JP2002369046A - Monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring device capable of monitoring a long-distance area and monitoring at night with low-power irradiation means. 3 is an outer gimbal part 9 and an inner gimbal part 10
It is possible to suppress the undesired change of the imaging direction even when a disturbance acts by performing the suppression control in a plurality of stages with high accuracy, and to stabilize the monitoring camera 2 with high accuracy. The imaging direction of the surveillance camera 2 is determined by angle sensors 5 to 7,
Detected by 29 and given to the searchlight stabilizer 8
The searchlight 4 can be driven to be angularly displaced by the searchlight stabilizer 8 so that the irradiation direction matches the actual imaging direction. As described above, the searchlight 4 can be stably controlled in association with the actual imaging direction of the monitoring camera 2, the imaging direction can be tracked in the irradiation direction, and the deviation of the irradiation direction from the imaging direction can be suppressed to be small.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device for monitoring a predetermined area by capturing an image with an image capturing means.

[0002]

2. Description of the Related Art A predetermined area is imaged using a surveillance camera.
There is a device for monitoring a predetermined area based on an obtained image. When using this monitoring device mounted on a moving object, in order to prevent the camera from vibrating and oscillating, or the optical axis from being affected by the aerodynamic force accompanying the movement,
A single gimbal stabilizing means is used. The stabilizing means supports the irradiating means, and a monitoring camera is connected to the irradiating means. By providing the irradiating means in this way, it is possible to perform nighttime imaging, and by incorporating the stabilizing means, it is possible to make the obtained image easy to see, and to image and monitor a predetermined area from the moving body. ing.

[0003]

In this conventional monitoring device, the stabilizing means has a single gimbal structure, and there is a limit in suppressing the optical axis deviation of the monitoring camera. In order to monitor a distant area, a telephoto lens must be used.However, the use of a telephoto lens increases the influence of optical axis blur. Can not. Also, in nighttime monitoring, it is necessary to suppress the optical axis deviation of the irradiating means and reliably irradiate a predetermined area, but there is a limit to the suppression of the optical axis deviation similarly to the monitoring camera,
Not only is it difficult to irradiate a long-distance region, but it is also difficult to irradiate that region even when monitoring a medium-to-near-distance region. In the case of the irradiating means, since the image is not distorted even if the optical axis is deviated, an irradiating means having a large irradiating angle may be used, but such an irradiating means requires a large power and a large power. It takes shape.

[0004] It is an object of the present invention to provide a monitoring device capable of monitoring a long-distance area and monitoring at night with low-power irradiation means.

[0005]

According to the present invention, there is provided an image pickup device comprising:
A plurality of stages that are provided with an imaging unit and that are driven to angularly displace the imaging unit about at least two axes that intersect with the imaging direction and extend in the direction that intersect each other so that the imaging direction of the imaging unit matches a target direction in which imaging is to be performed; A stabilizing means for an imaging means having a driving unit, an irradiating means, a detecting means for detecting an imaging direction of the imaging means, and an irradiating means, so that the irradiating direction of the irradiating means matches the detected imaging direction A stabilizing means for the irradiating means for driving the irradiating means to be angularly displaced around at least two axes intersecting the irradiating direction and extending in the mutually intersecting directions.

According to the present invention, the stabilizing means for the imaging means provided with the imaging means includes a plurality of stages of driving units, and the driving direction of each stage changes the imaging direction of the imaging unit to the target direction to be imaged. The imaging means can be driven to be angularly displaced so as to match. As a result, even if an external force acts on the monitoring device and the influence of an external factor that changes the imaging direction is received, the influence is transmitted to the imaging unit, and the imaging direction is undesirably changed. Can be suppressed with high precision by a plurality of stages of suppression control, and the imaging unit can be stabilized. In addition, a detection unit for detecting an imaging direction is provided, and the imaging direction of the imaging unit stabilized by the imaging unit stabilization unit is detected, and the irradiation direction of the irradiation unit is matched with the actual imaging direction by the irradiation unit stabilization unit. In addition, the irradiation means can be driven for angular displacement. Thus, instead of performing stable control of the irradiation unit independently of the imaging unit, the irradiation unit is stably controlled in association with the actual imaging direction of the imaging unit. Therefore, for the above external factors,
Instead of simply suppressing the change in the irradiation direction, it is possible to track the imaging direction of the imaging unit that is controlled with high precision, and to suppress the deviation of the irradiation direction from the imaging direction to be small.

According to the present invention, there is provided an image pickup means and an image pickup means, wherein the image pickup means intersects at least in the image pickup direction and extends in directions intersecting each other so that the image pickup direction coincides with a target direction to be picked up. Stabilizing means having a plurality of stages of driving units for angular displacement driving of an imaging unit around an axis, and angular displacement driving together with the imaging unit around two axes which intersect in the imaging direction and intersect each other by at least one stage of the driving unit And a irradiating means provided in the stabilizing means.

According to the present invention, the stabilizing means provided with the image pickup means has a plurality of stages of drive units, and the drive units of each stage allow the image pickup direction of the image pickup means to coincide with the target direction to be imaged. In addition, the imaging means can be driven for angular displacement. As a result, even if an external force acts on the monitoring device and the influence of an external factor that changes the imaging direction is received, the influence is transmitted to the imaging unit, and the imaging direction is undesirably changed. Can be suppressed with high precision by a plurality of stages of suppression control, and the imaging unit can be stabilized. In addition, the stabilizing means for stabilizing the imaging means in this way,
Irradiation means is provided, and is driven to be angularly displaced together with the imaging means by at least one stage of the drive unit. Thus, when the imaging unit is stably controlled by the stabilizing unit, the irradiation unit is also stably controlled accordingly. Therefore, the irradiating means is stably controlled in association with the imaging direction, is stably controlled in a state of tracking the imaging direction controlled with high accuracy, and the deviation of the irradiating direction with respect to the imaging direction can be suppressed to be small.

Further, the present invention is characterized in that the image pickup means picks up an image with near infrared rays and the irradiation means irradiates near infrared rays.

According to the present invention, it is possible to monitor a predetermined area without irradiating near infrared rays by the irradiating means, capturing an image with the imaging means, and easily determining that monitoring is being performed around nighttime. . Moreover, by using near-infrared rays, it is possible to obtain an image in which portions having different colors can be distinguished even if there is no temperature difference.

[0011]

FIG. 1 is a simplified perspective view showing a monitoring device 1 according to an embodiment of the present invention. The monitoring device 1 is a near-infrared camera monitoring device linked to a searchlight with a high-precision optical axis shake prevention function, and performs monitoring activities performed based on images captured by cameras during the day and night, particularly for ships, automobiles, railway vehicles, and the like. The present invention can be suitably used for monitoring activities carried on a moving object including a vehicle and an aircraft. More specifically, it can be mounted on, for example, a ship and used for surveillance activities performed to prevent and detect illegal activities such as, for example, smuggling at sea, poaching and illegal trade. In the present embodiment, the monitoring device 1 is mounted on a moving body, and basically includes a monitoring camera 2 serving as an imaging unit, and a camera stabilizer 3 serving as a stabilizing unit for the imaging unit.
Searchlight 4 as irradiation means, angle sensors 5, 6, 7, 29, 30 for monitoring camera 2 as detection means and angle sensors 57, 58 for searchlight 4, and search as stabilization means for irradiation means And a light stabilizer 8.

The surveillance camera 2 is a near-infrared camera that captures images using near-infrared rays and obtains near-infrared images. The camera stabilizer 3 is provided with the surveillance camera 2, and has a plurality of drive units for angularly driving the surveillance camera 2, and in this embodiment, two gimbal units, an outer gimbal unit 9 and an inner gimbal unit 10. The gimbal units 9 and 10 are arranged so that the imaging direction of the surveillance camera 2 matches the target direction to be imaged.
The surveillance camera is angularly driven around at least two axes that intersect the imaging direction and are perpendicular to each other.

The searchlight 4 emits near-infrared light,
This is a near-infrared searchlight that performs near-infrared illumination. The angle sensors 5 to 7 and 29 for the surveillance camera are provided on the camera stabilizer 3 and detect the imaging direction of the surveillance camera 2. Each of the angle sensors 57 and 58 for the searchlight is provided on the searchlight stabilizer 8 and detects the irradiation direction of the searchlight 4. The searchlight stabilizing stand 8 is provided with the searchlight 4, and at least around the two axes that intersect the irradiation direction and are perpendicular to each other so that the irradiation direction of the searchlight 4 matches the imaging direction of the monitoring camera 2. 4 is driven by angular displacement.

The monitoring device 1 further includes a base 11 having a rectangular plate shape.
And a plurality (for example, 4) having a spring element and a damping element.
). The monitoring device 1 is an installation target 1
3, a base 11 is provided so that a corner portion is supported via a vibration damper 12. The monitoring camera 2 is provided on the base 11 via a camera stabilizer 3, and a searchlight stabilizer is provided. A search light 4 is provided via the reference numeral 8. The main body 13 of the moving object to be installed is, specifically, a hull of a ship, a body of a vehicle, and a body of an aircraft.

The outer gimbal portion 9 of the camera stabilizer 3 is
An outer base 15 connected to the base 11;
An outer movable portion 16 is provided on the outer movable portion 16 so as to be angularly displaceable around an outer yaw axis Loy as an outer first shaft, and an outer mounting portion is provided on the outer movable portion 16 so as to be angularly displaceable around an outer pitch axis Hop as a second outer shaft. 20. Outer yaw axis Loy and outer pitch axis Loop
Are perpendicular to each other and intersect with the imaging direction.
An outer yaw motor 17 is provided on the outer gimbal portion 9, and the outer movable portion 16 is angularly driven around the outer yaw axis Loy with respect to the outer base 15. The outer gimbal section 9 is provided with an outer pitch motor 18, and the outer mounting section 20 is driven to be angularly displaced around the outer pitch axis Lop with respect to the outer movable section 16.

The inner gimbal portion 10 of the camera stabilizer 3
Includes an inner base 21, a yaw movable section 70, a pitch movable section 71, and a camera support section 72. Inner base 21
Is connected to the outer movable part 16 so as to be angularly displaceable about the outer pitch axis Lop. The yaw movable part 70 is provided on the inner base 21 so as to be angularly displaceable about the inner yaw axis Liy as the inner first axis. The movable part 71 is provided on the yaw movable part 70 by an inner pitch axis Li which is an inner second axis.
The camera support section 72 is connected so as to be angularly displaceable around p.
Is connected to the pitch movable section 71 so as to be angularly displaceable around an inner roll axis Lir which is an inner third axis, and the surveillance camera 2 is supported by this camera support section.

The inner yaw axis Liy is equal to the outer pitch axis L
The inner pitch axis Lip is perpendicular to the op and the inner pitch axis Lip is perpendicular to the inner yaw axis Liy, and the inner yaw axis Liy and the inner pitch axis Lip intersect with the imaging direction. Further, the inner roll axis Lir is perpendicular to the inner pitch axis Lip and faces the imaging target. In other words, surveillance camera 2
Is a direction parallel to the camera optical axis of the monitoring camera, that is, the imaging optical axis Cc, and the imaging optical axis Cc matches the inner roll axis Lir.

The inner base portion 21 is connected to the outer mounting portion 20 and is connected to the outer movable portion 16 by an outer pitch axis Lo.
Driven by angular displacement around p. The inner gimbal section 10 is provided with an inner yaw motor 22 and a yaw movable section 70.
Is driven angularly displaced around the inner yaw axis Liy with respect to the inner base 21. The inner gimbal section 10 is provided with an inner pitch motor 23, and the pitch movable section 71 is angularly driven around the inner pitch axis Lip with respect to the yaw movable section 70. In addition, the inner gimbal unit 10
An inner roll motor 24 is provided, and the monitoring camera 2 is driven to angularly displace about the inner roll axis Lir with respect to the pitch movable section 71 together with the camera support section 72.

The searchlight stabilizer 8 includes a light base 25 connected to the base 11 and a light base provided on the light base 25 so as to be angularly displaceable about a light base yaw axis Lsy, which is the first axis of the light base. The movable section 26 includes a light support section 74 provided on the light table movable section 26 so as to be angularly displaceable about a light table pitch axis Lsp which is a second axis of the light table. The searchlight 4 is connected to the light table support 74.

The light base yaw axis Lsy is
oy, and the light table pitch axis Lsp is perpendicular to the light table yaw axis Lsy. In addition, light base yaw axis Lo
y and the light table pitch axis Lsp intersect the irradiation direction. The searchlight stabilizing base 8 includes the light base yaw motor 2
7 is provided, and the light base movable part 26 is
Is driven around the light base yaw axis Lsy. The searchlight stabilizing stand 8 is provided with a light stand pitch motor 28, and the searchlight 4 is
Along with 4, the light table movable unit 26 is driven to be angularly displaced around the light table pitch axis Lsp. Searchlight 4
, The irradiation light axis Cs is perpendicular to the light table pitch axis Lsp, and the irradiation direction of the search light 4 is parallel to the irradiation light axis Cs of the search light.

FIG. 2 is a block diagram showing the configuration of the control system of the monitoring device 1. FIG. 2 shows a configuration for controlling the imaging direction and the irradiation direction. FIG. 3 is a diagram showing a relationship between the machine axis L0, the outer gimbal axis Lout, and the inner gimbal axis Lin of the moving body. Referring also to FIG. 1, the monitoring device 1 is provided with an input unit (not shown), and controls an angular velocity of the monitoring camera 2 for changing a target direction to be imaged by the monitoring camera by an operation of a monitoring person. This is input as a commanded camera rotation speed (hereinafter referred to as a commanded camera angular speed) ωc0.
0 is given to the inner gimbal unit 10 of the camera stabilizer 3. The commanded camera angular velocity ωc0 and the actual camera angular velocity ωin detected by the rate sensor 35 are given to the camera angular velocity comparator 31, and the camera angular velocity comparator 3
1 is the actual camera angular velocity ωi from the commanded camera angular velocity ωc0.
n is subtracted and the angular velocity deviation Δω (= ωc0−ωi
n) is output.

The angular velocity deviation Δω is given to an inner control calculator 32 as inner control means.
2 calculates the rotational speeds of the inner yaw motor 22 and the inner pitch motor 23 at which the angular velocity deviation Δω is 0 (zero), and calculates the inner rotational speed Rin
Is output. The inner rotation speed Rin is given to the inner yaw motor 22 and the inner pitch motor 23, respectively, and according to the inner rotation speed Rin,
The inner yaw motor 22 angularly displaces the yaw movable unit 70 with respect to the inner base 21, and the inner pitch motor 23
The pitch movable section 71 is angularly displaced with respect to the yaw movable section 70. As described above, the torque is given to the surveillance camera 2 by supporting the outer gimbal portion 9 from the motors 22 and 23, and the surveillance camera 2 is angularly displaced.

The surveillance camera 2 is provided with a rate sensor 35 which is an angular velocity detecting means. The rate sensor 35 detects the angular velocity of the surveillance camera 2 as an angular velocity component about two orthogonal axes perpendicular to the imaging direction. The detected actual camera angular velocity ωin is supplied to the camera angular velocity comparator 31. In this way, the actual angular velocity of the monitoring camera 2 is detected and fed back, and the angular velocity at which the angular velocity deviation Δω becomes zero, that is, the commanded camera angular velocity ωc0
, The surveillance camera 2 is angularly displaced. The rate sensor 35 is
For example, it is realized by a rate gyro such as a mechanical gyro and an optical fiber gyro,
In order to increase the stability accuracy, a sensor, such as an optical fiber gyro, in which the inertial weight of the sensor does not change even when the angular acceleration of the monitoring camera 2 changes, may be used.

Further, the relative angle between the surveillance camera 2 and the outer mounting portion is set to 0 on the camera stabilizer 3 from a setting device (not shown).
Is given to the outer gimbal section 9. The command relative angle θ0 and the detected actual relative angle θα are given to the relative angle comparator 36, and the relative angle comparator 36 calculates the command relative angle θ0 from the actual relative angle θα.
Is subtracted, and the relative angle deviation Δθj (= θα−θ0)
Is output.

The relative angle deviation .DELTA..theta.j is given to an outer control calculator 37 as outer control means. Are calculated, and an outer rotation speed Rout as a result of the calculation is output. This outer rotation speed Rout
Are the outer yaw motor 17 and the outer pitch motor 1
8, the outer rotational speed R
In accordance with out, the outer yaw motor 17 angularly displaces the outer movable portion 16 with respect to the outer base portion 15, and the outer pitch motor 18 angularly displaces the outer mounting portion 20 with respect to the outer movable portion 16. Thus, each motor 17, 1
A torque is applied to the outer mounting portion 20 of the outer gimbal portion 9 by supporting the base 11 from 8, and the outer mounting portion 20 is angularly displaced.

The inner gimbal unit 10 is provided with angle sensors 7 and 29, and the angle sensors 7 and 29 detect the angle of the monitoring camera 2 with respect to the outer gimbal unit 9. The inner first angle sensor 7 is an inner yaw angle sensor, detects the angle of the yaw movable section 70 with respect to the inner base 21, and the inner second angle sensor 29
An inner pitch angle sensor that detects the angle of the pitch movable section 71 with respect to the yaw movable section 70.

As described above, the inner gimbal section 10 is provided on the outer gimbal section 9, and the actual camera angular velocity ωin includes the actual outer angle ωout which is the angular velocity of the outer mounting section 20. The inner gimbal unit 10
An element 40 for subtracting the actual outer angular velocity ωout from the actual camera angular velocity ωin, and the actual relative angular velocity ω as a result of the subtraction
There is an element 41 for integrating α, and the actual relative angle θα (the angle of the camera support portion 72 with respect to the outer mounting portion 20) obtained by integrating the actual relative angular velocity ωα is defined as an angle component about the inner yaw axis Liy and the inner pitch axis Lip. The angle is detected by the angle sensors 7 and 8. The actual relative angle θα is provided to the relative angle comparator 36.

In this way, the inner gimbal section 10 and the outer gimbal section 9 are associated with each other in the control system, and the camera stabilizer 3 forms a rate loop with the inner gimbal section 10 so that the surveillance camera 2 can move in space. The relative angle of the outer gimbal unit 9 with respect to the inner gimbal unit 10 is controlled to be zero while controlling the angular displacement at the commanded camera angular velocity ωc0. Is controlled to follow.

The outer gimbal portion 9 is provided with angle sensors 5 and 6, which detect the angle of the outer mounting portion 20 (inner gimbal portion 10) with respect to the base 11. The outer first angle sensor 5 is an outer yaw angle sensor, and includes an outer base 1.
The outer second angle sensor 6 is an outer pitch angle sensor, and detects the angle of the outer mounting part 20 with respect to the outer movable part 16. That is, the outer gimbal portion 9 includes the element 42 that integrates the actual outer angular speed (angular speed of the outer mounting portion 20) ωout, and the actual outer angle θout that is the integral value thereof, and thus the angle of the inner gimbal portion 10 with respect to the base 11. As angle components about the outer yaw axis and angle components about the outer pitch axis,
6 can be detected.

Here, each of the angle sensors 5 to 7 and 29 as the angle detecting means may be realized by a potentiometer, for example.

The camera stabilizer 3 has an angle calculator 45 to which the detected actual relative angle θα and the detected actual outer angle θout are given. The angle calculator 45 adds the actual relative angle θα and the actual outer angle θout to obtain the actual camera angle θi.
n, that is, the angle of the monitoring camera 2 with respect to the base 11 is obtained and output.

The swing of the base 11 with respect to the main body 13 of the moving body is extremely small, and the influence of the swing on the angular displacement of the monitoring camera 2 is negligible. As a result, as shown in FIG. 3, the actual outer angle θout is detected as an angle formed by the outer gimbal axis Lout (coincident with the inner yaw axis) with respect to the machine axis L0 of the moving body, and the actual relative angle θα is detected as the outer gimbal axis Lout. Is detected as an angle formed by the inner gimbal axis Lin (coincident with the imaging optical axis Cc). Therefore, the actual camera angle θin can be obtained as an angle formed by the inner gimbal axis Lin with respect to the machine axis L0 of the moving body.

In the monitoring apparatus 1, the actual camera angle θin obtained by detection and calculation by the camera stabilizer 3 is used as the angular velocity of the searchlight 4 for changing the target direction to be illuminated by the searchlight 4. It is input to the platform 8. The derived actual camera angle θin represents the imaging direction of the surveillance camera 2, and the actual camera angle θin is used as a command value for instructing the irradiation direction of the searchlight 4, as a light angle comparator of the searchlight stabilizer 8. 50 given. The actual camera angle θin and the detected actual light angle θs are provided to the light angle comparator 50, which subtracts the actual light angle θs from the actual camera angle θin to obtain a light angle deviation Δθcs.
(= Θin−θs) is output.

The light angle deviation Δθcs passes through the turning speed limiter 51 and becomes an angular velocity command ωs0 for directing the light. The turning speed limiter 51 calculates and obtains a command light angular velocity ωs0 which is an angular velocity equal to or less than a maximum angular velocity set in advance based on damage prevention and safety,
Output. The commanded write angular velocity ωs0 and the actual write angular velocity ωs detected by the rate sensor 55 are given to the write angular velocity comparator 52, and the write angular velocity comparator 5
2 is the actual write angular velocity ωs from the command write angular velocity ωs0
Is subtracted, and the write angular velocity deviation Δωs (= ωs0−
ωs) is output.

The write angular velocity deviation Δωs is given to a write control arithmetic unit 53 serving as search light control means.
The rotation speeds of the light base yaw motor 27 and the light base pitch motor 28 that become (zero) are calculated, and the calculation result is output as the write rotation speed Rc. The light rotation speed Rc is given corresponding to the light base yaw motor 27 and the light base pitch motor 28, respectively.
, The light table movable section 26 is angularly displaced with respect to the light table base 25, and the light table pitch motor 28 angularly displaces the light support section 74 with respect to the light table movable section 26. In this manner, the search light 4 is given a torque by supporting the base 11 from the motors 27 and 28, and the search light 4 is angularly displaced.

The searchlight 4 is provided with a rate sensor 55 which is a spatial angular velocity detecting means.
The angular velocity of the searchlight 4 is detected as an angular velocity component around the axis, and the detected actual angular velocity ωs, which is the actual angular velocity ωs, is supplied to the write angular velocity comparator 52. As described above, the actual angular velocity of the searchlight 4 is detected and fed back, and the searchlight 4 is angularly displaced at an angular velocity at which the write angular velocity deviation Δωs becomes zero, that is, at the command light angular velocity ωs0. The rate sensor 55 is a monitoring camera 2
A sensor similar to the rate sensor 35 provided in the first embodiment can be used.

The searchlight stabilizing table 8 is provided with angle sensors 57 and 58, and these angle sensors 57 and 58 are provided.
Thus, the angle of the search light 4 that is the actual light angle θs, that is, the irradiation direction is detected. The light base first angle sensor 57 is a light base yaw angle sensor,
The light base second angle sensor 58 detects the angle of the light base movable section 26 with respect to the light base base 25, and detects the angle of the light support section with respect to the light base movable section 26. That is, the searchlight stabilizer 8 includes the element 56 for integrating the actual write angular velocity ωs of the searchlight 4. The actual light angle θs, which is the integrated value, and thus the angle of the search light 4 with respect to the base 11 are used as the angle components about the light base yaw axis and the light base pitch axis as the angle components 57 and 58.
Can be detected. The detected actual light angle θs is provided to the light angle comparator 50.

As described above, the actual angle θ of the searchlight 4
s, and thus the direction of irradiation, is detected and fed back,
The angular velocity of the search light is instructed so that the light angle deviation Δθs becomes 0, that is, the irradiation direction of the search light 4 and the imaging direction of the monitoring camera 2 become parallel. Therefore, the irradiation direction of the searchlight 4 can follow the imaging direction of the monitoring camera 2. Further, by performing feedback control of the actual light angular velocity ωs of the search light 4 as described above, it is possible to increase the followability of the irradiation direction to the imaging direction. Each of the angle sensors 57 and 58 as the angle detecting means may be realized by, for example, a potentiometer.

FIG. 2 shows only the configuration relating to the control of the imaging direction and the irradiation direction. However, as shown in FIG. 1, the camera stabilizing base 3 is provided with the monitoring camera 2 around the imaging optical axis Cc (inner roll axis Lir). , And an inner third angle sensor 30 for detecting an angle of the camera support unit 72 about the imaging optical axis Cc with respect to the pitch movable unit 71, that is, an inner roll angle sensor. As a result, it is possible to control the monitoring camera 2 around the imaging optical axis Cc.

According to such a monitoring apparatus 1, the monitoring camera 2 can not only change the imaging direction based on the input of the monitoring person by the camera stabilizer 3, but also can stabilize the camera in which the monitoring camera 2 is provided. The table 3 includes an outer gimbal unit 9 and an inner gimbal unit 10 as a plurality of stages of driving units, and the gimbal units 9 and 10 at each stage match the imaging direction of the monitoring camera 2 with the target direction to be imaged. Thus, the surveillance camera 2 can be driven for angular displacement. Accordingly, even if the monitoring apparatus 1 is affected by an external factor such as a change in the imaging direction, such as transmission of vibration and swing caused by the movement of the moving object or aerodynamic force, the influence is not affected. It is possible to suppress the undesired change in the imaging direction transmitted to the imaging unit with a plurality of stages of suppression control with high accuracy and to stabilize the imaging unit.

Further, in the camera stabilizing base 3, the outer gimbal section 9 and the inner gimbal section 10 are controlled not by independent control loops but by control loops associated with each other. Can be surely achieved. In addition, inner gimbal part 1
0 while controlling the inner gimbal section 10 by forming a rate loop, the outer gimbal section 9 is moved to the inner gimbal section 1.
Since the control loop is configured to follow 0, not only the mutual relation is simply provided, but also the inner gimbal unit 10
In addition, a load for stability control can be distributed to the outer gimbal portion 9, and a simple control loop can be realized, which is a control loop in which a large load for stability control is prevented from being applied to any of them. Therefore, the control load can be distributed to each of the gimbal parts 9 and 10 with a simple control loop, and highly accurate control of the monitoring camera 2 can be realized.

Therefore, an undesired change in the imaging direction of the monitoring camera 2 can be suppressed with high accuracy by a plurality of stages of suppression control, and the monitoring camera 2 can be stabilized with high accuracy. Therefore, by providing a telephoto lens to the surveillance camera 2 and taking an image, a long-distance region can be captured as a clear image without blur, so that a long-distance region can be monitored. The monitoring apparatus 1 can reduce the amount of shake of the monitoring camera 2 to about 1/100 as compared with a conventional apparatus that performs single-stage suppression control.
Therefore, for example, in the prior art, the situation of the area cannot be determined by looking at the obtained image unless the distance from the surveillance camera is about 200 m or less. In 1, in a region where the distance from the surveillance camera 2 is up to several (4 to 5) km, a clear image can be obtained using a telephoto lens, and the situation in that region can be determined. Therefore, it is possible to perform monitoring in a long-distance area of about several km, which is impossible with the conventional technology.

Further, the monitoring device 1 includes the angle sensors 5, 6,
7, 29 so that the imaging direction of the monitoring camera 2 stabilized by the camera stabilizer 3 is detected, and the irradiation direction of the searchlight 4 is matched by the searchlight stabilizer 8 with the detected actual imaging direction. , The search light 4 can be driven by angular displacement. In this way, the searchlight 4 is not stably controlled independently of the surveillance camera 2, but is stably controlled in relation to the actual imaging direction of the surveillance camera 2. Therefore, in response to the external factors as described above, the deviation of the irradiation direction with respect to the imaging direction can be suppressed by tracking the imaging direction of the monitoring camera 2 instead of simply suppressing the change in the irradiation direction.

Further, a camera stabilizer 3 for the surveillance camera 2
And a searchlight stabilizing stand 8 for the searchlight 4 are separately provided, and the imaging direction of the monitoring camera 2 is detected and used as a control command value of the searchlight 4, and is associated with the monitoring camera 2 and the searchlight 4. By doing so, it is possible to reduce the load on one stabilizer, increase the stability accuracy of the surveillance camera 2 and the searchlight 4, and make the relevance to each other, thereby reducing the mutual deviation. .

As described above, since the tracking accuracy of the irradiation direction with respect to the imaging direction can be increased, the margin included in the irradiation angle can be reduced in order to surely irradiate the entire area imaged by the monitoring camera 2. In addition, the irradiation angle (beam diameter) can be reduced. Therefore, it is possible to reduce the power of the searchlight 4 required for imaging an area under the same condition, and to reduce the size of the searchlight 4.

The searchlight stabilizing table 8 may have a double gimbal structure similarly to the camera stabilizing table 3. However, the optical axis of the searchlight 4 does not affect the sharpness of the obtained image. The stabilizer 8 has a single gimbal structure to provide a sufficient effect. Therefore, the searchlight stabilizing base 8 has a single gimbal structure, and can achieve a sufficient narrowing of the irradiation angle, and can be manufactured easily and inexpensively.

Further, in the monitoring device 1, the base 11 is
2, the security of the surveillance camera 2 and the searchlight 4 can be further improved. As shown in FIG. 4, when the surveillance device 1 is modeled and shown, a surveillance camera 2 and a searchlight 4 are supported on a base 11 via bearing elements. In designing the monitoring device 1, the center of gravity position G0 of the components (including the camera 2, the light 4 and the stabilizers 3, 8) supported on the base 11 coincides with the point P supported by the base 11. It is configured to

For example, as shown in FIG. 5, when a telephoto lens having a vertical viewing angle β of 0.35 degrees is attached to the surveillance camera 2 and an image of an area where the distance Y from the camera is 4 km is taken as shown in FIG. Vertical distance X of the area to be imaged
Is 24 m. On the other hand, the translation width due to the vibration of the moving body (for example, due to the engine) is about several millimeters, and even if this vibration is transmitted to the monitoring camera 2 as the translational vibration, it is difficult to obtain an obtained image. The effects are negligible.

In practice, the position of the center of gravity G0 and the supporting point P
In some cases, a spring element 59 including wiring such as an electric cable is interposed between the base 11 and the monitoring camera 2 and the searchlight 4, so that the translation of the moving body is And the search light 4 swings. Therefore, by using the vibration damper 12 to prevent the vibration from being transmitted from the moving body to the base 11, the swing of the surveillance camera 2 and the searchlight 4 can also be suppressed. Therefore, the stability accuracy of the monitoring camera 2 and the searchlight 4 can be further improved.

Further, the searchlight 2 can irradiate near infrared rays, and the monitoring camera 2 can capture an image with near infrared rays. As a result, it is possible to monitor a predetermined area in a state where monitoring is not easily determined around nighttime. Therefore, it is possible to appropriately monitor events that occur in a predetermined area, such as crimes such as smuggling and poaching. Moreover, by using near-infrared light, it is possible to obtain an image in which portions having different colors can be distinguished even without a temperature difference, so that characters and figures written on an object can be distinguished from the image, and detailed information can be obtained. For example, it is possible to acquire information such as a ship name and a ship register written on the hull.

FIG. 6 is a simplified perspective view showing a monitoring apparatus 1A according to another embodiment of the present invention, and FIG. 7 is a block diagram showing a configuration of a control system of the monitoring apparatus 1A. FIG.
Shows a configuration for controlling the imaging direction and the irradiation direction. The monitoring device 1A is similar to the monitoring device 1 described above with reference to FIGS.
The same reference numerals are given, the description thereof will be omitted, and only the features of the present embodiment will be described. In the monitoring device 1 of FIGS. 1 to 5, the searchlight 4 is
However, in the monitoring device 1A of the present embodiment shown in FIGS. 6 and 7, the searchlight 4 is provided on the stabilizer 3. The monitoring device 1A has only one stable table 3, and this stable table 3 corresponds to the camera stable table in the monitoring device 1 described above. The devices 1 and 1A have the same configuration except that the searchlight stabilizer 8 is not provided.

As described above, the monitoring device 1 A
And a stabilizer 3 which is a stabilizer provided with the monitoring camera 2
And a searchlight 4. The stabilizer 3 is arranged so that the imaging direction of the monitoring camera 2 matches the target direction to be imaged.
A plurality of stages of drive units that drive the surveillance camera 2 at least about two axes that intersect the imaging direction and intersect each other,
Therefore, it has an outer gimbal portion 9 and an inner gimbal portion 10. The searchlight 4 is angularly driven together with the surveillance camera 2 around the two axes intersecting the imaging direction and intersecting with each other by the at least one-stage drive unit, and therefore by the outer gimbal unit 9, so as to be angularly driven. Is provided.

More specifically, the stabilizing base 3 is provided with a light support part 60 which is angularly displaceable about the outer pitch axis Lop with respect to the outer movable part 16 and is angularly displaced integrally with the outer mounting part. The output shaft of the outer pitch motor 18 provided on the outer movable section 16 is connected to the outer mounting section and the light support section, and the outer mounting section and the light support section can be integrally angularly driven. A search light 4 is provided on the light support portion, and the search light 4 is driven by the angular displacement together with the monitoring camera 2 to be stably controlled.

In such a monitoring device 1A, the angular velocity of the searchlight 4 is the same as the angular velocity of the outer mounting part of the outer gimbal part 9;
Is given to the subtraction element 40 of the outer angular velocity ωo
ut. Therefore, in the control system, the configuration of the stabilizer 3 does not include the angle calculator 45, but is otherwise the same as the configuration of the camera stabilizer 3 of the above-described embodiment.

In this embodiment, the outputs of the angle sensors 5 and 6 of each of the outer gimbal sections 9 are provided to a separately provided display device together with the outputs of the angle sensors 7 and 29 of the inner gimbal section 10, for example. The imaging direction of 2, and therefore, the angle formed by the imaging optical axis Cc with respect to the base 11 may be displayed to the observer. In a ship, the radar may be provided with angle information of each of the angle sensors 5 to 7, 29, and 30, and the distance to the monitoring target may be obtained in cooperation with the radar. Further, the angle of the moving body with respect to the machine axis L0 is subtracted from the angle by the angle sensors 5 and 6 and given as a camera turning command, and an image of a direction forming a constant angle with respect to the machine axis L0 is taken regardless of the angular displacement of the moving body. May be controlled as follows. Such a method of using the outputs of the angle sensors 5 to 7, 29, and 30 may be applied to the device 1 of FIGS.

The monitoring device 1A according to the present embodiment, like the monitoring device 1, also receives the influence of the external factor such that the imaging direction changes, and the effect is applied to the monitoring camera 2. It is possible to suppress the undesired change in the imaging direction by being controlled with high precision by a plurality of stages of suppression control.
The surveillance camera 2 can be stabilized. Therefore, it is possible to monitor a distant area. Also stable 3
In addition, a search light 4 is provided, and is driven by the outer gimbal unit 9 together with the monitoring camera 2 to perform angular displacement. Thus, the searchlight 4 is stably controlled together with the monitoring camera 2. Therefore, the searchlight 4 is stably controlled in association with the imaging direction, and is stably controlled in a state where the searchlight 4 tracks the imaging direction, so that a shift of the irradiation direction with respect to the imaging direction can be reduced. In order to reliably irradiate the entire area imaged by the imaging means, the margin included in the irradiation angle can be reduced, and the irradiation angle can be narrowed down. Therefore, it is possible to reduce the power of the irradiating means required for imaging an area under the same condition, and to downsize the irradiating means. In addition, the above-described effect by using near-infrared rays can be achieved similarly.

Further, in the monitoring device 1A, one stable base 3
And the device can be made compact.
Moreover, the inner gimbal portion 10 can be used only for stabilizing the surveillance camera 2 and can reduce the burden. Therefore, the searchlight 4 is provided to be supported by the inner gimbal portion 10 like the surveillance camera 2. As compared with the configuration, the stability of the surveillance camera 2 can be increased with a small-sized device, and the monitoring of a long-distance region as described above can be realized more reliably. Regarding the searchlight 4, only the outer gimbal portion 9 can achieve a sufficient narrowing of the irradiation angle.

The above embodiments are merely examples of the present invention, and the configuration can be changed within the scope of the present invention. For example, although a gimbaled stabilizing base is used as the stabilizing means, a stabilizing means having another structure may be used. The stabilizing means provided with the imaging means employs a double gimbal structure (two stages) as a plurality of stages of driving units, but a plurality of stages of driving units such as a triple gimbal structure and a quadruple gimbal structure. It may have a double gimbal structure. Depending on the monitoring target, electromagnetic waves in other frequency bands, such as infrared light other than near infrared light and visible light, may be used.
A CD camera or the like can be appropriately used as a surveillance camera. Further, the installation target of the monitoring device does not necessarily have to be a moving body, and may be, for example, a building, and a clear image can be obtained even if the building vibrates due to traffic of a car or the like.

Each axis Loy, Loop, Liy, Li
The mutual relationship between p and Lir (Cc) is not limited to the above-described relationship, and thus is not limited to the vertical or crossing, but may be, for example, a twist position, and the same is true for each axis Lsy, Lsp, Cs. Furthermore, the connection order of these axes can be appropriately selected, for example, from the outside (base) to the order of the outer yaw axis, outer pitch axis, inner pitch axis, inner yaw axis, and inner roll axis. That is, the outer gimbal portion has an outer first axis and an outer second axis extending in a direction intersecting each other, and the inner gimbal portion has an inner first axis and an inner second axis extending in a direction intersecting each other. The directions and connections of each axis may be arbitrary.

[0060]

According to the first aspect of the present invention, even if an external factor is affected, the influence is transmitted to the imaging means,
An undesired change in the imaging direction can be suppressed with high accuracy by a plurality of stages of suppression control, and the imaging means can be stabilized with high accuracy. Therefore, by providing a telephoto lens in the imaging means and taking an image, a long-distance region can be captured as a clear image without blurring, so that a long-distance region can be monitored. Further, in stably controlling the irradiation unit, the deviation of the irradiation direction with respect to the imaging direction can be suppressed by tracking the imaging direction of the imaging unit instead of simply suppressing the change in the irradiation direction.
As described above, the tracking accuracy of the irradiation direction with respect to the imaging direction can be increased, so that the margin included in the irradiation angle can be reduced in order to reliably irradiate the entire region imaged by the imaging unit, and the irradiation angle can be reduced. Can be squeezed small. Therefore, it is possible to reduce the power of the irradiating means required for imaging an area under the same condition, and to downsize the irradiating means.

According to the second aspect of the present invention, even if the influence of an external factor is received, the influence is transmitted to the image pickup means and the undesired change of the image pickup direction is suppressed in a plurality of steps. By the control, it is possible to suppress the movement with high accuracy and to stabilize the imaging unit with high accuracy. Therefore, by providing a telephoto lens in the imaging means and taking an image, a long-distance region can be captured as a clear image without blurring, so that a long-distance region can be monitored. Further, by providing the irradiating means in the stabilizing means for stably controlling the imaging means, it is possible to track the imaging direction of the imaging means and to suppress the deviation of the irradiating direction from the imaging direction to be small. As described above, the tracking accuracy of the irradiation direction with respect to the imaging direction can be increased, so that the margin included in the irradiation angle can be reduced in order to reliably irradiate the entire region imaged by the imaging unit, and the irradiation angle can be reduced. Can be squeezed small. Therefore, it is possible to reduce the power of the irradiating means required for imaging an area under the same condition,
The irradiation means can be miniaturized.

According to the third aspect of the present invention, it is possible to monitor a predetermined area in a state where monitoring is not easily determined around nighttime. Therefore, it is possible to appropriately monitor an event that occurs in a predetermined area, such as a crime. In addition, since near infrared rays can be used to obtain an image in which portions having different colors can be distinguished even when there is no temperature difference, characters and figures written on an object can be distinguished from the image, and detailed information can be obtained. be able to.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a monitoring device 1 according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a control system of the monitoring device 1.

FIG. 3 is a view showing a machine axis L0 and an outer gimbal axis Lout of a moving body.
FIG. 5 is a diagram showing a positional relationship between the inner gimbal axis Lin and the inner gimbal axis Lin.

FIG. 4 is a diagram showing a model of the monitoring device 1;

FIG. 5 is a diagram showing a viewing angle β, a distance X to an object to be imaged, and a distance Y of an imaging region by the monitoring camera 2.

FIG. 6 is a perspective view showing a monitoring device 1A according to another embodiment of the present invention.

FIG. 7 is a block diagram illustrating a configuration of a control system of the monitoring device 1A.

[Explanation of symbols]

 Reference Signs List 1, 1A monitoring device 2 monitoring camera 3, 8 stabilizer 4 search light 5 to 7, 29, 30, 57, 58 angle sensor 9 outer gimbal unit 10 inner gimbal unit 11 base 12 damper 17, 18, 22, 22 to 24, 27, 28 Motor 35, 55 Rate sensor

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5C022 AA01 AA15 AB15 AB55 AB62 AC74 5C054 AA01 CA05 CC02 CF06 EA01 HA18 5H303 AA11 AA30 BB07 BB14 CC03 DD01 DD21 FF03 HH01 HH07 JJ01 QQ09

Claims (3)

[Claims] 1. An image pickup means, comprising: an image pickup means provided at least around two axes extending in a direction intersecting at least the image pickup direction and intersecting each other so that an image pickup direction of the image pickup means coincides with a target direction to be picked up. A stabilizing unit for the imaging unit having a plurality of stages of driving units for angularly driving the imaging unit; an irradiation unit; a detection unit for detecting an imaging direction of the imaging unit; and an irradiation unit. The irradiation direction of the irradiation unit is detected. A stabilizing means for irradiating means for angularly driving the irradiating means about at least two axes intersecting the irradiating direction and extending in mutually intersecting directions so as to coincide with the taken imaging direction. . 2. An image pickup means, comprising: an image pickup means provided at least around two axes extending in a direction intersecting at least the image pickup direction so that the image pickup direction of the image pickup means coincides with a target direction to be picked up. A stabilizing unit having a plurality of stages of driving units for angularly driving the imaging unit; and at least one stage of the driving unit is driven by the angular displacement together with the imaging unit around two axes that intersect in the imaging direction and intersect each other. And a radiation means provided in the stabilizing means. 3. The monitoring device according to claim 1, wherein the imaging unit captures an image using near infrared rays, and the irradiating unit irradiates near infrared rays.