JPH09154057A - Attitude stabilizing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an attitude stabilizing device for photographing device equipped with a mechanism for stabilizing the joggle of a navigation body around an optical axis. SOLUTION: A photographing device 2 incorporated into the attitude stabilizer has an optical part 50 and an image pickup part 60. The attitude stabilizer has a roll rotation driving device for rotationally driving the image pickup part 60 around the optical axis of optical part 50 and a roll control loop for stabilizing the image pickup part 60 around the optical axis against the oscillation of the navigation body. Further, this device has an elevation rotation driving device for respectively rotationally driving the optical part 50 around an elevation axial line and an azimuth axial line, elevation control loop and azimuth control loop for respectively stabilizing the image pickup part 60 around two axial lines against the joggle of the navigation body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture stabilizing device for use in a photographing device mounted on a moving body or a navigation body of a ship, an automobile or the like, and more particularly, when the moving body or the navigation body sways. The present invention also relates to a posture stabilization device including an optical axis stabilization mechanism that can always direct the direction of a subject.

[0002]

2. Description of the Related Art When an external subject is photographed by a television camera or a video camera mounted on a moving body or a navigation body of a ship, an automobile, etc., the television camera or the video camera is always operated even if the moving body or the navigation body is shaken. A posture stabilizing device (camera stabilizer) is used so as to direct the direction of the subject.

The structure and operation of a conventional posture stabilizing device (camera stabilizer) will be described with reference to FIG. The camera body 11 incorporated in the posture stabilizing device has a front side optical unit 50 and a rear side imaging unit 60, and the optical unit 50 includes a lens 51 and a lens driving unit 52. The posture stabilizing device of this example has a horizontal axis or elevation angle axis 21 attached to the camera body 11, and an azimuth gimbal 15 that rotatably supports the horizontal axis or elevation angle axis 21.

The azimuth gimbal 15 includes a U-shaped frame, which is a horizontally arranged disc-shaped base member 15C and extends above the base member 15C.
It has a pair of arms 15A and 15B. A pair of arms 1
A horizontal axis or an elevation axis 21 is rotatably supported by each of 5A and 15B.

A vertical axis or azimuth axis 31 is attached to the lower side of the base member 15C, and a base 10 is attached to the lower end of the vertical axis or azimuth axis 31. Such a base 10 is attached to a reference plane of a moving body or a navigation body.

A rotation axis passing through the center of the horizontal axis or the elevation axis 21 is an elevation axis EL, a rotation axis passing through the center of the vertical axis or the azimuth axis 31 is an azimuth axis AZ, and a rotation axis passing through the optical axis OP of the lens 51 is rolled. It is called the axis line RL. The elevation axis EL is perpendicular to the roll axis RL,
The azimuth axis AZ is perpendicular to the elevation axis EL. The azimuth axis AZ is perpendicular to the reference plane of the moving body or the navigation body, and thus the elevation axis EL is parallel to the reference plane of the moving body or the navigation body.

An elevation gear 22 is attached to the horizontal shaft 21. The elevation gear 22 is configured to engage with a pinion of an elevation motor 24. The elevation motor 24 is the azimuth gimbal 1
5 is attached.

An azimuth gear 32 is attached to the vertical shaft 31. The azimuth gear 32 is an azimuth motor 34.
Is configured to engage with the pinion.

The camera body 11 has two gyros 26,
36 is attached. Two such gyros 2
6 and 36 may be of any type, but in the case of an angular velocity detection type gyro, such as a vibration gyro, an optical fiber gyro, etc., an integrator 27 is provided on the output side of each gyro 26, 36. 37 is provided, and the angular velocity output of the gyro is integrated and converted into an angle signal.

The elevation gyro 26 detects a rotation angle (elevation angle) about the elevation axis EL, and the azimuth gyro 36 detects a rotation angle (azimuth angle) about the azimuth axis AZ.

The attitude stabilizing device has an elevation control loop for controlling the rotation of the camera body 11 about the elevation axis and an azimuth control loop for controlling the rotation of the camera body 11 about the azimuth axis.

The elevation control loop includes an elevation gyro 26 and the azimuth control loop includes an azimuth gyro 36. The output signals of the gyros 26 and 36 are passed through the integrators 27 and 37 to the control circuits 28 and 38.
Supplied to A command signal is generated by the control circuits 28, 38 and is fed back to each motor 24, 34.

When the elevation motor 24 operates, the camera body 11 rotates about the elevation axis, and when the azimuth motor 34 operates, the azimuth gimbal 15 and the camera body 11 attached thereto rotate about the azimuth axis.

In this way, the optical axis of the camera body 11 is always stabilized with respect to an external subject (or inertial space) around the elevation axis and the azimuth axis even if the moving body or the navigation body sways.

A command transmitter 91 for manually inputting a command signal by an operator is provided in the two control loops of the posture stabilizing device. The command transmitter 91 may be a joystick or a control stick, and in such a case, generates a signal corresponding to the direction in which the joystick or the control stick is tilted and the magnitude of the tilt angle.

The elevation command signal and the azimuth command signal output from the command transmitter 91 are respectively included in the elevation integrator 27, the control circuit 28 and the azimuth integrator 3.
7. Elevation motor 24 via control circuit 38
And the azimuth motor 34. Thus, the optical axis direction of the camera body 11 can be changed by the manual operation of the operator.

A second command transmitter (joystick) 92 and a display device 93 are directly connected to the camera body 11. Second command transmitter (joystick) 92
Through the, the operator can manually instruct, for example, zoom control, focus control, brightness control, etc. of the camera lens. The display device 93 displays a monitor image captured by the camera body 11.

[0018]

A conventional attitude stabilizing device is provided with a biaxial support mechanism including an azimuth gimbal 15 and a biaxial control loop including two gyros. As a result, the camera body 11 is configured to be rotatable about two mutually orthogonal rotation axes.

Since the conventional attitude stabilizing device is a two-axis support and control system, when the moving body or the navigation body sways around the roll axis RL, the camera body 11 also rotates around the roll axis RL, and as a result, an image is taken. There is a problem that the image rotates with respect to the subject.

In order to solve such a problem, it is conceivable to provide a three-axis support system with a roll gimbal and a three-axis control loop with a roll gyro. There is a drawback that it is difficult to reduce the weight.

In view of the above problems, an object of the present invention is to provide a posture stabilizing device which can be reduced in size and weight.

[0022]

According to the present invention, a base, a photographing device, and the photographing device mounted on the base are rotatable about two axes which are orthogonal to the optical axis of the photographing device and orthogonal to each other. A supporting device for supporting, a driving device for rotationally driving the photographing device around the two axes, and a control loop for directing the photographing device in a target direction are provided, and the control loop includes the photographing device. Of the gyro and the two gyros for detecting the rotation angles around the above two axes, and the command transmitter for the operator to manually input the command signal to the output signal of the command transmitter and the output signal of the gyro. In the attitude stabilizing device for mounting on a navigation body configured to supply a command signal to the driving device based on the above, the photographing device includes an optical part including an imaging lens, and light from the optical part to an electric signal. Taken to convert to Section, a roll rotation drive device for rotationally driving the image pickup unit around the optical axis with respect to the optical unit, and a roll control for stabilizing the image pickup unit around the optical axis against the fluctuation of the navigation body. And a loop.

According to the present invention, in the posture stabilizing device, the roll control loop includes a roll gyro that detects a rotation angle of the optical unit about the optical axis and a roll accelerometer that detects an inclination angle of the optical unit with respect to a horizontal plane. And a command rotation angle transmission loop that generates a command rotation angle, including an optical axis angle correction calculation unit that corrects the rotation angle of the optical unit around the optical axis based on the output signal of the roll accelerometer and the elevation angle of the optical axis. And a motor control loop including a motor for inputting the command rotation angle and rotationally driving the image pickup unit around the optical axis, and the command rotation angle transmission loop is provided around the optical axis output from the roll gyro. There is a comparator for comparing the rotation angle and the rotation angle around the optical axis output from the optical axis angle correction calculation unit to obtain the deviation, and the output signal of the comparator is the command rotation through the coefficient unit. Corner transmission Is configured to correct the error angle due to the gyro drift included in the command rotation angle, and the motor control loop compares the command rotation angle with the rotation angle actually rotated by the imaging unit. However, the roll rotation driving device is controlled so that the deviation becomes zero.

According to the present invention, in the posture stabilizing device, the command transmitter generates two operation command signals for changing the target direction of the photographing device;
A coordinate calculation unit for inputting one operation command signal to generate a command signal to the driving device, the coordinate calculation unit including the two operation commands even when the photographing device is tilted with respect to a horizontal plane. The command signal to the drive device is generated so that the change in the target direction indicated by the signal and the change in the target direction obtained by the imaging unit match.

According to the present invention, in the posture stabilizing device, the roll rotation driving device includes a step motor and a zero-cross oscillator.

According to the present invention, in the posture stabilizing device, the roll rotation driving device includes a servo motor and a roll rotation angle transmitter, and the roll rotation angle transmitter is provided around the optical axis of the image pickup section with respect to the optical section. The rotation angle is detected, and a signal indicating the rotation angle is fed back to the servo motor via the roll control loop.

According to the present invention, in the posture stabilizing device, the optical section is provided with an optical amplifier.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a posture stabilizing device according to the present invention will be described with reference to FIGS. 1 and 2 show a portion including a photographing device or a camera body 11 incorporated in a posture stabilizing device of the present invention, and FIG. 1 is a perspective view thereof.
Is a partial cross-sectional view. The image capturing device or camera body 11 has an optical unit 50 and an image capturing unit 60. The camera body 11 is
It is arranged on the mount 70. Horizontal shafts 21 are attached to both sides of the attachment base 70.

The posture stabilizing device of the present invention is shown in FIGS.
9 may be configured by mounting the portion shown in FIG. 9 on the azimuth gimbal 15 shown in FIG.

The optical unit 50, the image pickup unit 60, etc. are, for example,
It constitutes a video camera or a TV camera. Optical part 5
Reference numeral 0 includes an imaging lens 51 and a lens driving mechanism 52. The lens drive mechanism 52 includes various variable control mechanisms such as diaphragm, focus, and zoom. The image pickup unit 60 includes an image pickup device that converts an optical image that has passed through the optical unit 50 into an electric signal. Such an image pickup device may be various image pickup tubes or image pickup devices, and may include, for example, a charge coupled device (CCD).

The electric signal from the image pickup section 60 is sent to the cable 53.
Is supplied to a signal processing circuit (not shown). The signal processing circuit includes a color separation circuit, an encoder and the like. The video signal and the audio signal generated by the signal processing circuit are output to, for example, an appropriate recording device. The signal processing circuit and the recording device may be integrally provided as a constituent element of the imaging unit 60.

According to this example, the image pickup section 60 is constructed so as to be rotatable about the optical axis OP with respect to the optical section 50. The optical unit 50 is fixedly mounted on the mount 70, and the imaging unit 60
Is rotatably mounted on the mount 70. The inner ring of the bearing 71 is attached to the image pickup unit 60, and the outer ring of the bearing 71 is attached to the mounting base 70, whereby the image pickup unit 60 rotates around the optical axis OP in a state of being aligned with the optical axis OP of the optical unit 50. can do.

As shown in the drawing, a roll gear 42 is attached to the rear end of the image pickup unit 60, and the roll gear 42 is configured to engage with a pinion of a roll motor 44. The roll motor 44 is attached to the attachment base 70. An idler gear may be inserted between the roll gear 42 and the pinion of the roll motor 44. Further, the roll gear 44 may be attached to the front end portion or the intermediate portion of the imaging unit 60.

An elevation gyro 26, an azimuth gyro 36, and a roll gyro 46 are mounted on the lower surface of the mounting base 70. These three gyros 26,
36 and 46 may be similar to the gyro described with reference to FIG. The elevation gyro 26 is arranged so that its input shaft is aligned with the elevation axis EL direction, and the azimuth gyro 36 is arranged so that its input shaft is aligned with the azimuth axis AZ direction.
6 is arranged so that its input axis is aligned with the optical axis OP direction. A roll accelerometer 47, an optical axis angle correction calculator 48 (not shown) and the like are further mounted on the lower surface of the mount 70, which will be described later.

The horizontal shaft 21 is rotatably attached to the two arms 15A and 15B of the azimuth gimbal 15 described with reference to FIG. Further, the elevation gear 22 is attached to the horizontal shaft 21 as described in FIG. 9, and the elevation gear 22 is mounted on the elevation motor 2
4 driven.

In the posture stabilizing device of this example, the camera body 1
1 is stabilized around the elevation axis and around the azimuth axis by the elevation control loop and the azimuth control loop described with reference to FIG. Therefore, even if the navigation body or the moving body sways around the azimuth axis AZ and the elevation axis EL, the optical axis OP is always directed toward the subject.

However, even if the optical axis OP always points in the direction of the object, the image rotates if the camera body 11 is not stabilized against the fluctuation around the optical axis OP. According to this example, as will be described later, the imaging unit 60 of the camera body 11 is stabilized around the optical axis OP by the roll control loop. Therefore, even if the optical unit 50 rotates around the optical axis OP due to the motion of the navigation body or the moving body, the image pickup unit 60 is stable around the optical axis OP, and therefore the subject and the image input to the image pickup unit 60 are There is always the same rotational positional relationship around the optical axis OP. Therefore, the obtained image is stable around the optical axis OP and is stationary without rotating.

However, the gyro 26, 36, 46
If there is a drift in the output of, the error caused by it will occur. In accordance with the present invention, a drift correction loop is provided to correct gyro output drift or errors resulting therefrom, as described below.

The roll control loop of the posture stabilizing apparatus of this embodiment will be described with reference to FIGS. 3 and 4. The roll control loop of this example includes a command rotation angle transmission loop as shown in FIG. 3 and a motor control loop as shown in FIG.

First, the command rotation angle transmission loop will be described with reference to FIG. It is assumed that the navigation body or the moving body rotates around the optical axis OP or the roll axis line RL at the rotation angular velocity ω _RL0 . The rotational angular velocity ω _RL0 is input to the roll gyro 46 via the differentiating element 45. The differential element 45 indicates a differential characteristic. The output signal of the roll gyro 46 usually includes a gyro drift D. Therefore, the roll gyro 46 includes an angular velocity conversion unit 46-1 and a first adder 46-2, and the true angular velocity signal ω _RL0 output from the angular velocity conversion unit 46-1 by the first adder 46-2 _. Gyro drift D
Is added to the angular velocity error D. Therefore, the output signal ω _RL of the roll gyro 46 becomes the angular velocity signal ω _RL including the gyro drift D.

[0041]

[ _Formula 1] ω _RL = ω _RL0 + D

The roll gyro 46 is assumed to be an angular velocity detection type gyro such as a vibration gyro which is relatively inexpensive.
Therefore, the output signal ω _RL of the roll gyro 46 is the integrator 56
And the rotation angle θ _RL about the optical axis OP is obtained.

The command rotation angle transmission loop of this example is provided with a gyro drift correction loop for correcting the gyro drift D. As shown, such a gyro drift correction loop includes a roll accelerometer 47 and an optical axis angle correction calculator 48. The roll accelerometer 47 has a gravitational acceleration g.
The component in the direction of inclination with respect to the horizontal plane is detected. The output signal g _R of the roll accelerometer 47 is expressed as follows.

[0044]

## EQU2 ## g _R = g sin θ _R

G is gravitational acceleration, θ _R is roll accelerometer 4
7 is a tilt angle with respect to the horizontal plane. Roll accelerometer 47
Are mounted on the mount 70 as described above. Therefore, θ _R is the mount 70 or the optical unit 5 with respect to the horizontal plane.
The tilt angle is 0.

The function of the optical axis angle correction calculator 48 will be described.
The optical axis angle correction calculation unit 48 is configured to obtain the rotation angle θ _S of the mounting base 70 or the optical unit 50 around the optical axis OP from the output signal g _R or θ _R of the roll accelerometer 47. When the optical axis OP is horizontal, the rotation angle θ _S of the mount 70 or the optical unit 50 around the optical axis OP is equal to the inclination angle θ _R with respect to the horizontal plane (θ _S = θ _R ). Therefore, from the output signal g _R of the roll accelerometer 47, the rotation angle θ _S of the mount 70 or the optical section 50 with respect to the horizontal plane can be directly calculated by performing the arcsine calculation.

However, when the optical axis OP is not horizontal
If the object is not on a horizontal plane, the optical axis OP is horizontal
If tilted with respect to the plane, the mount 70 or
Rotation angle θ around the optical axis OP of the optical unit 50_SIs against a horizontal plane
Tilt angle θ_RNot equal to (θ _S≠ θ_R). Optical axis angle correction
The calculation unit 48 first outputs the output signal g of the roll accelerometer 47._R
Tilting the mount 70 or the optical unit 50 with respect to the horizontal plane
Oblique angle θ_RAnd then this tilt angle θ_RAnd the optical axis OP
Elevation θ_EAnd the rotation angle θ around the optical axis OP_SCalculate
You. These operations are represented by the following equations.

[0048]

(3) θ _R = sin ^-1 (g _R / g) θ _S = sin ^-1 (sin θ _R / cos θ _E )

Where θ _E is the elevation angle. The inclination angle θ _E is an inclination angle of the optical axis OP with respect to the base 10, and is obtained from, for example, a command angle supplied to the elevation motor 24.

The third comparator 57 compares the rotation angle θ _RL around the optical axis OP detected by the roll gyro 46 with the tilt angle θ _S around the optical axis OP output by the optical axis angle correction calculation unit 48. Then, the deviation Δθ between the two is calculated.

[0051]

[Formula 4] Δθ = θ _RL −θ _S

The coefficient unit 58 converts the deviation Δθ into the angular velocity deviation Δω. Incidentally, an integral characteristic may be added to the coefficient unit 58. The first comparator 55 corrects the output signal ω _RL of the roll gyro 46 with the angular velocity deviation Δω.

[0053]

[Equation 5] ω _RL '= ω _RL −Δω

Thus corrected angular velocity ω_RL’Is an integrator
Rotation angle θ integrated by 56 _RLIs obtained. This example
At the stable point of the command rotation angle transmission loop of
Output Δθ becomes zero. In addition, the roll gyro 46
If the lift error D can be ignored, or roll
When correcting the drift error D without using the accelerometer 47
If the roll accelerometer 47 and the optical axis angle correction calculation unit 48
Can be omitted.

Next, the motor control loop will be described with reference to FIG. The output signal θ _RL supplied from the command rotation angle transmission loop is amplified by the amplifier 62 via the third comparator 61 and supplied to the step motor controller 63. The step motor controller 63 generates a command signal δθ _RLC ,
It is supplied to the roll motor 44A. Roll motor 4
4A is activated by such a command signal δθ _RLC , and the image pickup unit 60 rotates about the optical axis OP by the rotation angle θ _M. According to this example, the roll motor 44A is a step motor. Therefore, a zero-cross oscillator attached to the roll gear 42 for detecting the reference angle is provided.

The third comparator 61 calculates the deviation δθ _RL between the output signal θ _RL supplied from the command rotation angle transmission loop and the actual rotation angle θ _M.

[0057]

(6) δθ _RL = θ _RL −θ _M

This feedback loop operates so that the deviation δθ _RL becomes zero. At the stable point of the motor control loop of this example, the deviation δθ _RL becomes zero, and the roll motor 44
The rotation angle θ _M about the optical axis OP of the image pickup unit 60 by A becomes equal to the output signal θ _RL of the command rotation angle transmission loop.

A second example of the posture stabilizing device according to the present invention will be described with reference to FIGS. 5 and 6. FIG. 5 is a perspective view of a portion including the photographing device or the camera body 11 of the posture stabilizing device of the present example similar to FIG. According to this example, the roll motor 44B is not a step motor but a normal servo motor. A roll angle transmitter 68 is provided to detect the rotation angle θ _M of the image pickup unit 60 around the optical axis OP.
Such a roll angle transmitter 68 may be configured to detect the rotation angle of the roll gear 42, and may be configured to have a pinion that engages the roll gear 42, for example.

The second example is different from the first example shown in FIG. 1 in that a normal servomotor and a roll angle transmitter 68 are mounted instead of the step motor and the zero-cross oscillator. The other parts may have the same structure. The optical amplifier 54 is arranged between the optical unit 50 and the image pickup unit 60, which will be described later.

The roll control loop of this example will be described with reference to FIG. The roll control loop of this example includes a command rotation angle transmission loop and a motor control loop as in the first example. The command rotation angle transmission loop of this example may be similar to the example shown in FIG. FIG. 6 shows the configuration of the motor control loop of this example.

The command rotation angle signal θ _RL supplied from the command rotation angle transmission loop is sent to the amplifier 6 via the third comparator 61.
Amplified by 2, the command signal δθ _RLC is generated.
The command signal δθ _RLC is supplied to the roll motor 44B. The roll motor 44B of this example is a normal servomotor as described above.

The roll motor 44B receives the command signal δθ.
_It operates by _RLC , and the imaging unit 60 rotates about the optical axis OP by a rotation angle θ _M. The rotation angle θ _M of the imaging unit 60 is detected by the roll angle transmitter 68.

The third comparator 61 calculates the deviation δθ _RL between the output signal θ _RL supplied from the command rotation angle transmission loop and the rotation angle θ _M supplied from the roll angle transmission 68. Such an operation is represented by the equation (5). The feedback loop operates so that the deviation δθ _RL becomes zero.
At the stable point of the motor control loop of this example, the deviation δθ _RL becomes zero, and the optical axis O of the imaging unit 60 by the roll motor 44B.
The rotation angle θ _M around P becomes equal to the output signal θ _RL of the command rotation angle transmission loop.

The roll control loop and the drift correction included therein have been described above in the first and second examples. The attitude stabilizing device of this example includes an elevation control loop and an azimuth control loop in addition to the roll control loop. The elevation control loop and the azimuth control loop are the same as those described with reference to FIG. 9. May be That is, the elevation control loop and the azimuth control loop may be configured to have a drift correction function similarly to the roll control loop described with reference to FIGS. 3, 4, and 6.

Manual operation of the control loop of the posture stabilizing apparatus of the present invention will be described with reference to FIGS. FIG.
In the present invention, as described above with reference to FIG. 4, the posture stabilizing device receives the command signal 91 for inputting the manual command signal and the video signal and the audio signal obtained by the image pickup unit 60. Is configured to be connected to the display device 93 for displaying.

The command transmitter 91 generates two signals corresponding to the tilt direction and tilt angle of the joystick. For example, tilting the joystick left and right moves the image left and right, and tilting it forward and backward moves the image up and down. Normally, the joystick is tilted back and forth and left and right simultaneously, so the amount of movement of the image moves diagonally. The amount of movement of the image is defined by the tilt angle of the joystick.

In order to move the image left and right, the camera body 11 may be rotated around the azimuth axis AZ.
That is, the azimuth signal may be generated. In order to move the image up and down, the camera body 11 may be rotated around the elevation axis EL, that is, an elevation signal may be generated. To move the image left and right and up and down, two signals are generated at the same time and the camera body 11 rotates about two axes at the same time.

FIG. 7 shows a screen displayed by the display device 93. FIG. 7A is a screen before the manual command signal is supplied from the command transmitter 91. In FIG. 7A, OX and OY on the screen are a horizontal axis and a vertical axis, and are fixed to the image pickup unit 60. OX _EL and OY _AZ represent an elevation axis line and an azimuth axis line, are fixed to the optical unit 50, and rotate similarly when the optical unit 50 rotates around the optical axis OP.

7B and 7C show an image 100 on the screen.
7 shows a screen when the joystick is tilted to the left and the camera body 11 is rotated about the azimuth axis AZ in order to move the camera rightward. When the navigation body or the moving body is stationary in a horizontal state and the azimuth axis AZ is vertical, the image 100 is always horizontal as shown in FIG. 7C even if the camera body 11 rotates around the azimuth axis AZ. Moving. However, when the navigation body or the moving body shakes and the azimuth axis AZ is not vertical, when the camera body 11 rotates around the azimuth axis AZ, as shown in FIG. 7B,
The image 100 moves diagonally while drawing an arc.

For example, the inclination angle of the joystick is α. When the azimuth axis AZ is vertical, the image 100 moves in the horizontal direction by Δx ₀ as shown in FIG. 7C, but when the azimuth axis AZ is not vertical, the image 100 is horizontal as shown in FIG. 7B. Move by Δx and by Δy in the vertical direction.

The same applies when the joystick is tilted forward and backward in order to move the image 100 in the vertical direction on the screen. If the azimuth axis AZ is vertical,
Even if the camera body 11 rotates around the elevation axis EL, the image 100 always moves in the vertical direction. However, when the azimuth axis AZ is not vertical, the image 100 moves diagonally while drawing an arc when the camera body 11 rotates around the elevation axis EL.

This is inconvenient for the operator. Even if the azimuth axis AZ is not vertical, as shown in FIG. 7C, when the joystick is tilted left and right, the image 100 moves left and right, and when the joystick is tilted back and forth, the image 100 moves up and down. It is preferable.

To achieve this, the azimuth axis A
When Z is not vertical, when tilting the joystick to the left and right and up and down, it is necessary to correct the signal indicating the tilt direction and tilt angle of the joystick and supply the corrected signal to each control loop. With this correction signal,
The image 100 moves linearly horizontally or vertically without drawing an arc. For example, it moves from the position shown in FIG. 7B to the position shown in FIG. 7C.

As shown in FIG. 8, according to this example, a coordinate converter 94 is provided on the output side of the command transmitter 91. The coordinate converter 94 calculates the elevation signal ω _EL and the azimuth signal ω _AZ corrected by the command signal (ω _H , ω _V ) supplied from the command transmitter 91, as represented by the following equation. .

[0076]

(7) ω _EL = ω _H sin θ _S + ω _V cos θ _S ω _AZ = ω _H cos θ _S −ω _V sin θ _S

Here, ω _H and ω _V are the horizontal rotation angle signal and the vertical rotation angle signal generated by the command transmitter 91, and ω _EL and ω _AZ are the corrected elevation signal and azimuth signal. Is. θ _S is a rotation angle around the optical axis OP, which is an output signal of the optical axis angle correction calculator 48 described above. The coordinate converter 94 may be incorporated in the command transmitter 91.

The photographing device or the camera body incorporated in the posture stabilizing device of this embodiment can be used even under dark conditions such as nighttime by using it together with an appropriate lighting device. However, by providing an optical amplifier, it is also possible to use the photographing device without a lighting device under dark conditions or in low light. The optical amplifier 54 is shown in FIG.
Here is an example provided. As illustrated, the optical amplifier 54 is arranged between the optical unit 50 and the image pickup unit 60.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-mentioned embodiments, and it is easy for those skilled in the art to adopt various other configurations without departing from the gist of the present invention. Be understood by.

The image-taking device incorporated in the posture stabilizing device of the present invention constitutes a video camera or a TV camera. This image-taking device takes an image of an optical part including a lens and the light passing through the optical part. The present invention can be applied to any device as long as it includes an imaging unit for converting or visualizing. For example, a photographing device using a movie film or a photographic film and a digital recording type photographing device for recording a video signal or an image signal on a magnetic disk or an optical disk are also within the scope of the posture stabilizing device of the present invention.

[0081]

According to the posture stabilizing apparatus of the present invention, the image pickup section can be rotated around the optical axis with respect to the optical section, and the conventional roll gimbal can be omitted. It has an advantage that the structure can be simplified and downsized.

According to the posture stabilizing apparatus of the present invention, since only the lightweight image pickup unit is rotated around the optical axis, a roll motor having a small moment of inertia of the rotating unit and a small driving force, and a lightweight roll bearing are used. It has the advantage that it can.

According to the posture stabilizing device of the present invention, a small roll motor, a light weight roll bearing, etc. can be used. As a result, the moment of inertia about the elevation axis and the moment of inertia about the azimuth axis are also obtained. This has the advantages that the size of the elevation motor and the azimuth motor can be reduced, and that a lightweight bearing can be used as the bearing used therein.

According to the attitude stabilizing device of the present invention, when the joystick of the command transmitter is tilted to change the subject while the navigation body or the moving body is shaking, the image displayed on the screen of the display device is Since the joystick is accurately moved in accordance with the tilt direction and the tilt angle, the operator has the advantage that no extra operation is required.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing a portion of a photographing device incorporated in a first example of a posture stabilizing device according to the present invention.

2 is a partial cross-sectional view of the portion of the imaging device of FIG. 1 taken along line 2-2.

FIG. 3 is a diagram showing a part of a command rotation angle transmission loop of a roll control loop of a posture stabilizing device according to the present invention.

FIG. 4 is a diagram showing a part of a motor control loop of a roll control loop of the posture stabilizing device according to the present invention.

FIG. 5 is a partially cutaway perspective view showing a part of an image pickup device incorporated in a second example of the posture stabilizing device according to the present invention.

FIG. 6 is a diagram showing a part of a motor control loop of a roll control loop of a second example of the posture stabilizing device according to the present invention.

FIG. 7 is a diagram showing a screen of the display device when the command transmitter of the posture stabilizing device according to the present invention is operated.

FIG. 8 is a view showing a coordinate converter provided in association with a command transmitter of the posture stabilizing device according to the present invention.

FIG. 9 is a diagram showing an example of a conventional posture stabilizing device.

[Explanation of symbols]

 10 base 11 camera body 12 lens 15 azimuth gimbal 15A, 15B arm 15C base member 21 horizontal axis 22 elevation gear 24 elevation motor 26 elevation gyro 27 integrator 28 control circuit 31 vertical axis 32 azimuth gear 34 azimuth motor 36 azimuth Gyro 37 Integrator 38 Control circuit 42 Roll gear 44 Roll motor 44A Step motor 44B Servo motor 45 Differentiating element 46 Roll gyro 46-1 Angular velocity converter 46-2 Adder 47 Roll accelerometer 48 Optical axis angle correction calculator 50 Optical part 51 imaging lens 52 lens driving mechanism 53 cable 54 optical amplifier 55 comparator 56 integrator 57 comparator 58 coefficient unit 60 imaging unit 61 comparator 62 amplifier 63 motor controller 68 roll angle transmitter 0 mount 71 bearing 91, 92 instruction transmitter 93 display device 94 coordinate converter

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Shigeru Nakamura 2-16-46 Minami Kamata, Ota-ku, Tokyo Inside Tokimec Co., Ltd.

Claims (6)

[Claims] 1. A base, a photographing device, a support device mounted on the base for supporting the photographing device so as to be rotatable about two axes that are orthogonal to the optical axis of the photographing device and orthogonal to each other, and the photographing device. And a control loop for orienting the photographing apparatus in a target direction, the control loop including a rotation angle of the photographing apparatus around the two axes. And a command transmitter for the operator to manually input a command signal. Based on the output signal of the command transmitter and the output signal of the gyro, a command signal is sent to the drive device. In an attitude stabilizing device for mounting on a navigation body configured to supply, the imaging device includes an optical unit including an imaging lens, an imaging unit that converts light from the optical unit into an electric signal, and the imaging unit. Part to the optical part And a roll rotation driving device for rotationally driving around the optical axis, and a roll control loop for stabilizing the imaging unit around the optical axis against the motion of the navigation body. Stabilizer. 2. The posture stabilizing apparatus according to claim 1, wherein the roll control loop detects a rotation angle of the optical unit around an optical axis and a roll acceleration that detects an inclination angle of the optical unit with respect to a horizontal plane. Rotation angle transmission for generating a command rotation angle including a meter, an output signal of the roll accelerometer, and an angle of elevation of the optical axis, and an optical axis angle correction calculator for correcting the rotation angle of the optical section around the optical axis. And a motor control loop including a motor for inputting the command rotation angle and rotating the imaging unit around the optical axis. The command rotation angle transmission loop is an optical axis output from the roll gyro. A comparator is provided for comparing the rotational angle of rotation with the rotational angle around the optical axis output from the optical axis angle correction calculation unit to obtain the deviation, and the output signal of the comparator is the instruction given through the coefficient unit. Rotation angle transmission route Is configured to correct an error angle due to a gyro drift included in the command rotation angle, and the motor control loop compares the command rotation angle with a rotation angle actually rotated by the imaging unit. A posture stabilizing device configured to control the roll rotation drive device such that the deviation becomes zero. 3. The posture stabilizing device according to claim 1, wherein the command transmitter generates two operation command signals for changing a target direction of the photographing device, and the two operation commands. A coordinate calculation unit for inputting a signal to generate a command signal to the driving device, the coordinate calculation unit instructing by the two operation command signals even when the photographing device is tilted with respect to a horizontal plane. The posture stabilizing device is configured to generate a command signal to the driving device so that the change in the target direction and the change in the target direction obtained by the imaging unit are matched. . 4. The posture stabilizing device according to claim 1, 2 or 3, wherein the roll rotation driving device includes a step motor and a zero-cross oscillator. 5. The posture stabilizing device according to claim 1, wherein the roll rotation driving device includes a servo motor and a roll rotation angle transmitter, and the roll rotation angle transmitter is the optical unit. Attitude stabilization, which is configured to detect a rotation angle around the optical axis of the image pickup unit with respect to, and feed back a signal indicating the rotation angle to the servo motor via the roll control loop. apparatus. 6. The posture stabilizing apparatus according to claim 1, 2, 3, 4 or 5, wherein the optical unit is provided with an optical amplifier.