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WO2007033033A2 - Appareil et procede octroyant des capacites de pointage a une camera fixe - Google Patents

Appareil et procede octroyant des capacites de pointage a une camera fixe Download PDF

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Publication number
WO2007033033A2
WO2007033033A2 PCT/US2006/035147 US2006035147W WO2007033033A2 WO 2007033033 A2 WO2007033033 A2 WO 2007033033A2 US 2006035147 W US2006035147 W US 2006035147W WO 2007033033 A2 WO2007033033 A2 WO 2007033033A2
Authority
WO
WIPO (PCT)
Prior art keywords
mirror
camera
image
tilting
degrees
Prior art date
Application number
PCT/US2006/035147
Other languages
English (en)
Other versions
WO2007033033A3 (fr
Inventor
Dan T. Horak
Emray R. Goossen
Steven D. Martinez
Original Assignee
Honeywell International Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/402,450 external-priority patent/US7597489B2/en
Application filed by Honeywell International Inc. filed Critical Honeywell International Inc.
Publication of WO2007033033A2 publication Critical patent/WO2007033033A2/fr
Publication of WO2007033033A3 publication Critical patent/WO2007033033A3/fr

Links

Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B29/00—Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/65—Control of camera operation in relation to power supply
    • H04N23/651—Control of camera operation in relation to power supply for reducing power consumption by affecting camera operations, e.g. sleep mode, hibernation mode or power off of selective parts of the camera

Definitions

  • the present invention relates to cameras and more particularly to controlling the viewing direction such as pan and tilt angles, of a camera with extreme weight, size, and power restrictions.
  • pan-tilt units for cameras are known standard devices that one can purchase. However, these units are large, heavy and consume significant electrical power.
  • Conventional pan-tilt units for cameras rotate the camera and its lens using motors and gears and aim it in the desired direction as shown in Fig. 1.
  • Camera 100 is rotated in pan direction 102 by gears or other well known method and in tilt direction 104 in a similar fashion to point camera lens 106 towards the desired direction.
  • SLR single lens reflex
  • SLR cameras have been around for decades as shown in US Patent Nos. 6,390,692 and 5,715,003. These cameras use a mirror that deflects the image (that already passed the lens) into the viewfinder. When a picture is taken, the mirror flips up and the image can reach the film that is in the back of the camera. This assures that the photographer sees in the viewfinder exactly what the film will see, even if he changes the lenses between shots. These two prior art patents deal with improving the mirror mechanisms for SLR cameras.
  • US Patent No. 6,678,395 teaches a method of scanning an area with a mirror.
  • the patent deals primarily with algorithms and methods that process data from a multi-spectral camera so as to detect targets with unique spectral and spatial characteristics. They use a gimbaled mirror to scan areas that are not directly under the rescue aircraft. They describe this feature as 'the target area is scanned by a mirror oscillating about a scan axis across the flight path of the aircraft (cross-track)'.
  • This prior art patent also discloses using the gimbaled mirror to deflect IR illumination at the area that is being captured by the camera. Yet another use of their gimbaled mirror is to stabilize the image by moving the mirror so as to offset aircraft vibrations.
  • the present invention provides three hundred and sixty degree (360°) pan motion, preferably a plus or minus twenty-degree ( ⁇ 20°) tilt motion and capability to look down.
  • the arrangement of mirrors and their rotations in the present invention meet all these specifications.
  • US Patent No. 6,396,233 deals with a mirror-based gimbal for a target-tracking seeker for a missile.
  • This is a device that is mounted in the nose of a missile and can point at targets that are not exactly along the longitudinal axis of symmetry of the missile.
  • the scanning range of a seeker can be up to a ninety-degree (90°) cone, meaning that the seeker must be able to deflect plus or minus forty five-degrees ( ⁇ 45°) in all directions.
  • these motions are provided by two motors, one scanning left and right forty five-degrees (45°), and the other scanning up and down forty five-degrees (45°).
  • This prior art patent replaces the two-motor design with a mirror suspended on a ball joint, which allows any angular rotation about the joint. This rotational freedom is controlled by four Kevlar lines pulled by computer-controlled capstans. For any angular position of the mirror, there is a set of lengths of the four lines that bring the mirror to that angular position.
  • This prior art device suffers from the same deficiencies of the '395 patent in its limited viewing coverage.
  • the present invention is a method and apparatus that uses three light and small mirrors that can be rotated in such a way that they provide the desired viewing coverage and meet the weight and size constraints of a small UAV.
  • the present invention is a method and apparatus for providing a viewing coverage area for a camera that is lightweight, small and that consumes a minimum amount of energy.
  • This apparatus can be preferably used in UAVs such as a micro air vehicle (MAV) as shown in Fig. 9.
  • MAV micro air vehicle
  • This invention has a complete viewing coverage area of three hundred and sixty degree (360°) pan motion, and a tilt motion preferably of plus or minus twenty-degree ( ⁇ 20°), (i.e., looking above and below the horizon), and capability to look straight down.
  • the tilt motion can be increased or decreased; however, this description describes only the preferred embodiment.
  • This wide viewing coverage is an integral part of the invention. This is accomplished by moving mirrors to achieve the application- specific goal of providing camera pointing capability with minimum weight and size.
  • Surveillance tasks for MAVs can include target detection and imaging with electro-optical (EO) and IR cameras. There is a need to pan and tilt these cameras when the vehicle is flying so that it can look away from its direction of flight and capture images of stationary and moving ground targets and of side views. Additionally, forward motion and winds can tilt the MAV from a desired vertical orientation and disable the ability to examine a scene from the needed direction and angle if the cameras are fixed to the airframe.
  • EO electro-optical
  • IR cameras IR cameras
  • a primary object of the present invention is to provide pointing capability of a camera with minimum weight, size and power consumption.
  • Another object of the invention is to provide a camera pointing mechanism for use on a UAV.
  • a primary advantage of the present invention is its low weight, enabling its installation on a small UAV with limited payload capability.
  • Another advantage of the present invention is its small size, so that it will not significantly increase the size of the UAV and not interfere with its aerodynamics.
  • Yet another advantage is the low power consumption because high power consumption requires a large battery that adds to the UAV payload.
  • Another advantage of the present invention is that it can also be used in ground-based surveillance applications, and due to the small size of the invention, it improves the covertness of surveillance cameras, and low-power consumption extends battery life.
  • Fig. 1 shows the prior art method of pointing a camera with a conventional pan-tilt camera gimbal.
  • Fig. 2 shows a first embodiment for a forward-looking camera.
  • Fig. 3 shows the first embodiment for a pan tilt camera.
  • Fig. 4 shows the first embodiment for a down-looking camera.
  • Fig. 5 shows a second embodiment for a pan tilt camera.
  • Fig. 6 shows the second embodiment for a down-looking camera.
  • Fig. 7 shows a third embodiment for a forward-looking camera.
  • Fig. 8 shows a fourth embodiment for bore-sighted EO and IR cameras.
  • Fig. 9 shows the preferred embodiment of a MAV with a camera mounted in a pod.
  • the present invention is a method and apparatus for providing a camera viewing area for a camera mounted in a UAV such as a vertical take off and landing MAV.
  • a UAV such as a vertical take off and landing MAV.
  • Four embodiments that illustrate the use of the present invention are described. Although the following descriptions are for IR cameras, the present invention can be used with all other types of cameras, thus this disclosure is not limited to IR cameras.
  • the first embodiment is shown in Figs. 2, 3, and 4.
  • Fig. 2 shows an IR camera 10 mounted horizontally in a payload canister 20 that is attached to the MAV.
  • Target image 12 enters camera lens 14 through a left upper IR-transparent window 16 on the left side 18 of canister 20.
  • FIG. 3 shows a pan-tilt mode of operation of the first embodiment.
  • IR reflective mirror M2 22 is tilted forty-five degrees (45°) down, as shown.
  • Target image 12 now enters canister 20 through left lower window 24 on the left side 18 of canister 20 and is reflected off mirrors M3 26 and M2 22 into the camera lens 14.
  • Mirror M326 is mounted on a turntable 28 that can be positioned by lower motor 30 to provide camera rotation about a vertical axis 32, i.e., camera pan.
  • the left lower IR-transparent window 24 on canister 20 is preferably along the entire circumference of canister 20 to allow three hundred and sixty degree (360°) 'camera pan 1 action.
  • Mirror M3 26 can also be rotated about a horizontal axis 34 by means of second motor 36 that is mounted on turntable 28, and linkages 54.
  • second motor 36 that is mounted on turntable 28, and linkages 54.
  • linkages 54 Although each of the embodiments show a motor driving a linkage assembly 54, other well known methods can be employed such as gears or belts, thus, this disclosure is not meant to limit the embodiments to any particular apparatus for accomplishing this purpose.
  • This motion provides 'camera tilt 1 between about minus twenty degrees (-20°) and plus twenty degrees (+20°), allowing compensation for deviation of the MAV from vertical orientation.
  • FIG. 4 shows mirror M1 38 tilted down forty-five degrees (45°), and mirrors M2 22 and M3 26 inactive.
  • Image 12 enters canister 20 through bottom window 40 and is reflected off of mirror M1 38 into lens 14. This is a down-looking mode of operation.
  • the pointing direction of the camera is determined by the angular positions of mirrors M1 38, M2 22 and M326. These positions are set by a microcontroller that translates a request to point the camera in a desired direction into the required angular positions of the mirrors. The microcontroller then moves the mirrors into these angular positions by controlling the mirror motors and actuators.
  • the first embodiment provides fixed forward- looking and fixed down-looking capability, as well as pan-tilt capability in planes that can preferably be up to about twenty degrees (20°) off horizontal.
  • the second embodiment of the invention is shown in Figs. 5 and 6.
  • Fig. 5 shows camera 10 mounted vertically in canister 20, and pointing down.
  • Rotating mirror M3 26 provides three hundred and sixty degree (360°) 'camera pan' and 'camera tilt' of between about minus twenty degrees (-20°) degrees and plus twenty degrees (+20°), just like in the first embodiment.
  • Image 12 enters through left lower window 24 and is reflected off of mirror M3 26 into camera lens 14.
  • Mirrors M1 38 and M222 are inactive.
  • mirror M2 22 is tilted up forty-five degrees (45°) and mirror M3 26 is inactive.
  • Target image 12 travels through bottom window 40 and is reflected off fixed mirror M1 38 and mirror M2 22 into camera lens 14. This mode provides a down- looking camera.
  • first embodiment may provide better forward-looking image quality because it does not use mirrors in its forward-looking mode shown in Fig. 2.
  • the second embodiment requires smaller horizontal dimensions and, therefore, may be easier to integrate into a MAV-sized vehicle.
  • Fig. 7 The third embodiment of the present invention is shown in Fig. 7.
  • This embodiment is basically the first embodiment; however it is rotated ninety degrees (90°) counterclockwise, with mirror M1 38 mounted so that it can tilt forty-five degrees (45°) clockwise or forty-five degrees (45°) counterclockwise.
  • Fig. 7 shows M1 38 tilted forty-five degrees (45°) counterclockwise, providing view to the left through left lower window 24.
  • mirror M1 38 is tilted forty- five degrees (45°) clockwise, it provides a view to the right through right lower window 42.
  • mirror M1 38 is inactive and mirrors M222 and M3 26 are positioned as in Fig.
  • the system provides a three hundred sixty degree (360°) tilt and pan between about minus twenty degrees (-20°) and plus twenty degrees (+20°). This would allow continuous pointing capability anywhere ahead of the MAV, under it, or behind it, and could be used to offset large MAV tilt angles required in fast forward flight.
  • a two (2) mirrored version can be utilized. However, this embodiment is not preferred because of its limitations and extrinsic parts.
  • Mirror M1 is used to provide pan and tilt, like in the above described embodiments. However, one of the mirrors is eliminated and the looking-down function is achieved by sacrificing the ability to pan backwards (i.e., pan of one hundred eighty degrees (180°)).
  • the panning range is limited to approximately minus one hundred sixty degrees (- 160°) to plus one hundred sixty degrees (+160°).
  • the pan angle is set to one hundred eighty degrees (180°) (i.e., M1 pointing left), the tilt angle is set to zero degrees (0°), and mirror M2, mounted outside of the canister, is reflecting the image from under the canister into mirror M1 , which is pointed to the left.
  • Fig. 8 shows the forth embodiment applied to the camera configuration shown in Fig. 6.
  • Fig. 8 the single camera 10 shown in Fig. 6 has been replaced with an EO camera 44, an IR camera 46, and a commercially available optical device called a cold mirror 48.
  • Cold mirror 48 is transparent at IR frequencies and it reflects light at visual (EO) frequencies. Therefore, when image 12 light reflected off mirror M2 22 reaches cold mirror 48, the image 12 light at IR frequencies passes through cold mirror 48 and reaches IR lens 50. Image 12 light at EO frequencies (i.e., visual light) is reflected by cold mirror 48 to the left, into EO lens 52 of EO camera 44.
  • the two cameras record images of the same scene, but the IR camera records its IR image and the EO camera records its EO image.
  • the two cameras are geometrically aligned (i.e., boresighted) so that image pixels of IR camera 46 correspond to image pixels of EO camera 44.
  • all the windows on the payload canister are made of material that is transparent to both IR and EO light.
  • ALON marketed by Surmet Corporation.
  • the rotation of the mirror causes rotation of the image.
  • the pan mirror M3 26 is at its nominal forward-looking angular position, as shown in Fig. 5, the vertical dimension of the scene is projected on the vertical dimension of the camera image. If the camera has an aspect ratio (width/height) of 4:3, for example, then the smaller dimension of the camera image will correspond to the vertical dimension of the scene. This is the normal situation that camera users expect.
  • the camera will be recording mirror images of the scene. These mirror images will have to be corrected in software. Since an image processor will always be required to handle the cancellation of the mirror-image effect, it can also be used for the image rotation algorithm execution .
  • Fig. 9 shows the preferred embodiment of a MAV with the camera configuration of Fig. 5 mounted in a pod on the left.
  • the other configurations as set forth above are similarly disposed within a pod.
  • the described embodiments provide the capability to control the viewing direction of a camera with minimum additional weight, size, and electrical power. This is especially important for very small UAVs.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Studio Devices (AREA)
  • Camera Bodies And Camera Details Or Accessories (AREA)

Abstract

L'invention porte sur des miroirs réflecteurs mobiles (22, 26, 38) s'utilisant pour refléter une image (12) provenant d'une direction désirée vers les lentilles (14) d'une caméra (10). L'appareil s'utilise de préférence avec des cameras (10, 46) IR. Pour saisir l'image dans différentes directions, on modifie l'orientation des miroirs (22, 26, 38). Les miroirs (22, 26, 38) sont légers et ne nécessitent que des moteurs et des vérins miniaturisée pour les mouvoir; ils sont nettement plus petits que l'électronique du plan focal et que les lentilles IR (14, 50), et demandent moins d'espace que celui nécessaire aux mouvements de la caméra (10, 46). On obtient ainsi des capacités de visée pour une caméra IR (10, 46) fixée à un cadre aérien, moyennant un minimum de besoins en charge utile additionnelle, en espace et en puissance. L'appareil et le procédé peuvent s'utiliser sur des caméras IR (46) ou électro-optiques (44).
PCT/US2006/035147 2005-09-12 2006-09-08 Appareil et procede octroyant des capacites de pointage a une camera fixe WO2007033033A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US71628005P 2005-09-12 2005-09-12
US60/716,280 2005-09-12
US11/402,450 2006-04-12
US11/402,450 US7597489B2 (en) 2005-09-12 2006-04-12 Apparatus and method for providing pointing capability for a fixed camera

Publications (2)

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WO2007033033A2 true WO2007033033A2 (fr) 2007-03-22
WO2007033033A3 WO2007033033A3 (fr) 2007-09-13

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Cited By (13)

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CN103426282A (zh) * 2013-07-31 2013-12-04 深圳市大疆创新科技有限公司 遥控方法及终端
US8903568B1 (en) 2013-07-31 2014-12-02 SZ DJI Technology Co., Ltd Remote control method and terminal
US8938160B2 (en) 2011-09-09 2015-01-20 SZ DJI Technology Co., Ltd Stabilizing platform
US9277130B2 (en) 2013-10-08 2016-03-01 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
CN105549618A (zh) * 2015-03-18 2016-05-04 刘建平 一种实景交互式操控系统
WO2017008207A1 (fr) * 2015-07-10 2017-01-19 SZ DJI Technology Co., Ltd. Systèmes et procédés de simulation de cardan
CN106793751A (zh) * 2016-12-02 2017-05-31 哈尔滨工业大学 一种用于高速贴片机图像检测系统的反光镜位置控制装置
EP3258303A1 (fr) * 2016-05-19 2017-12-20 Lockheed Martin Corporation Cardan optique avancé
WO2018010472A1 (fr) * 2016-07-13 2018-01-18 广州亿航智能技术有限公司 Dispositif d'affichage intelligent pour commander la rotation d'une tête de trépied d'un véhicule aérien sans équipage, et système de commande pour celui-ci
WO2018232343A1 (fr) * 2017-06-16 2018-12-20 Aerobo Stabilisation d'image et mécanisation de commande de pointage pour systèmes d'imagerie d'aéronef
CN114112062A (zh) * 2021-10-13 2022-03-01 华能新疆能源开发有限公司新能源东疆分公司 —种电动车车顶红外成像检测装置机器检测系统
US11378959B1 (en) 2020-03-28 2022-07-05 Snap Inc. Still image optimized flight paths for fixed camera UAVs
CN116347211A (zh) * 2023-02-07 2023-06-27 山东省农业科学院 一种迁飞性害虫诱捕监测系统

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US9648240B2 (en) 2011-09-09 2017-05-09 SZ DJI Technology Co., Ltd Stabilizing platform
US11140322B2 (en) 2011-09-09 2021-10-05 Sz Dji Osmo Technology Co., Ltd. Stabilizing platform
US8938160B2 (en) 2011-09-09 2015-01-20 SZ DJI Technology Co., Ltd Stabilizing platform
US10321060B2 (en) 2011-09-09 2019-06-11 Sz Dji Osmo Technology Co., Ltd. Stabilizing platform
US9927812B2 (en) 2013-07-31 2018-03-27 Sz Dji Technology, Co., Ltd. Remote control method and terminal
WO2015014116A1 (fr) * 2013-07-31 2015-02-05 SZ DJI Technology Co., Ltd Procédé et terminal de commande à distance
US11385645B2 (en) 2013-07-31 2022-07-12 SZ DJI Technology Co., Ltd. Remote control method and terminal
CN103426282A (zh) * 2013-07-31 2013-12-04 深圳市大疆创新科技有限公司 遥控方法及终端
US9493232B2 (en) 2013-07-31 2016-11-15 SZ DJI Technology Co., Ltd. Remote control method and terminal
US8903568B1 (en) 2013-07-31 2014-12-02 SZ DJI Technology Co., Ltd Remote control method and terminal
US10747225B2 (en) 2013-07-31 2020-08-18 SZ DJI Technology Co., Ltd. Remote control method and terminal
US11962905B2 (en) 2013-10-08 2024-04-16 Sz Dji Osmo Technology Co., Ltd. Apparatus and methods for stabilization and vibration reduction
US9277130B2 (en) 2013-10-08 2016-03-01 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
US10334171B2 (en) 2013-10-08 2019-06-25 Sz Dji Osmo Technology Co., Ltd. Apparatus and methods for stabilization and vibration reduction
US11134196B2 (en) 2013-10-08 2021-09-28 Sz Dji Osmo Technology Co., Ltd. Apparatus and methods for stabilization and vibration reduction
US9485427B2 (en) 2013-10-08 2016-11-01 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
CN105549618A (zh) * 2015-03-18 2016-05-04 刘建平 一种实景交互式操控系统
WO2016145946A1 (fr) * 2015-03-18 2016-09-22 刘建平 Système de commande de scène réelle du type interactif
WO2017008207A1 (fr) * 2015-07-10 2017-01-19 SZ DJI Technology Co., Ltd. Systèmes et procédés de simulation de cardan
US9858023B2 (en) 2015-07-10 2018-01-02 SZ DJI Technology Co., Ltd Systems and methods for gimbal simulation
US10761798B2 (en) 2015-07-10 2020-09-01 SZ DJI Technology Co., Ltd. Systems and methods for gimbal simulation
US9885851B2 (en) 2016-05-19 2018-02-06 Lockheed Martin Corporation Advanced optical gimbal
EP3258303A1 (fr) * 2016-05-19 2017-12-20 Lockheed Martin Corporation Cardan optique avancé
WO2018010472A1 (fr) * 2016-07-13 2018-01-18 广州亿航智能技术有限公司 Dispositif d'affichage intelligent pour commander la rotation d'une tête de trépied d'un véhicule aérien sans équipage, et système de commande pour celui-ci
CN106793751B (zh) * 2016-12-02 2019-03-26 哈尔滨工业大学 一种用于高速贴片机图像检测系统的反光镜位置控制装置
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WO2018232343A1 (fr) * 2017-06-16 2018-12-20 Aerobo Stabilisation d'image et mécanisation de commande de pointage pour systèmes d'imagerie d'aéronef
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CN114112062B (zh) * 2021-10-13 2023-12-01 华能新疆能源开发有限公司新能源东疆分公司 一种电动车车顶红外成像检测装置机器检测系统
CN116347211A (zh) * 2023-02-07 2023-06-27 山东省农业科学院 一种迁飞性害虫诱捕监测系统

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