Device for stabilizing of a remotely controlled sensor, like a c

Details Device for stabilizing of a remotely controlled sensor, like a c Device for stabilizing of a remotely controlled sensor, like a c

1999-04-30

2000-11-28

Spyrou, Cassandra

Optical: systems and elements

Image stabilization

396 13, 396 52, 396 55, 2502031, 2502036, 74 522, G02B 2764

Patent

active

061543179

DESCRIPTION:

BRIEF SUMMARY
BACKGROUND OF THE INVENTION

The present invention relates to a device for stabilizing of a remotely controlled sensor, of the art disclosed in the preamble of enclosed 1:st patent claim.


DESCRIPTION OF THE RELATED ART

In civil and military contexts surveillance towards an object for achieving information of some art are common. The surveillance is usually performed by some type of sensor, e g a video camera, an infrared camera or the like. The sensor is usually mounted at a vehicle, i e a boat, an automobile, an aircraft, a helicopter etc. in order to facilitate the surveillance the sensor is usually remotely controlled from an operator's site in the vehicle. As the vehicle normally moves, and this also is the case for the object, thus the sensor has to be remotely controlled. The degrees of freedom are primarily two, that is to say in yaw (azimuth) and pitch (elevation). In this design the aiming line of the sensor can be directed towards the object. When the vehicle moves, the operator has no time to continuously compensate by remote control for occurring angle deviations between the aiming line of the sensor and the object The result is, that the object gets outside of the aiming line of the sensor, or that the image created by the sensor of the object will not be sharp. Until now this problem has been solved by providing the sensor with a two-axes electrical rategyro, which momentarily measures the angle error, that the sensor is subject to, and by controlling the space position of the sensor with an electronic system, so that this space position remains stable. This constructive solution is very expensive as it has to comprise mechanics of a high precision, servo systems of a high class and rate gyros with good function.


SUMMARY OF THE INVENTION

The object of the present invention is to achieve a device of the art disclosed in the preamble of the enclosed 1:st patent claim, provided with components of reasonable costs, yet with equally good function as devices designed according to the constructional solution just mentioned.
According to the invention, such a device is characterized primarily in that a mechanical coupling, comprising a resilient coupling means, connects the first gimbal to the third gimbal,


BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described more in detail, reference being made to the attached perspective figures, of which:
FIG. 1 shows an embodiment of a device according to the invention,
FIG. 2 shows a stand, comprised in the device in FIG. 1,
FIG. 3 shows a three-axes right-angular coordinate system with the directions x, y and z,
FIG. 4 shows a special embodiment of the stand in FIG. 2.


DESCRIPTION OF THE PREFERRED EMBODIMENTS

In FIG. 1 a sensor, in this case a video camera, is denoted by 1. It is provided with a two-axes, i e in yaw and pitch stabilizing self-acting rategyro 2, and the sensor is arranged as an inner first gimbal 1, rotatable around a first yaw axis 3. This is journalled in a second gimbal 4, which is rotatable around a first pitch axis 5. This is journalled in an outer, third gimbal 6, rotatable around a second pitch axis 7, journalled in a fourth gimbal 8. This is rotatable around a second yaw axis 9. A first set motor 10 is fastened to the fourth gimbal and is provided to set the angle position of the second pitch axis 7. A second set motor 11 is fastened to a stand 12, which in turn is fastened to a vehicle like a helicopter. This second set motor 11 is provided to set the angle position of the second yaw axis 9. A first electric rategyro 13 is fastened to the stand 12 to sense the yaw angle rate and a second electric rategyro 14 is fastened to the fourth gimbal 8 to sense the pitch angle rate. A electronic unit 15 receives signals from said rategyros and controls the first and the second set motor 10 resp 11 so that these act stabilizing on the third gimbal 6 and the fourth gimbal 8. The set motors 10 and 11 can also be acted upon to set the sensor 1 in pitch and yaw by signals from a set means 16, via the electronic unit 15.
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REFERENCES:
patent: 3813788 (1974-06-01), Johnston
patent: 4158261 (1979-06-01), Auer
patent: 4973144 (1990-11-01), Malige
patent: 5237450 (1993-08-01), Stromberg
patent: 5868031 (1999-02-01), Kokush

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