. In the embodiment shown in FIG. 3, the signal from the satellite attitude detector αe is input to correct pointing errors due to changes in the attitude of the satellite. The visual sensor orientation control amount calculator 2 calculates the change in attitude of the
(72) and may be corrected by calculation.

In addition, in the above embodiment, a case is shown in which the visual sensor/frame is rotated around two axes, but the visual sensor is fixed or only moves around one axis, and a mirror surface is attached in front of the visual sensor. A similar effect can also be achieved by changing the angle of.

〔Effect of the invention〕

As described above, according to the present invention, there is provided an image processing section that processes an image signal inputted from a visual sensor onboard an artificial satellite to calculate the deviation from the center of the image of an object, and an image processing section that processes an image signal input from a visual sensor mounted on an artificial satellite to calculate the deviation from the center of the image. A rotating mechanism for controlling the orientation of the visual sensor mentioned above is used for the orientation control rack fIt for the visual center onboard the artificial satellite.
Since I configured the .

The attitude of the satellite changed due to the operation of onboard equipment,
Even when the relative position of the target with respect to the visual sensor changes due to relative motion between the satellite and the target, it is possible to provide a pointing control device that can stably observe the target without removing it from the full field of view. There is an effect.

[Brief explanation of the drawing]

FIGS. 1 and 2 are a block diagram showing the configuration of a directional control device for a visual sensor mounted on an artificial satellite according to an embodiment of the present invention, a flowchart showing its operation, and FIG.
FIG. 4 is a block diagram showing the configuration of a pointing control device for a visual sensor mounted on an artificial satellite according to another embodiment of the present invention, and FIG. 4 is a block diagram showing a conventional pointing compensation system for spacecraft equipment. (5)...Visual sensor, (6)...Image processing computer, (7)...Visual sensor orientation control amount calculator, (8)...
...Servo circuit, (9)...Visual center rotation mechanism. In addition, in FIG. 2, the same reference numerals indicate the same or half parts.

Claims (1)

[Claims] an image processing unit that processes image signals input from a visual sensor onboard an artificial satellite to calculate the deviation of the target from the center of the image; and a rotation that controls the orientation of the visual sensor so that the deviation is small. Directional control device for visual sensors mounted on artificial satellites.