KR102544347B1 - Tracking apparatus and tracking method using the same - Google Patents

Abstract

The present invention relates to a tracking apparatus that includes: an optical part for tracking a target; a driving part that can be placed on a reference plane, supports the optical part, and can be rotated in a first direction intersecting the direction of gravity to rotate the optical part, and is capable of axial rotation in a second direction intersecting the first direction; and a stopper part for differently adjusting a range of rotation of the optical part in the second direction according to the rotation of the driving part in the first direction, and a tracking method using the same. A tracking apparatus that can prevent a device from being damaged while tracking a target and a tracking method using the same are presented.

Description

TRACKING APPARATUS AND TRACKING METHOD USING THE SAME}

The present invention relates to a tracking device and a tracking method, and more particularly, to a tracking device capable of preventing a device from being damaged while tracking a target and a tracking method using the same.

The two-axis electro-optical device is for recognizing an unknown flying object as a target and tracking the recognized target. To this end, the 2-axis electro-optical equipment basically includes an image sensor capable of obtaining an image of a target and a 2-axis gimbal capable of directing the image sensor to the target and rotating the image sensor according to the movement of the target. .

The image of the target acquired by the image sensor can be used to identify an unknown flying object as a friend or foe. At this time, as the image sensor acquires an accurate image, it is possible to quickly and accurately identify a friend or foe, and it is possible to flexibly cope with a target that is determined to be an aptitude flight vehicle as a result of the identification of a friend or foe.

However, the unknown aircraft mainly flies quickly over a long distance and gets closer or further away from the two-axis electro-optical device. Therefore, in order for the image sensor to acquire an accurate image of the target, the image sensor must be able to accurately track the movement of the target. However, in order for the image sensor to accurately track the movement of the target, the two-axis gimbal must be able to operate rapidly, accurately, and stably.

However, conventional two-axis electro-optical equipment has an operating structure based on a spherical coordinate system. That is, the drive unit has a structure in which the optical unit (in which the image sensor is installed) rotates in azimuth and elevation angles, and the elevation rotation affects the rotation function of the azimuth rotation. Here, the fact that the elevation rotation affects the rotation function of the azimuth rotation means that, for example, when the elevation rotation, the second rotation of the drive unit, approaches 90 degrees, the angle change effect of the azimuth angle compared to the rotation amount of the azimuth rotation, the first rotation of the drive unit. means weakening. That is, it shows a behavior similar to that in which the azimuth rotation is subordinated to the elevation rotation around the elevation angle of 90 degrees. This is referred to as a gimbal lock. In this structure, when tracking an unknown aircraft moving at the same speed over the same distance, the position of the unknown aircraft must be close to a vertical line extending vertically from the ground where the two-axis electro-optical device is installed into the air (ie, a line with an elevation angle of 90 degrees). As the elevation angle of the optical part approaches 90 degrees, the angular speed of the azimuth rotation of the optical part should be rapidly increased by the gimbal lock. That is, as the elevation angle of the unknown vehicle approaches 90 degrees, the angular acceleration of the azimuth rotation of the drive unit for three-dimensionally rotating the optical unit must rise rapidly to an abnormal level in order for the optical unit to track the unknown vehicle.

However, since the optical part of the 2-axis electro-optical device must obtain an accurate and precise target image regardless of the distance to the target, it is structurally large and heavy. It is very difficult to track an unknown aircraft with an elevation angle of around 90 degrees with the optical unit by mechanically rotating the optical unit at high speed and finely adjusting the angle. That is, since the conventional 2-axis electro-optical equipment has an operating structure in which the driving unit is based on a spherical coordinate system, that is, azimuth rotation is dependent on elevation rotation, it is very difficult to overcome gimbal lock and accurately track an unknown aircraft.

Meanwhile, in order to reduce the size and weight of the optical unit, a structure of an off-axis optical system may be adopted as a structure of the optical unit. However, even if the structure of the optical unit is adopted as the structure of the off-axis optical system, since the optical unit is still a large and heavy high-inertia object that makes it difficult to rapidly increase angular acceleration, it is still unknown that the driving unit with a spherical coordinate system-based operating structure passes around 90 degrees of elevation. It is difficult to increase the angular acceleration abnormally to track the flight of the . Therefore, when the position of the unknown aircraft is around 90 degrees of elevation, the movement of the line of sight of the optics cannot catch up with the movement of the unknown aircraft, and a situation occurs in which the optical system misses the unknown aircraft, so that the optics can still detect the unknown aircraft. There are issues that are difficult to track accurately.

However, in a structure in which an optical system other than an off-axis reflective optical system is mounted on a commonly used spherical coordinate system-based two-axis gimbal, interference between constituent parts can be prevented. That is, in the spherical coordinate system-based 2-axis gimbal and the optical system in which the starting point of the image sensor's line of sight is located on the external rotation axis (ie, an optical system that is not an off-axis optical system), the plane where the elevation rotation is performed can always be at a higher position than the plane where the azimuth rotation is performed. Thereby, interference between components can be structurally prevented.

Therefore, in order to solve the problem caused by the gimbal lock, when the structure of the spherical coordinate system-based two-axis gimbal is changed to another structure, the positional relationship of the above-described planes is changed, and thus structural interference occurs between the driving unit and the optical unit. there is a number Accordingly, there is a demand for a method capable of preventing structural interference between the driving unit and the optical unit even when the operating structure based on the spherical coordinate system of the driving unit is changed to another operating structure.

The background technology of the present invention is published in the following patent documents.

KR 10-2093916 B1 KR 10-2420976 B1

The present invention provides a tracking device and a tracking method capable of preventing the device from being damaged while tracking a target.

A tracking device according to an embodiment of the present invention includes an optical unit for tracking a target; It can be disposed on a reference plane, the optical unit is supported, and in order to rotate the optical unit, an axis can be rotated in a first direction intersecting a direction of gravity, and an axis rotation is possible in a second direction intersecting the first direction to rotate the optical unit. a driving unit capable of this; and a stopper unit for differently adjusting a range of a degree of rotation of the optical part in a second direction according to a degree of rotation of the driving part in a first direction.

The driving unit may include: a first driving unit having a first shaft member capable of axially rotating in the first direction; a second driving unit having a second shaft member capable of shaft rotation in the second direction, connected to the first shaft member, and adjusting an inclination degree with respect to the reference plane by shaft rotation of the first shaft member; can include

The optical unit is connected to the second shaft member, and the degree of rotation in the second direction is adjusted by the shaft rotation of the second shaft member, and the stopper unit is inclined to the degree of inclination of the second driving unit with respect to the reference plane. Accordingly, the range of the degree of rotation of the optical unit may be adjusted to a first range and a second range narrower than the first range.

The stopper unit may include: a first stopper for adjusting a rotational range of the optical unit to the first range when the tilting degree of the second driving unit is from standing upright to just before horizontal; A second stopper may be included to adjust a rotational range of the optical unit to the second range when the tilting degree of the second driving unit is inverted from horizontal.

The first stopper maintains its length and operates complementary to the second stopper according to the difference in length from the second stopper, and the second stopper uses gravity and the degree of inclination of the second drive unit to It can mechanically adjust its length and adjust whether it works or not according to the adjusted length.

The second drive unit is centered on a line passing through the first shaft member in the first direction, and the optical unit is supported on the end surface of the second drive unit and is mounted on an end surface of the second shaft member, A rotation center for rotation in the second direction may be located inside the optical unit.

An end surface of the second driving unit and an end surface of the second shaft member may be positioned on the same plane or may be spaced apart from each other while being disposed facing the second direction.

The second driving unit is mounted on an end surface of the first shaft member, and a first axis passing through the first axis member in the first direction and a second axis passing through the second axis member in the second direction are mutually related. can be orthogonal.

A portion of the optical unit may protrude outward from an edge of an end face of the second driving unit.

The end surface of the second drive unit includes a central area where the second shaft member is disposed and an edge area surrounding the center area, and the outer circumferential surface of the second shaft member and the edge of the end surface of the second drive unit The stopper unit may be installed in the region.

The stopper part is provided with a plurality, spaced apart along the circumference of the optical part, installed in the second driving part, fixed stoppers maintaining a length in the second direction; a variable stopper extending in the second direction, installed in the second driving unit, and having a length adjusted using gravity and an inclination degree of the second driving unit; A fork member installed in the optical unit to be selectively brought into contact with the fixed stopper and the variable stopper according to the length of the variable stopper may be included.

A plurality of variable stoppers are provided, disposed along the circumference of the optical unit, spaced apart from each other, and the fork member may contact a variable stopper adjusted to a second length without contacting the variable stopper adjusted to a first length. It may be spaced apart from the second driving unit in the second direction by a length that allows the optical unit to extend away from the circumference of the optical unit.

The stopper unit may include a guide extending along a circumference of the optical unit to connect the plurality of fixed stoppers; It may further include a moving member installed to be movable along the guide and bringing the fork member into contact with the fixed stopper.

The first driving unit may include a first body extending in a direction parallel to the direction of gravity, facing each other in the first direction, and having the first shaft member installed thereon; It may include; a first motor built into the first body and configured to rotate the first shaft member.

The second driving unit may include a second body extending in the second direction, disposed between the first bodies, and supported by end surfaces of the first shaft members; It may include; a second motor built into the second body and configured to rotate the second shaft member.

A tracking method according to an embodiment of the present invention includes obtaining an image of a target using an optical unit of a tracking device; using the driving unit of the tracking device to pivot the optical unit in a first direction crossing the direction of gravity and in a second direction crossing the first direction and tracking the target in the air with the optical unit; and preventing a collision between the optical unit and the driving unit by differently adjusting a range of a rotation degree of the optical unit in a second direction according to a rotation degree of the driving unit in the first direction.

The process of preventing collision between the optical unit and the driving unit may be performed when the optical unit is in a state from being erected at a height higher than the upper end of the driving unit to just before leveling according to the degree of rotation of the driving unit in the first direction. adjusting a range of degrees of rotation in two directions to a first range; According to the degree of rotation of the drive unit in the first direction, when the optical unit is in a state from inverted to horizontal at a height lower than or equal to the upper end of the drive unit, the range of the rotation degree of the optical unit in the second direction is greater than the first range. It may include; a process of adjusting to a narrow second range.

In the process of tracking the target in the air with the optical unit, the first shaft member of the driving unit is pivotally rotated in the first direction, and the second shaft member of the driving unit supported by the first shaft member is tilted with respect to the reference plane. The process of regulating the degree of load; A process of pivoting the second shaft member, the degree of inclination of which is controlled, in the second direction within the range of the adjusted degree of rotation; may include.

According to an embodiment of the present invention, in order to rotate the optical unit, a drive unit capable of axial rotation in a first direction intersecting the direction of gravity and capable of axial rotation in a second direction intersecting the first direction is operated to rotate the optical unit. While rotating and tracking the target, a collision between the optical unit and the driving unit can be prevented by using the stopper unit to differently adjust the range of rotation degree of the optical unit in the second direction according to the rotation degree of the driving unit in the first direction. . Accordingly, the optical unit can accurately and stably track the target, and accurately and stably obtain an image of the target. Furthermore, it is possible to accurately analyze the image of the target, identify the target from the result of the analysis, and flexibly deal with the target determined to be an aptitude aircraft as a result of the identification of the friend or foe. In addition, as the stopper unit has a mechanically operated structure, it is possible to prevent malfunction due to a software error situation, thereby ensuring reliable operation.

1 is a conceptual diagram of a tracking device and a target according to an embodiment of the present invention.
2 is a schematic diagram of a tracking device according to an embodiment of the present invention.
Figure 3 is a schematic diagram showing an enlarged stopper portion of the tracking device according to an embodiment of the present invention.
4 is an enlarged plan view of a stopper portion of a tracking device according to an embodiment of the present invention.
5 is a conceptual diagram illustrating the operation of a fixed stopper according to an embodiment of the present invention.
6 is a conceptual diagram illustrating the operation of a variable stopper according to an embodiment of the present invention.
7 is a schematic diagram exemplarily showing a tracking device according to a comparative example of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and will be implemented in a variety of different forms. Only the embodiments of the present invention are provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention. In order to explain an embodiment of the present invention, the drawings may be exaggerated, and the same reference numerals in the drawings refer to the same elements.

The present invention relates to a tracking device capable of preventing the device from being damaged while tracking a target and a tracking method using the same.

Hereinafter, an embodiment of the present invention will be described in detail by exemplifying a case in which it is applied to a two-axis electro-optical system that tracks the movement of a target in order to acquire an image of a target that is determined to be an aptitude flight vehicle and identification of a friend or foe.

Of course, the tracking device and the tracking method using the tracking device according to embodiments of the present invention described below can be applied to various image tracking devices mounted on various combat platforms equipped with anti-air, anti-ground, anti-ship, and the like.

1 is a conceptual diagram of a tracking device and a target according to an embodiment of the present invention, and FIG. 2 is a schematic diagram of a tracking device according to an embodiment of the present invention. In addition, Figure 3 is a schematic diagram showing an enlarged stopper portion of the tracking device according to an embodiment of the present invention, Figure 4 is a plan view showing an enlarged stopper portion of the tracking device according to an embodiment of the present invention.

Hereinafter, with reference to FIGS. 1 to 4, a tracking device according to an embodiment of the present invention will be described in detail.

Tracking device 1000 according to an embodiment of the present invention, the optical unit 100 for tracking the target (P), in order to rotate the optical unit 100, in a first direction (W) intersecting the direction of gravity A driving unit 200 capable of axial rotation, capable of axial rotation in a second direction intersecting the first direction W, disposed on the reference plane 10, and supporting the optical unit 100; and a stopper unit 400 for differently adjusting a range of a degree of rotation of the optical unit 100 in the second direction according to a degree of rotation of the driving unit 200 in the first direction W.

At this time, the driving unit 200 may be disposed on the reference plane 10, the first driving unit having a first shaft member 212 extending in a first direction (W) intersecting the direction of gravity and capable of axis rotation (210), located on a line passing through the first shaft member 212 in the first direction (W), for example, on the first axis line (W'), connecting the optical unit 100 and the first driving unit 210, , It may include a second driving unit 220 extending in a second direction crossing the first direction (W) and having a second shaft member 222 capable of axial rotation.

Meanwhile, the tracking device 1000 may include a base portion 300 disposed on the reference plane 10 and supporting the driving unit 200 .

In addition, the tracking device 1000 may acquire the initial position of the target P, control the operation of the optical unit 100 to obtain an image of the target P, and obtain an image of the target P. From this, it is possible to predict the next position of the target P, and to move the line of sight of the optical unit 100 to the next position so that the optical unit 100 can continuously track the target P, so that the driving unit 200 can be operated. A control unit (not shown) capable of controlling may be included. Here, the line of sight of the optical unit 100 means the line of sight of an image sensor mounted on the optical unit 100 to capture an image of the target P.

The reference plane 10 is a plane parallel to the horizon, and may be a plane formed on an area of the ground located below the sky over which an unknown aircraft passes. Also, the reference plane 10 may be an upper surface of a ground platform. Also, the reference plane 10 may be orthogonal to the direction of gravity.

The target P may include an unknown aircraft. Here, the unknown flight vehicle may include a manned flight vehicle and an unmanned flight vehicle equipped with an aeroplane engine, a rotor, a motor, and a battery, and from which power flight is performed.

The target P may pass over the reference plane 10 at a predetermined speed. At this time, the path through which the target P passes may be referred to as the route of the target P. The space above the reference plane 10 may be referred to as air. An elevation angle of 90 degrees of the tracking device 1000 may be an area in which it is easy to obtain an image of a target. The predetermined area around the elevation angle of 90 degrees may be an area corresponding to the main driving range of the driving unit 200 . Meanwhile, the vicinity of the elevation angle of 90 degrees may be a region of a predetermined size surrounding the elevation angle line of 90 degrees.

Meanwhile, a direction parallel to the direction of gravity is defined as a vertical direction (Z). In this case, the vertical direction Z may also be referred to as a yawing axis direction. In addition, any one direction among directions orthogonal to the direction of gravity is defined as a left-right direction (W). In this case, the left-right direction W may also be referred to as a pitch axis direction. Also, among directions orthogonal to the direction of gravity, a direction orthogonal to the left-right direction (W) is defined as a forward-backward direction (N). At this time, the front-back direction N may also be referred to as a rolling axis direction. The left-right direction (W) and the front-back direction (N) may be collectively referred to as a horizontal direction.

Here, in an embodiment of the present invention, the first direction may be the left-right direction (W). Therefore, the first direction is described using the same reference numeral "W" as the left-right direction (W).

On the other hand, the second direction is a direction crossing the first direction (W), may be a front-back direction (N), may be a vertical direction (Z), between the front-back direction (N) and the vertical direction (Z) It may be any inclined direction located at . That is, the second direction may be a direction placed on the ZN plane defined by the front-back direction (N) and the up-down direction (Z). Therefore, hereinafter, the second direction is referred to as “ZN”.

The optical unit 100 serves to acquire an image of the target P by receiving light emitted from the air, for example, visible light, infrared light, or the like, that is, to acquire an image of the target P by photographing the target P. do. The optical unit 100 is axially rotated around the second direction ZN by the second shaft member 222, and the center of rotation of the axial rotation around the second direction ZN (ie, the second direction center of rotation) may be located inside the optical unit 100 . Accordingly, the optical unit 100 may be rotated around the center of rotation in the second direction by the second shaft member 222 .

The optical unit 100 includes a housing supported by the second driving unit 220, an image sensor mounted on the housing, receiving light to generate an image of the target P, and a housing mounted on the target in the air. An optical system for forming a line of sight while guiding light emitted from (P) and its surroundings to an image sensor, mounted on a housing, or supported by the second driving unit 220, connected to the optical system, and image of the target (P) It may include an image processor that processes and provides it to the control unit. At this time, the result of image processing in the image processor may be used to predict the next position of the target P in the control unit.

Here, the housing, the image sensor, and the image processor may be implemented in various configurations using known technologies, and since the embodiment of the present invention does not specifically limit them, a detailed description thereof is omitted here. The optical system may have a structure of an off-axis optical system. The off-axis optical system may be referred to as an off-axis reflective optical system. Meanwhile, since the structure of the off-axis optical system is widely known as the structure of the off-axis optical system used in the field of aerial reconnaissance, military field (defense industry technology field), optical technology field, etc., a detailed description thereof will be omitted.

Meanwhile, the optical unit 100 is connected to the second shaft member 222, and the degree of rotation of the second shaft member 222 in the second direction ZN′ may be adjusted by the shaft rotation of the second shaft member 222. Also, a part of the optical unit 100 may protrude outward from the edge of the end surface of the second driving unit 220 .

The driving unit 200 serves to pivot the optical unit 100 with respect to the first axis line W' and pivot with respect to the second axis line ZN'. In this case, the first rotation of the driving unit 200 may be axial rotation based on the first axis line W'. Hereinafter, axial rotation based on the first axis line W′ is referred to as revolution of the optical unit 100 . Further, the second rotation of the driving unit 200 may be axial rotation based on the second axis line ZN'. Hereinafter, axial rotation based on the second axis line ZN′ is referred to as rotation of the optical unit 100 .

On the other hand, the first rotation and the second rotation do not mean the order of rotation, but may mean a mutually subordinate relationship. That is, the first rotation may refer to an independent rotation, and the second rotation may refer to a dependent rotation. Specifically, the first rotation may be independent of the second rotation. That is, regardless of the second rotation, the posture of the first axis W', which is the rotation axis of the first rotation, is not changed by the second rotation. On the other hand, the second rotation may be dependent on the first rotation. That is, the posture of the second axis line ZN', which is the rotation axis of the second rotation, may change according to the first rotation.

Here, the first axis line (W′) may refer to a line passing through the center of the first axis member 212 in the first direction (W). The first axis line W′ may also be referred to as a center line or a first center line of the first shaft member 212 . Also, the second axis line ZN′ may refer to a line passing through the center of the second axis member 222 in the second direction ZN. The second axis line ZN' may also be referred to as a center line or a second center line of the second shaft member 222 .

In this case, the first axis line W' and the second axis line ZN' may be orthogonal to each other. Also, a point where the first axis line W' and the second axis line ZN' cross at right angles may be referred to as an intersection point. Also, the intersection point may exist inside the second driving unit 220 . Meanwhile, the intersection point may also be referred to as a driving origin of the driving unit 200 .

The driving unit 200 is disposed in the vertical direction (Z) on the reference plane 10, the first driving unit 210 having a first shaft member 212 capable of axial rotation while extending in the first direction (W) , Extends in the second direction (ZN), is supported by the first shaft member 212, is connected to the optical part 100 in the second direction (ZN), extends in the second direction (ZN) and rotates the shaft It may include a second driving unit 220 having a possible second shaft member 222 . Here, the second drive unit 220 may be mounted on the end surface of the first shaft member 212 and the optical unit 100 may be mounted on the end surface of the second shaft member 222 . At this time, the degree of inclination of the second shaft member 222 with respect to the reference plane 10 may be adjusted by the shaft rotation of the first shaft member 212 .

On the other hand, the number of at least one type of shaft member of the first shaft member 212 and the second shaft member 222 is plural, and the plurality of shaft members may be arranged to face each other in an extended direction. there is. Hereinafter, the embodiment will be described based on the case where the number of the first shaft member 212 is plural.

The first driving unit 210 serves to support the second driving unit 220 and rotates the optical unit 100 by rotating the second driving unit 220 . The first driving unit 210 includes a plurality of, for example, two first bodies 211 and first bodies 211 extending in the vertical direction Z and spaced apart from each other in the first direction W and facing each other. It may include a first shaft member 212 installed in each, a first motor (not shown) built into the first body 211 and rotating the first shaft member 212 .

The first body 211 may have a bar shape and may extend in the vertical direction (Z). Also, the lower end of the first body 211 may be supported by the base part 300 . A first shaft member 212 may be mounted on an upper end of the first body 211 .

The first shaft member 212 may extend in the first direction (W), and the end may protrude from the inner surface of the first body 211 or may be disposed on the inner surface. The inner surface of the first body 211 may refer to a surface facing the first body 211 and the neighboring first body 211 among side surfaces of the first body 211 . An end of the first shaft member 212 may be connected to the second body 221 of the second actuator 220 in the first direction (W). That is, the second body 221 of the second drive unit 220 may be supported at the end of the first shaft member 212 . In addition, the first shaft member 212 may be connected to a first motor (not shown) to pivot. The optical unit 100 may revolve while the second driving unit 220 rotates due to the shaft rotation of the first shaft member 212 . On the other hand, the first shaft member 212 may be shaft-rotated in various ways, in addition to the shaft-rotation method by receiving rotational force from the first motor (not shown).

The posture of the second body 221 of the second driving unit 220 may be controlled according to the shaft rotation angle of the first shaft member 212 . For example, when the center line of the second body 221, which is a line passing through the center of the second body 221 in the second direction (ZN), has a parallel posture with respect to the reference plane 10, the axis of the first shaft member 212 The rotation angle may be 90 degrees or 270 degrees. In addition, when the center line of the second body 221 has a vertical posture with respect to the reference plane 10, the axis rotation angle of the first shaft member 212 may be 0 degrees or 180 degrees. That is, as the axis rotation angle of the first axis member 212 approaches 90 degrees or 270 degrees, the line of sight of the optical unit 100 is the vertical line of the ground where the two-axis electro-optical equipment to which the tracking device is applied is installed (for example, a 90-degree elevation line) ) can be close to In addition, as the axis rotation angle of the first axis member 212 is closer to 0 degree or 180 degree, the line of sight of the optical unit 100 may be closer to the reference plane 10 or the horizontal plane.

The first motor (not shown) may be of various types such as an electric motor and a hydraulic motor. That is, the first motor may be manufactured based on various mechanical parts, electric parts, hydraulic parts, and the like. The first motor may receive power for generating rotational force from various power sources. For example, the first motor may operate by receiving power from a battery (not shown), a generator (not shown), an engine (not shown), a power distributor (not shown), and the like, and may receive hydraulic pressure from a hydraulic pump (not shown). It can also work by receiving input.

The second driving unit 220 serves to connect the optical unit 100 and the first driving unit 210, supports the optical unit 100, and rotates the optical unit 100. To this end, the second driving unit 220 may be connected to the first driving unit 210 in the first direction (W), and the optical unit 100 may be connected to the second driving unit 220 in the second direction (ZN). there is.

The second driving unit 220 extends in the second direction (ZN), is disposed between the first bodies 211, is supported on end surfaces of the first shaft members 212, and moves in the first direction (W). Among the second body 221 located on a line passing through the first shaft member and both ends of the second body 221 in the second direction ZN, one end at which the optical unit 100 is disposed is the second. It may include a second shaft member 222 mounted to pass through in the direction ZN and a second motor (not shown) embedded in the second body 221 and for pivoting the second shaft member 222. there is.

The second body 221 may have a cylindrical shape. Of course, the shape of the second body 221 may vary. The second body 221 may extend in the second direction ZN, and a center in the second direction ZN may be positioned on the same line as the first shaft member 212 . The left and right sides of the outer circumferential surface of the second body 221 may be supported by the first driving unit 210 . A second motor may be mounted on the second body 221 .

The second shaft member 222 may be mounted to pass through one end of the second body 221 facing the optical unit 100 in the second direction ZN. In addition, the end of the second shaft member 222 may protrude from one end of the second body 221 in the second direction ZN or may be located at one end of the second body 221 . The second shaft member 222 may be connected to a second motor (not shown) to pivot. The optical unit 100 may be supported at the end of the second shaft member 222 . The optical unit 100 may be rotated by the axis rotation of the second shaft member 222 . On the other hand, the second shaft member 222 may be shaft rotated in various ways, in addition to the shaft rotation by receiving rotational force from the second motor. In addition, the configuration and method of the first motor may be applied to the second motor (not shown).

On the other hand, the end surface of the second driving unit 220, specifically, the end surface of the second body 221 may include a center area where the second shaft member 222 is disposed, and an edge area surrounding the center area. Here, the stopper part 400 may be installed on the outer circumferential surface of the second shaft member 222 and the edge region of the end surface of the second body 221 .

The driving unit 200 may be driven, for example, rotated in two axes using an N-W-Z driving coordinate system (not shown) having a driving zero point as a coordinate center. Here, the two-axis rotation may refer to revolution and rotation. The rotational angle of the optical unit 100 by the driving unit 200 may be a vertical angle between the Z axis and the N axis centered on the coordinate center on the N-W-Z driving coordinate system. The rotation angle of the optical unit 100 by the driving unit 200 may be a right-left angle between the W-axis and the Z-axis or the N-axis centered on the coordinate center on the N-W-Z drive coordinate system.

The driving unit 200 determines the known coordinate values of the initial position of the target P obtained by the controller, the calculated coordinate values of the next position of the target P calculated by the controller, and the target P calculated by the controller. Using the angles between the coordinate values of and the driving zero point of the driving unit 200, each axis member is operated to orbit and rotate the optical unit 100 around the coordinate center C.

At this time, due to the structure of the above-described drive unit 200, the intersection point, which is the center of revolution of the optical unit 100, exists inside the second drive unit 220, specifically at the center of the second drive unit 220, A rotation center of the rotation of the optical unit 100 may be located inside the optical unit 100 . In addition, by this, the rotational moment of inertia during revolution and rotation of the optical unit 100 can be minimized.

That is, since the intersection point, which is the center of revolution of the optical unit 100, exists inside the second drive unit 220, specifically, at the center of the second drive unit 220, the intersection point is outside the second drive unit 220. Compared to those present in , the center of gravity and the shape center of the second drive unit 220 and the optical unit 100 may be aligned with the aforementioned intersection point, or may be located fairly close to the intersection point, and the second drive unit 220 and the optical unit 100 may The load distribution of the unit 100 may have a relatively even distribution around the intersection.

In addition, since the center of rotation (center of rotation) for the rotation of the optical unit 100 is located inside the optical unit 100, compared to the center of rotation located outside the optical unit 100, the optical unit 100 The center of gravity and the center of shape of ) may coincide with the above-mentioned rotation center or may be located fairly close to the rotation center, and the load distribution of the optical unit 100 may have a relatively even distribution around the rotation center.

From this, since the force required to orbit and rotate the optical unit 100, specifically the force required to change the state of the rotational motion of the optical unit 100, can be reduced, the optical unit 100 can be moved more quickly with less force. It can orbit and rotate.

Thus, in the embodiment of the present invention, the driving performance of the driving unit 200 can be further improved, and the optical unit 100 can track the target P more accurately and stably.

The base portion 300 may extend in the first direction W and the front-back direction N to have a predetermined area, and may extend in the vertical direction Z to have a predetermined thickness. A plurality of, for example, two first bodies 211 of the first driving unit 210 may be respectively disposed on both sides of the upper surface of the base part 300 in the first direction W. In addition, the lower surface of the base portion 300 may be placed on the reference plane 10 .

The stopper unit 400 sets the range of the degree of rotation of the rotation of the optical unit 100 to a first range (+θ ₁ to -θ ₁ ) according to the degree of inclination of the second driving unit 220 with respect to the reference plane 10 And it serves to adjust to a second range (+θ ₂ to -θ ₂ ) narrower than the first range. That is, the optical unit 100 is connected to the second axis member 222, and the degree of rotation in the second direction ZN′, for example, the degree of rotation, can be adjusted by the axis rotation of the second axis member 222. . At this time, when the second driving unit 220 is rotated by the first shaft member 212 so that the end surface of the second driving unit 220 is positioned at a height lower than the upper end of the first body 211, the second shaft When the optical unit 100 rotates due to the shaft rotation of the member 222, the optical unit 100 collides with the driving unit 200, specifically, the first body 211 of the first driving unit 210 at a predetermined angle. can For example, a part of the optical unit 100 may protrude outward from the edge of the end surface of the second driving unit 220 . This protruding part may collide with the first body 211 of the first driving unit 210 .

Therefore, in the embodiment of the present invention, the range of the degree of rotation of the rotation of the optical unit 100 according to the degree of inclination of the second driving unit 220 with respect to the reference plane 10 of the stopper unit 400 is set to the first range. (+θ ₁ to -θ ₁ ) and the second range narrower than the first range (+θ ₂ to -θ ₂ ), the optical unit 100 is configured to move the first body 211 of the first driving unit 210 The case of colliding with the first driving unit 210 at a height lower than the top of can be prevented from the source.

The stopper unit 400 includes a first stopper 410 for adjusting the rotational range of the optical unit 100 to a first range when the inclination of the second driving unit 220 is from standing upright to just before leveling. 2 may include a second stopper 420 for adjusting the range of the degree of rotation of the optical unit 100 to a second range when the degree of inclination of the drive unit 220 is inverted from horizontal. In this case, the first stopper 410 may include a fixed stopper, and the second stopper 420 may include a variable stopper. Hereinafter, the fixed stopper will be described using the same reference numeral 410 as the first stopper 410, and the variable stopper will be described using the same reference numeral 420 as the second stopper 420.

Therefore, the stopper unit 400 is provided in plurality, is spaced apart along the circumference of the optical unit 100, is installed in the edge region of the end surface of the second body 221 of the second drive unit 220, and the second A fixed stopper 410 maintaining a length in the direction ZN', extending in the second direction ZN', and installed on an edge region of the end surface of the second body 221 of the second driving unit 220, , a variable stopper 420 whose lengths h1 and h2 are adjusted using gravity and the degree of inclination of the second driving unit 220 .

In addition, the stopper part 400 is provided on the outer circumferential surface of the optical part 100 or the second shaft member so that it can selectively come into contact with the fixed stopper 410 and the variable stopper 420 according to the length of the variable stopper 420. It is installed on the outer circumferential surface of the variable stopper 420, and is shorter than the protruding length h2 of the variable stopper 420, and is spaced apart from the end surface of the second body 221 by a length longer than the contracted length h1. Fork member 430 having a ring shape, one side of which is cut, extending along the circumference of the optical unit 100 in the edge region of the end surface of the second body 221 to connect the plurality of fixing stoppers 410 The branches are installed to be movable along the guide 440 and the guide 440, and may include a movable member 450 serving as a medium for bringing the fork member 430 into contact with the fixed stopper 410. On the other hand, hereinafter, the embodiment will be described based on the case where the fork member 430 is installed on the outer circumferential surface of the second shaft member 222.

Erecting is the inclination of the second driving unit 220 so that the end surface of the second driving unit 220 faces an elevation angle of 90 degrees so that the optical unit 100 is at a height higher than the upper end of the first body 212. degree can be indicated. Just before horizontal refers to a state just before reaching a horizontal state while the second driving unit 220 is tilted from an upright state. In this case, horizontal may refer to an inclination degree of the second driving unit 220 such that the center line of the second driving unit 220 is parallel to the reference plane 10 . The inverted position of the second driving unit 220 is such that the end surface of the second driving unit 220 faces the reference plane 10 so that the optical unit 100 has a height lower than the upper end of the first body 212. It can indicate the degree of inclination.

The first stopper 410 may maintain its length. In this case, the length of the first stopper 410 may be the length in the second direction ZN'. The length of the first stopper 410 may be such that the fork body 430 can pass through and the moving member 450 can be caught. The length of the first stopper 410 may be greater than the length of the guide 440 in the second direction ZN'.

Steps 1 to 8 of FIG. 5 are conceptual diagrams showing the operation of the first stopper according to an embodiment of the present invention.

Referring to FIGS. 1 to 4 and 5 , the first stoppers 410 may be spaced apart from each other in the circumferential direction of the second shaft member 222 . At this time, the first range (+θ ₁ to -θ ₁ ) may be determined by a wider angle among the angles between the end surface of the first stopper 410 and the center point of the end surface of the second body 221 . For example, referring to FIG. 5 , it can be seen that the first range (+θ ₁ to -θ ₁ ) is set to +345 degrees to -345 degrees.

The first stopper 310 may operate complementary to the second stopper 420 according to a difference in length from the second stopper 420 . The second stopper 420 may mechanically adjust its length using gravity and the degree of inclination of the second drive unit 420, and may control whether the second stopper 420 operates according to the adjusted length.

6 (a) to (c) are conceptual diagrams illustrating the operation of the second stopper according to an embodiment of the present invention.

Referring to FIGS. 1 to 4 and 6 , a plurality of second stoppers 420 may be provided, disposed along the circumference of the optical unit 100, and may be spaced apart from each other. The second stopper 420 includes a stopper body 421 having an interior open in the second direction ZN′ and having a passage, and a locking shaft 422 installed to cross the passage at the end of the stopper body 421 on the optical part side ), a locking protrusion 423 slidably inserted into the passage of the stopper body 421, formed to penetrate the locking protrusion 423 in the first direction (W) and extends in the second direction (ZW'), and locking It may include a slot 424 in which the shaft 422 is disposed.

In the second stopper 420, when the second body 221 of the second driving unit 220 is straight (W _180° ) to just before the horizontal level (W _90° ), the locking protrusion 423 is disposed in the passage, so that the stopper body It may not protrude from (421). When the second body 221 of the second driving unit 220 reaches the horizontal and tilts toward the inverse at a predetermined angle Wa, the locking protrusion 423 moves along the passage due to the inertial force and the weight of the locking protrusion 423. It slides and may protrude from the stopper body 421 . At this time, when the entire length of the second stopper 420 protrudes as much as the protruding length h2, the locking shaft 422 hooks the slot 424 to prevent the locking protrusion 423 from being separated from the passage. .

Again, referring to FIGS. 3 and 4 , the fork member 430 does not contact the second stopper 420 adjusted to the first length h1, and the second stopper adjusted to the second length h2 ( 420), it is spaced apart from the end surface of the second body 221 of the second driving unit 220 in the second direction ZN by a length h that enables contact with the second driving unit 220, and the circumference of the optical unit 100 or the third It may extend away from the circumference of the twin shaft body 222 . Accordingly, when the second body 221 is from erection (W _{180 °} ) to just before horizontal (W _{90 °} ), the fork member 430 can pass through the position of the second stopper 420, and the moving member 450 The degree of rotation of the optical unit 100 can be adjusted within a wide first range by adjusting the degree of rotation of the second shaft member 222 while being in contact with the first stopper 410 through the medium. In addition, when the second body 221 is tilted toward the inverse beyond the horizontal (W _{90 °} ), the fork member 430 prior to contacting the first stopper 410 via the moving member 450, 2 The degree of rotation of the optical unit 100 can be adjusted within a narrow second range by adjusting the degree of rotation of the second shaft member 222 while contacting the stopper 420 and limiting its rotation.

7 is a schematic diagram exemplarily showing a tracking device according to a comparative example of the present invention. The tracking device according to the comparative example of the present invention is excluding the configuration of the stopper part 400 from the tracking device according to the embodiment of the present invention.

According to the comparative example of the present invention, in order to track the target P in the vicinity of the 90 degree elevation line with the optical unit 100, the driving unit 200 orbits and rotates the optical unit 100 so that the optical unit 100 It may be positioned at a height lower than the upper end of the first body 211 of the driving unit 200 .

At this time, when the target P moves from the elevation angle of 90 degrees toward the horizon, the optical unit 100 should be rotated to lower the viewing height of the optical unit 100 . At this time, when the optical unit 100 rotates to a predetermined angle, the protruding part of the optical unit 100 may collide with the first body 211 .

On the other hand, in the tracking device 1000 according to an embodiment of the present invention, before the protruding part of the optical unit 100 collides with the first body 211, the stopper unit 400 controls the rotation of the optical unit 100. Therefore, it is possible to prevent the optical unit 100 from being damaged by colliding with the first body 211 . On the other hand, when the rotation of the optical unit 100 is blocked by the stopper unit 400, the control unit stops the driving of the second shaft member 222, and the optical unit ( 100) may be transmitted as a notification that rotation has stopped, and the command system of the friendly forces may assign another tracking device 1000 a task of tracking the target P.

The control unit may acquire the initial position of the target P and predict the next position of the target P. In addition, the controller may control the entire operation of the driving unit 200 and the entire operation of the optical unit 100 . Therefore, under the control of the control unit, the optical unit 100 may receive light to generate an image, and the optical unit 200 may position the target P within the range of the line of sight of the optical unit 100 ( The target P may be tracked by the optical unit 100 while orbiting and rotating the 100 .

Hereinafter, a tracking method according to an embodiment of the present invention will be described.

A tracking method according to an embodiment of the present invention is applied to the aforementioned tracking device according to an embodiment of the present invention, and acquires an image of a target P using the optical unit 100 of the tracking device 1000. Process, by using the driving unit 200 of the tracking device (1000), the optical unit 100 is moved in a first direction (W) crossing the direction of gravity and in a second direction (ZN) crossing the first direction (W). The process of tracking the target P in the air with the optical unit 100 while rotating the axis, in the second direction ZN of the optical unit 100 according to the degree of rotation of the driving unit 100 in the first direction W. It includes a process of preventing collision between the optical unit 100 and the driving unit 200 by differently adjusting the range of the degree of rotation for the rotation.

First, before obtaining an image of the target P using the optical unit 100 of the tracking device 1000, a process of arranging the tracking device 100 toward the target P may be performed. For example, the tracking device 1000 may be disposed on the reference plane 10 on a predetermined area on the ground in which it is determined that the target P is highly likely to appear. In addition, an unknown vehicle to be tracked on the NWZ coordinate system centered on the location of the tracking device 1000 is designated as a target P.

The unknown aircraft designated as the target P may be a friendly aircraft or an enemy aircraft. Among them, when the target (P) is an aptitude flight vehicle, the image of the target (P) obtained from the tracking device 1000 is used to respond flexibly to the target (P) on the ground according to the characteristics of the target (P). It can be.

In addition, the initial position of the target P is obtained. The initial location of the target P may be obtained from the command system of the allies through the airborne radar of the allies. At this time, the coordinates of the initial position may be 3-axis position coordinates (P _N , P _W , P _Z ) based on the NWZ driving coordinate system with the driving zero point of the driving unit 200 as the coordinate center, and 2-axis angular coordinates (θ _NZ , θ _WN ).

When the initial position of the target P is obtained, the driving unit 200 is operated so that the eyes of the optical unit 100 are directed to the initial position of the target P, so that the optical unit 100 moves the target P to the initial position. orient the location.

Accordingly, the optical unit 100 may be processed and rotated by the driving unit 200 according to the initial position of the target P. Describing this in more detail, the optical unit 100 may be firstly rotated and secondary rotated by the driving unit 200 so that the line of sight may be directed toward the target P.

Then, an image of the target P is acquired using the optical unit 100 . That is, the image sensor of the optical unit 100 may receive the light emitted from the initial position of the target P along the line of sight of the optical unit 100 and generate an image of the target P therefrom.

Then, by using the driving unit 200 of the tracking device (1000), the optical unit 100 is moved in a first direction (W) crossing the direction of gravity and in a second direction (ZN) crossing the first direction (W). While rotating the axis, the optical unit 100 tracks the target P in the air.

To this end, the next position of the target P is predicted. For example, the speed and path of the target P may be predicted using pixels of an image frame of an acquired image, or image-based tracking may be performed. Specifically, the next position of the target P may be predicted by analyzing the moving direction and speed of the target P in the video frame.

Then, the target is tracked by the optical unit 100 from the first position to the next position. The line of sight may be moved along the target P by pivoting the optical unit 100 of the tracking device 1000 so that the target P is located in the line of sight of the optical unit 100 . Specifically, the driving unit of the tracking device 1000 measures the pixel error between the center point of the image frame and the position of the target P, compensates for the measured pixel error, and places the target P in the center of the image sensor's line of sight. 200 may be operated to rotate the optical unit 100 so that the image sensor of the optical unit 100 tracks the target P.

At this time, the optical unit 100 may be rotated or primarily rotated around the first shaft member 212 extending in the first direction W crossing the direction of gravity. In addition, the optical unit 100 may be rotated or rotated secondarily around the second shaft member 222 extending in the second direction ZN intersecting the first direction W. Here, the process of orbiting the optical unit 100 and the process of rotating the optical unit 100 may be performed together or sequentially in any order. Similarly, the process of firstly rotating the optical unit 100 and the process of secondary rotation of the optical unit 100 may be performed together or sequentially in an arbitrary order. Through this process, it is possible to continuously track the target (P) while continuously moving the line of sight.

At this time, by using the structure of the driving unit 200, the first axis line (W') passing through the first axis member 212 and the second axis line (ZN') passing through the second axis member 222 are crossed, thereby tracking It is possible to reduce the rotational moment of inertia of the device 1000, and to reduce the force required to orbit and rotate the optical unit 100, specifically the force required to change the state of the rotational motion of the optical unit 100, thereby reducing the driving unit ( 200) can rotate (primary rotation) and rotate (secondary rotation) the optical unit 100 more quickly with less force.

That is, when tracking the target P in the air with the optical unit 100, the first shaft member 212 of the driving unit 200 is pivotally rotated in the first direction W, and the first shaft member 212 Adjust the degree of inclination of the second shaft member 222 of the driving unit 200 supported on the reference plane 10, and within the range of the adjusted degree of rotation, the second axis member whose degree of inclination is adjusted ( 222 is pivotally rotated in the second direction ZN, it is possible to track the target P while the optical unit 100 orbits and rotates.

Meanwhile, while tracking the target P in the air, the optical unit 100 rotates in the second direction ZN according to the degree of rotation of the second body 221 of the driving unit 100 in the first direction W. A collision between the optical unit 100 and the driving unit 200 is prevented by differently adjusting the range of the degree of rotation for the rotation.

That is, the stopper unit 400 is configured such that the optical unit 100 rotates the first body 211 of the driving unit 200 according to the degree of rotation of the second body 221 of the driving unit 200 in the first direction W. At a height higher than the top of, when the second body 221 of the second driving unit 220 of the driving unit 200 is in a state from erect to just before horizontal, the first stopper 410 and the fork member 430 , The degree of rotation of the optical unit 100 in the second direction ZN, that is, the range of the degree of rotation may be adjusted to a first range by using the guide 440 and the moving member 450. More specifically, the optical unit 100 maintains the length of the first stopper 410 and uses the first stopper 410, the fork member 430, the guide 440, and the moving member 450. The degree of rotation of can be adjusted in the range of + 355 ° to -355 °. Accordingly, the optical unit 100 may smoothly track the target P while rotating in the first range.

In addition, the stopper unit 400 may cause the optical unit 100 to rotate the first body 211 of the driving unit 200 according to the degree of rotation of the second body 221 of the driving unit 200 in the first direction W. When the second body 221 of the second driving unit 220 of the driving unit 200 is in a state from inverted to horizontal at a height lower than or equal to the upper end of the second stopper 420 and the fork member 430 The range of the degree of rotation of the optical unit 100 in the second direction ZN may be adjusted to a second range narrower than the first range. Specifically, by using gravity and the degree of rotation of the first driving unit 210 of the driving unit 200 in the first direction W, the length of the second stopper 420 is mechanically increased, and the second stopper 420 And the degree of rotation of the optical unit 100 using the fork member 430 can be adjusted in the range of + 30 ° to -30 °. Accordingly, the optical unit 100 may prevent a collision with the first driving unit 210 while rotating in the second range.

The above embodiments of the present invention are for explanation of the present invention and are not intended to limit the present invention. It should be noted that the configurations and methods disclosed in the above embodiments of the present invention may be combined and modified in various forms by combining or crossing each other, and variations thereof may also be considered within the scope of the present invention. That is, the present invention will be implemented in a variety of different forms within the scope of the claims and equivalent technical ideas, and various embodiments are possible within the scope of the technical idea of the present invention by those skilled in the art to which the present invention pertains. will be able to understand

100: optics
200: driving unit
210: first driving unit
212: first shaft member
220: second driving unit
222: second shaft member
W: first direction
400: stopper part
410: first stopper (fixed stopper)
420: second stopper (variable stopper)
430: fork member
440: guide
450: moving member

Claims (18)

optics for tracking the target;
It can be disposed on a reference plane, the optical unit is supported, and in order to rotate the optical unit, an axis can be rotated in a first direction intersecting a direction of gravity, and an axis rotation is possible in a second direction intersecting the first direction to rotate the optical unit. a driving unit capable of this;
A stopper unit for differently adjusting a range of a degree of rotation of the optical part in a second direction according to a degree of rotation of the driving part in a first direction; and
the driving unit,
a first driving unit having a first shaft member capable of rotating in the first direction;
a second driving unit having a second shaft member capable of shaft rotation in the second direction, connected to the first shaft member, and adjusting an inclination degree with respect to the reference plane by shaft rotation of the first shaft member; including,
The optical unit is connected to the second shaft member, and the degree of rotation in the second direction is adjusted by shaft rotation of the second shaft member,
The stopper unit can adjust a range of rotation of the optical unit to a first range and a second range narrower than the first range according to an inclination degree of the second driving unit with respect to the reference plane. delete delete The method of claim 1,
The stopper part,
a first stopper for adjusting a rotational range of the optical unit within the first range when the inclination of the second driving unit is from standing up to just before horizontal;
Tracking device comprising a second stopper for adjusting the range of the degree of rotation of the optical unit to the second range when the degree of inclination of the second driving unit is inverted from horizontal. The method of claim 4,
The first stopper maintains a length and operates complementaryly with the second stopper according to a length difference from the second stopper,
The second stopper mechanically adjusts its length using gravity and the degree of inclination of the second drive unit, and controls whether or not to operate according to the adjusted length. The method of claim 1,
The second driving part is located on a line passing through the first shaft member in the first direction,
The optical unit is supported on the end face of the second driving unit, mounted on the end face of the second shaft member, and the center of rotation for rotation in the second direction is located inside the optical unit. The method of claim 6,
An end surface of the second driving unit and an end surface of the second shaft member are located on the same plane or are spaced apart from each other while being disposed facing the second direction. The method of claim 6,
The second drive unit is mounted on the end surface of the first shaft member,
A first axis passing through the first axis member in the first direction and a second axis passing through the second axis member in the second direction are orthogonal to each other. The method of claim 6,
A part of the optical part protrudes outward from the edge of the end face of the second driving part. The method of claim 9,
The end surface of the second drive unit includes a central region where the second shaft member is disposed and an edge region surrounding the central region,
Tracking device in which the stopper unit is installed on the outer circumferential surface of the second shaft member and the edge region of the end surface of the second driving unit The method of any one of claims 1 and 4 to 10,
The stopper part,
a fixed stopper provided in plurality, spaced apart along the circumference of the optical unit, installed in the second driving unit, and maintaining a length in the second direction;
a variable stopper extending in the second direction, installed in the second driving unit, and having a length adjusted using gravity and an inclination degree of the second driving unit;
A tracking device comprising: a fork member installed on the optical part to be selectively brought into contact with the fixed stopper and the variable stopper according to the length of the variable stopper. The method of claim 11,
The variable stoppers are provided in plurality, are disposed along the circumference of the optical unit, and are spaced apart from each other,
The fork member is spaced apart from the second driving unit in the second direction by a length such that the fork member does not come into contact with the variable stopper adjusted to the first length and comes into contact with the variable stopper adjusted to the second length, and the optical unit A tracking device that extends away from the circumference. The method of claim 11,
The stopper part,
a guide extending along the circumference of the optical unit to connect the plurality of fixing stoppers;
The tracking device further includes a moving member installed to be movable along the guide and bringing the fork member into contact with the fixed stopper. The method of any one of claims 1 and 4 to 10,
The first driving unit,
first bodies each extending in a direction parallel to the direction of gravity, facing each other in the first direction, and having the first shaft members respectively installed thereon;
A tracking device comprising a; first motor built into the first body and configured to rotate the first shaft member. The method of claim 14,
The second driving unit,
a second body extending in the second direction, disposed between the first bodies, and supported by end surfaces of the first shaft members;
A tracking device comprising a; built in the second body, the second motor for pivoting the second shaft member. Obtaining an image of a target using an optical unit of a tracking device;
using the driving unit of the tracking device to pivot the optical unit in a first direction crossing the direction of gravity and in a second direction crossing the first direction and tracking the target in the air with the optical unit;
Preventing a collision between the optical unit and the driving unit by differently adjusting a range of a rotation degree of the optical unit in a second direction according to a rotation degree of the driving unit in a first direction; and
The process of tracking a target in the air with the optical unit,
pivoting a first shaft member of the driving unit in the first direction and adjusting an inclination degree of a second shaft member of the driving unit supported by the first shaft member with respect to a reference plane;
A tracking method comprising: pivoting the second shaft member, the degree of inclination of which is controlled, in a second direction within the range of the adjusted degree of rotation. The method of claim 16
The process of preventing collision between the optical unit and the driving unit,
According to the degree of rotation of the driving part in the first direction, the range of the degree of rotation of the optical part in the second direction is adjusted to a first range when the optical part is in a state from standing upright at a height higher than the upper end of the driving part to just before leveling. process of doing;
According to the degree of rotation of the drive unit in the first direction, when the optical unit is in a state from inverted to horizontal at a height lower than or equal to the upper end of the drive unit, the range of the rotation degree of the optical unit in the second direction is greater than the first range. Tracking method comprising a; process of adjusting to a narrow second range. delete

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