Camera device with image stabilisation, platform with camera device and method for operating a camera device

Abstract

The invention relates to a camera device (1) with image stabilisation, comprising: a number N of cameras (2, 3) comprising a neuromorphic camera (2), where N = 1, a receiving device (4) mounted such that it can be directed in azimuth and elevation for mechanically receiving at least one of the N cameras (2, 3), a drive unit (6), which is coupled to the receiving device (4) and can be controlled by a manipulated variable (SG), for aligning at least one of the N cameras in an environment, a determination unit (7) for determining an angle error (WF1) between a target value (SW) and an actual value (IW) of a structure using image data (BD) of the environment recorded by the neuromorphic camera (2), and a provisioning unit (8), which is designed to provide the manipulated variable (SG) for the drive unit (6) for image stabilisation of at least one of the N cameras (2, 3) depending on the determined angle error (WF1).

Description

[0001] CAMERA DEVICE WITH IMAGE STABILIZATION, PLATFORM WITH CAMERA DEVICE AND METHOD FOR OPERATING A CAMERA DEVICE

[0002] The present invention relates to a camera device with image stabilization comprising a number of cameras, as well as to a platform, for example a tank, with such a camera device with image stabilization. Furthermore, the present invention relates to a method and a computer program product for operating a camera device with image stabilization comprising a number of cameras.

[0003] Camera devices or camera platforms with a number of cameras are used, for example, on vehicles such as tanks. Such camera devices can be used for weapon guidance, observation or reconnaissance, and also for hit assessment. However, when a tank equipped with such a camera device moves in the field, the target value of the camera device's line of sight and the actual value of the camera device's line of sight may differ, for example, due to mechanical vibrations. Such a difference or angular error between the target value and the actual value of the line of sight is obviously undesirable.

[0004] For this reason, camera devices are often equipped with image stabilization. Conventional image stabilization uses the output signal of a gyroscope, which, based on an inertia-based measurement, determines the angular error between the actual value and the target value of the line of sight. However, such gyroscopes are quite expensive and require a very rigid mechanical design of the camera device's elements to enable correspondingly precise image stabilization. A very rigid mechanical coupling, in turn, requires a high

[0005] Material usage and therefore high costs.

[0006] Furthermore, conventional solutions are known from DE102021115139B4 and from US2022301303A1. Here, DE102021115139B4 describes a method for controlling a flight movement of an aircraft, comprising the following steps: capturing first image data by means of a first camera device arranged on an aircraft and configured to observe an environment of the aircraft during flight, wherein the first image data display a first sequence of first camera images; capturing second image data by means of a second camera device arranged on an aircraft and configured to observe the environment of the aircraft during flight, wherein the first image data display a second sequence of second camera images; and processing the first and second image data by means of an evaluation device.The processing comprises: preprocessing the first and second image data, wherein measurement image data indicating at least one camera measurement image is determined from the first and second image data; performing a redundant image analysis for the at least one camera measurement image, wherein the at least one camera measurement image is analyzed in separate image analyses using a first image analysis based on artificial intelligence and a second image analysis that is performed free of artificial intelligence; determining object parameters for a position of a flight obstacle in the environment of the aircraft if the first image analysis predicts the flight obstacle in the at least one camera measurement image and the second image analysis likewise determines the flight obstacle in the at least one camera measurement image; and transmitting flight obstacle data to a control device of the aircraft.The control device controls the flight movement of the aircraft, taking into account the object parameters, to avoid a collision with the flight obstacle. US2022301303A1 discloses multispectral imaging and navigation systems to improve the operation of mobile platforms, including mobile sensor or surveying platforms. A multispectral navigation system includes a multispectral imaging system and a logic device configured to communicate with the multispectral imaging system. The multispectral imaging system includes a multispectral imaging module configured to provide multispectral image data corresponding to a projected course for a mobile platform.The logic device is configured to receive the multispectral image data, receive orientation and / or position data corresponding to the multispectral image data, and generate maneuvering obstacle information corresponding to the projected course based on the orientation and / or position data and the multispectral image data.

[0007] Against this background, it is an object of the present invention to provide an improved camera device with a number of cameras.

[0008] According to a first aspect, a camera device with image stabilization is proposed. The camera device has: a number N, with N > 1, of cameras comprising a neuromorphic camera, a recording device mounted so as to be orientable in azimuth and elevation for mechanically recording at least one of the N cameras, a drive unit coupled to the recording device and controllable by a control variable for aligning at least one of the N cameras in an environment, a determination unit for determining an angular error between a target value and an actual value of a structure using image data of the environment recorded by the neuromorphic camera, and a provision unit which is configured to provide the control variable for the drive unit for image stabilization of at least one of the N cameras in

[0009] dependence of the specific angular error.

[0010] The neuromorphic camera can provide image data at a high frequency, for example, at 10 kHz. The image data provided by the neuromorphic camera at a high frequency is used for high-frequency measurement and provision of the angular error between the target value and the actual value of the structure, thus providing image stabilization. Due to the possibility of this high-frequency image stabilization based on the high-frequency image data provided by the neuromorphic camera, only very small deviations arise between the target value and the actual value of the structure. This provides high-quality image stabilization for the camera device without the necessary use of a gyroscope. The angular error can be determined with an accuracy of 50 yRad or less.

[0011] The structure is, for example, an object, such as an object, a cloud, or a tree, or a part of it or its border, or, for example, a line of sight of the neuromorphic camera. The neuromorphic camera is specifically aimed at a specific target object. In particular, the target value is determined from recorded image data, for example, from an average value of the image data assigned to the structure.

[0012] The present high control speed results in particular from the neuromorphic camera's ability to provide image data at a high frequency. As a detector, the neuromorphic camera has a high detection resolution due to its design and can therefore provide image data with increased temporal resolution. The neuromorphic camera is particularly configured to determine a center point and / or a pixel in the center of a received light beam at the sub-pixel level using suitable calculation methods, such as interpolation or correlation. This enables the angular error to be determined at the sub-pixel level, leading to increased accuracy.

[0013] In the present camera device, the previously used gyroscopes can be replaced and / or supplemented by a neuromorphic camera for image stabilization. When a platform, for example a tank, moves over terrain, the dynamic changes in position result in angular errors in the image. These changes in position or angular errors, which are conventionally detected by the gyroscope, are currently detected by the neuromorphic camera. The neuromorphic camera can compare the position of a structure in the field of view of the neuromorphic camera with the position of the structure in a previously recorded image and use this to calculate the angular error resulting from the change in position of the platform. To record this change in position, the neuromorphic camera can be placed in the recording device.In some embodiments, it is also possible to measure the position change at a location other than the recording device, and thus to arrange the neuromorphic camera externally of the recording device. The neuromorphic camera can thus also measure the position change of the platform, for example, if it is attached to the outside of the tank.

[0014] The neuromorphic camera is designed as an "event camera" or "silicon retina" or "dynamic vision sensor." A neuromorphic camera is an image sensor that responds to changes in the quantum flux (photon flux) of light from pixels. In particular, a neuromorphic camera is configured to detect a change in the quantum flux of each pixel in a detector matrix of the neuromorphic camera, preferably independently, and to report the change only when it is detected by the neuromorphic camera. A neuromorphic camera advantageously has no detection dead time when detecting received (coherent)

[0015] light rays, as they do not have an electronic or mechanical shutter speed in

[0016] Compared to conventional cameras, it can detect received light rays at any time. Furthermore, the neuromorphic camera is further advantageously designed because it has a low latency, for example, 1 ps (microsecond), which is significantly reduced compared to conventional cameras, which, for example, have a latency of over 16 ms (milliseconds) at refresh rates of 60 hertz per second.

[0017] The neuromorphic camera comprises, in particular, at least one detector chip. The detector chip is formed, for example, using silicon, quantum dots, and / or indium gallium arsenide (inGaAs). The neuromorphic camera preferably has an optical aperture and a detector matrix formed in an optical path of the neuromorphic camera. The optical aperture comprises, in particular, an aspheric lens, which is formed, in particular, as a metal lens or using a plurality of DOEs (Digital Optical Elements). An aspheric lens is, in particular, a lens with at least one refractive surface that deviates from a spherical or flat shape. The advantage of an aspheric lens is preferably the freely formable surface, due to which imaging errors can be reduced.This aspheric lens in the neuromorphic camera advantageously allows high spatial resolutions to be generated with a narrow field of view in the center of the detector matrix, and larger fields of view with lower spatial resolution to be generated in peripheral fields of view at the edge of the detector matrix.

[0018] The target object is, for example, an enemy tank, an enemy watercraft, or an enemy aircraft. However, the target object can also be any item or object, such as a tree or a cloud. The respective unit, for example the deployment unit, can be implemented in hardware and / or software. In a hardware implementation, the respective unit can be designed as a device or as part of a device, for example as a computer, as an FPGA (Field Programmable Gate Array), or as a microprocessor. In a software implementation, the respective unit can be designed as a computer program product, as a function, as a routine, as part of a program code, or as an executable object.

[0019] According to one embodiment, the supply unit is designed as a controller. The controller is configured to provide the control variable for the drive unit depending on the determined angular error such that the receiving device reduces or compensates for an actual angular error of the structure.

[0020] Due to the high frequency of the present image stabilization, which is achieved in particular by the high frequency of the image data provided by the neuromorphic camera, the control difference of the controller fluctuates only slightly and the image stabilization is correspondingly high quality.

[0021] According to a further embodiment, the N cameras, with N > 2, comprise a number M, with M > 1, of specific cameras in addition to the neuromorphic camera. The M specific cameras preferably comprise a daylight camera, an infrared camera, a thermal imaging camera and / or a UV camera. Alternatively or additionally, the camera device can also comprise a lidar. Preferably, the lidar is also mounted in or on the recording device so that the lidar can be adjusted by the drive unit. According to a further embodiment, the neuromorphic camera is accommodated in the recording device. In this embodiment, the recording device is configured at least to accommodate the neuromorphic camera and preferably additionally to accommodate at least one further one of the specific cameras.Thus, the recording device of this embodiment can align the neuromorphic camera and preferably the at least one further specific camera together in azimuth and / or elevation.

[0022] According to a further embodiment, N > 2, and the neuromorphic camera is arranged externally of the recording device. In this embodiment, at least one further specific camera is provided in addition to the neuromorphic camera. In this embodiment, the neuromorphic camera is arranged externally of the recording device, and the recording device accommodates at least one of the further M specific cameras.

[0023] According to a further embodiment, the mounting device accommodates the N cameras in such a way that the N cameras are mechanically coupled to one another. Due to this mechanical coupling, the N cameras are adjusted jointly and in the same way by the drive unit using the mounting device.

[0024] According to a further embodiment, the controller is configured to provide the control variable for the drive unit solely as a function of the angular error determined by the determination unit. This embodiment has the advantage that a gyroscope can be completely dispensed with. Thus, this embodiment of providing image stabilization exclusively based on the neuromorphic camera has the advantage of low cost and low weight. A further advantage is that, by omitting a gyroscope, the mechanical mounts need to be designed to be less rigid, which in turn can save costs and effort.

[0025] According to a further embodiment, the camera device comprises a gyroscope mechanically coupled to the recording device. The gyroscope is configured to provide a measured angular error of the structure, for example, between the target value and the actual value of the line of sight of the neuromorphic camera aimed at the specific target object.

[0026] According to a further embodiment, the controller is configured to provide the control variable for the drive unit as a function of the angular error determined by the determination unit and the angular error measured by the gyroscope, such that the recording device reduces or compensates for a real angular error of the structure, taking into account the angular error determined by the determination unit and the angular error measured by the gyroscope. In this embodiment, in addition to the neuromorphic camera, a gyroscope is used to determine the angular error between the target value and the actual value of the structure. Due to this redundant provision of the angular error, image stabilization can be performed even more precisely.Furthermore, compared to the conventional exclusive use of a gyroscope, in some embodiments, a cheaper gyroscope with potentially less precise provision of the angular error can be used, since this can be compensated for by the present determination of the angular error using the neuromorphic camera. The use of a gyroscope in addition to the neuromorphic camera also makes it possible to determine a spatial orientation.

[0027] According to a further embodiment, the determination unit is integrated into the neuromorphic camera. In such embodiments in which the neuromorphic camera itself can already assume the function of the determination unit, namely the determination of the angular error, no dedicated determination unit outside the neuromorphic camera is necessary.

[0028] According to a second aspect, a platform, in particular a military platform, with a camera device according to the first aspect or according to an embodiment of the first aspect is proposed.

[0029] According to one embodiment, the platform is designed as a stationary platform or as a carriage. The camera device can be part of a permanently installed, in particular immobile, weapon system. A permanently installed weapon system is designed, in particular, as a defense system, preferably a military defense system. The permanently installed weapon system can also have a plurality of camera devices, each of which is arranged at different positions or locations within the permanently installed weapon system.

[0030] According to a further embodiment, the platform is designed as a mobile platform. In embodiments, the mobile platform is designed as an unarmored vehicle, as an armored vehicle, in particular as a tracked vehicle such as a main battle tank or a wheeled armored vehicle, as a watercraft, in particular as a warship, as an amphibious vehicle, or as an aircraft, in particular as an airplane or a drone.

[0031] According to a further embodiment, the platform comprises a tube weapon with a weapon barrel and an actuator, as well as a control unit configured to control the actuator of the tube weapon to adjust the orientation of the tube weapon in azimuth and / or elevation depending on the control variable provided by the provision unit. The end of the tube weapon's barrel is connected in particular to a base of a weapon system or a vehicle, which may include the camera device. If the vehicle is designed as a battle tank, the base is designed in particular as a tank turret. A tube weapon is designed, for example, as a gun, in particular as a cannon of a battle tank, as a permanently installed tube weapon of the weapon system, or as a naval gun. The tube weapon preferably has a caliber of at least 20 millimeters.For example, a command center includes a fire control computer by means of which the gun can be operated or remotely controlled.

[0032] According to a further embodiment, the control unit is designed as a fire control computer, wherein the fire control computer targets the target taking the target trajectory into account and calculates the lead point. During the aiming process, this calculation is used to control the barrel weapon in such a way that the probability of hitting the targeted target is increased. An actuator is designed, in particular, as a motor for moving and / or adjusting the barrel weapon in azimuth and / or elevation. The motor is preferably controlled by the fire control computer.

[0033] Since the provided manipulated variable is a high-frequency indicator of the angular error between the target value and the actual value of the structure, the manipulated variable information can be advantageously used to adjust the azimuth and / or elevation orientation of the gun. Using the high-frequency manipulated variable as input information for adjusting the gun's orientation allows it to be aligned more precisely and quickly. This can increase the gun's hit probability, which in turn leads to increased efficiency in engaging a target object.

[0034] According to a further embodiment, the at least one neuromorphic camera is further configured to track the trajectory of the projectile fired by the barrel weapon. According to a further embodiment, the neuromorphic camera is arranged in an optical channel, in particular in a periscope, of a gunner for the barrel weapon, or at the base of the vehicle on an outer shell of the vehicle. The gunner is in particular the operator of the vehicle, in particular the operator of a control unit for controlling the barrel weapon of the vehicle.

[0035] According to a third aspect, a method for operating a camera device with a number N of cameras is proposed, comprising a neuromorphic camera, a recording device mounted for azimuth and elevation adjustment for mechanically recording at least one of the N cameras, and a drive unit coupled to the recording device and controllable by a control variable for aligning at least one of the N cameras in an environment. The method comprises the steps:

[0036] Determining an angular error between a target value and an actual value of a structure using image data of the environment captured by the neuromorphic camera, and

[0037] Providing the control variable for the drive unit for image stabilization of at least one of the N cameras depending on the determined angular error.

[0038] Preferably, the drive unit is controlled by means of the provided control variable in such a way that the receiving device reduces or compensates for a real angular error of the structure.

[0039] The embodiments and features described for the proposed camera device according to the first aspect apply accordingly to the proposed method according to the third aspect. According to a fourth aspect, a computer program product is proposed, comprising instructions that, when executed by a computer, cause the computer to execute the method according to the third aspect.

[0040] A computer program product, such as a computer program means, can be provided or delivered, for example, as a storage medium, such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file from a server in a network. This can be done, for example, in a wireless communications network by transmitting a corresponding file with the computer program product or the computer program means.

[0041] Further possible implementations of the invention also include combinations of features or embodiments described above or below with respect to the exemplary embodiments not explicitly mentioned. In this case, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

[0042] Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below. The invention will be explained in more detail below using preferred embodiments with reference to the accompanying figures.

[0043] Fig. 1 shows a schematic block diagram of a first embodiment of a camera device with image stabilization; Fig. 2 shows a schematic block diagram of a second embodiment of a camera device with image stabilization;

[0044] Fig. 3 shows a schematic block diagram of a third embodiment of a camera device with image stabilization;

[0045] Fig. 4 shows a schematic block diagram of an embodiment of a platform with a camera device with image stabilization; and

[0046] Fig. 5 shows a schematic flow diagram of an embodiment of a method for operating a camera device.

[0047] In the figures, identical or functionally identical elements have been provided with the same reference numerals unless otherwise stated.

[0048] Fig. 1 shows a schematic block diagram of a first exemplary embodiment of a camera device 1 with image stabilization. The camera device 1 has a number N, where N > 1, of cameras, including a neuromorphic camera 2. The neuromorphic camera 2 is configured to record a structure. In the exemplary embodiments of the figures, the line of sight of the neuromorphic camera forms an example of the structure.

[0049] Without loss of generality, N = 1 in Fig. 1. The camera device 1 can also be referred to as a camera arrangement or camera platform. The line of sight of the neuromorphic camera 2 can be aligned with a target object ZO. The target object ZO is, for example, an enemy vehicle, such as an enemy tank. However, the target object ZO can also be any object, such as a tree or a person. The target value SW of the line of sight and the actual value IW of the line of sight can differ, for example due to mechanical vibrations. The deviation between the target value SW and the actual value IW of the line of sight can also be referred to as the angular error WF. The real angular error between the target value SW and the actual value IW of the line of sight in the embodiment according to Fig. 1 is referenced by the reference symbol WF.The target value of the line of sight is referenced by the reference symbol SF and the actual value IW of the line of sight is referenced by the reference symbol IW.

[0050] The camera device 1 is used, for example, on a platform 10 (see Fig. 4). The platform 10 is, for example, a stationary platform, such as a gun carriage. However, the platform 10 can also be designed as a mobile platform. The mobile platform 10 is, for example, an unarmored vehicle, an armored vehicle, in particular a tracked vehicle such as a main battle tank or a wheeled armored vehicle, a watercraft, in particular a warship, an amphibious vehicle, or an aircraft, such as an airplane or a drone.

[0051] The camera device 1 further comprises a recording device 4 which is mounted so as to be directionally adjustable in azimuth and elevation for mechanically recording at least one of the N cameras 2. As illustrated in Fig. 1, the mechanical recording device 4 is mounted so as to be directionally adjustable in azimuth and / or elevation via a joint 5 or another adjustment device.

[0052] Furthermore, the camera device 1 comprises a recording

[0053] A drive unit 6 coupled to the device 4 and controllable by a control variable SG is provided for aligning at least one of the N cameras 2 or all cameras 2 in an environment, for example, to a specific target object ZO. The drive unit 6 comprises, for example, a motor and a gear connected to the motor (not shown).

[0054] Via the joint 5, the drive unit 6 controls the alignment of the recording device 4 and the neuromorphic camera 2 accommodated in the recording device 4 in azimuth and / or elevation.

[0055] A determination unit 7 and a provision unit 8 are coupled between the neuromorphic camera 2 and the drive unit 6. The determination unit 7 is configured to determine an angular error WF1 between the target value SW and the actual value IW of the structure, for example, the line of sight of the neuromorphic camera 2 aligned with the specific target object ZO, using image data BD recorded by the neuromorphic camera 2. In embodiments, the determination unit 7 is also integrated into the neuromorphic camera 2.

[0056] As explained above, the angular error WF1 is the angular error between the target value SW and the actual value IW of the structure, for example the line of sight, determined by the determination unit 7 using the image data BD of the neuromorphic camera 2 and ideally corresponds to the real angular error WF.

[0057] Based on the image data BD of the environment recorded by the neuromorphic camera 2, the determination unit 7 calculates the angular error WF1—as an analog or digital signal—and provides the calculated angular error WF1 to the provision unit 8. The provision unit 8 is configured to provide the manipulated variable SG for the drive unit 6 for image stabilization of the neuromorphic camera 2, for example, the neuromorphic camera 2 aimed at the specific target object ZO, depending on the determined angular error WF1.

[0058] The image data BD provided by the neuromorphic camera at a high frequency of, for example, 10 kHz is used to provide the angular error WF 1 between the target value SW and the actual value IW of the structure, for example, the line of sight, and thus for image stabilization. Due to the possibility of this high-frequency image stabilization based on the high-frequency image data BD provided by the neuromorphic camera 2, only very small deviations result, even in the field when using the camera device 1 on a tank, for example.

[0059] The supply unit 8 is designed, for example, as a controller. The controller 8 is configured, in particular, to provide the manipulated variable SG for the drive unit 6 as a function of the determined angular error WF1 such that the receiving device 4 reduces or compensates for the actual angular error WF of the structure, for example, the line of sight.

[0060] In embodiments, the controller 8 is configured to provide the manipulated variable SG for the drive unit 6 exclusively as a function of the angular error WF1 determined by the determination unit 7. This embodiment has the advantage that no gyroscope is required. Consequently, this embodiment of providing image stabilization exclusively based on the neuromorphic camera 2 has the advantage of lower costs and lower weight. A further advantage is that by omitting a gyroscope, the mechanical mounts need to be designed to be less rigid, which in turn can save costs and effort.

[0061] Fig. 2 shows a schematic block diagram of a second embodiment of a camera device 1 with image stabilization. The second embodiment according to Fig. 2 is based on the first embodiment according to Fig. 1 and differs from it in that the camera device 1 according to Fig. 2 has, in addition to the neuromorphic camera 2, a number M, with M > 1, of specific cameras 3. Without restricting generality, the camera device 1 according to Fig. 2 has a specific camera 3. The specific camera 3 is, for example, a daylight camera, an infrared camera, a thermal imaging camera, or a UV camera. Alternatively or additionally, the camera device 1 can also comprise a lidar (light detection and ranging).

[0062] The recording device 4 of Fig. 2 is designed such that it accommodates the cameras 2, 3 in such a way that they are mechanically coupled to one another. Through this mechanical coupling of the cameras 2 and 3, they are aligned together in azimuth and / or elevation with the mechanical recording device 4. In other words, the drive unit 6 of Fig. 2 is configured to align the recording device 4 and the cameras 2, 3 accommodated therein, as shown in Fig. 2, depending on the currently applied manipulated variable SG, with the schematically illustrated target object ZO. In the embodiment according to Fig. 2, the neuromorphic camera 2 is accommodated in the recording device 4. In alternative embodiments, the neuromorphic camera 2 can also be arranged externally of the recording device 4, and the recording device 4 then only records the M specific cameras 3 (not shown).

[0063] Fig. 3 shows a schematic block diagram of a third embodiment of a camera device 1 with image stabilization. The third embodiment according to Fig. 3 is based on the second embodiment according to Fig. 2 and has all its features. In addition, the camera device 1 according to Fig. 3 has a gyroscope 9 mechanically coupled to the recording device 4. The gyroscope 9 is configured to provide an angular error WF2, measured based on an inertia-based measurement, between the desired value SW and the actual value IW of the structure, for example the line of sight of the neuromorphic camera 2 aimed at the specific target object ZO.

[0064] Consequently, in Fig. 3, both the neuromorphic camera 2 and the gyroscope 9 are used to determine a respective angular error WF1 or WF2. This allows the controller 8 of Fig. 3 to calculate the manipulated variable SG for the drive unit 6 as a function of the angular error WF1 determined by the determination unit 7 and as a function of the angular error WF2 measured by the gyroscope 9. In particular, the recording device 4 can then reduce or compensate for a real angular error WF by taking into account the determined angular error WF1 and the measured angular error WF2. This allows the image stabilization in the embodiment according to Fig. 3 to be carried out even more precisely.

[0065] Fig. 4 shows a schematic block diagram of an embodiment of a platform 10 with a camera device 1 with image stabilization. The camera device 1 according to Fig. 4 corresponds to the camera device 1 according to Fig. 3. Alternatively or additionally, the platform 10 can also include the camera device 1 according to Fig. 1 and / or the camera device 1 according to Fig. 2. The platform 10 can also have a plurality of camera devices 1, such as those according to Fig. 1, Fig. 2 and / or Fig. 3.

[0066] The platform 10 is designed, for example, as a mobile platform or as a stationary platform or as a gun carriage. The mobile platform 10 can be designed as an unarmored vehicle, as an armored vehicle, in particular as a tracked vehicle such as a main battle tank or a wheeled armored vehicle, as a watercraft, in particular as a warship, as an amphibious vehicle, or as an aircraft, in particular as an airplane or as a drone. The platform 10 has, for example, a gun barrel with a gun barrel and an actuator, as well as a control unit. The control unit is configured to control the actuator of the gun barrel to adjust the orientation of the gun barrel in azimuth and / or elevation depending on the manipulated variable SG provided by the provision unit 8.

[0067] Fig. 5 shows a schematic flow diagram of an embodiment of a method for operating a camera device 1. The camera device 1 comprises a number N, with N > 1, of cameras 2, 3 comprising a neuromorphic camera 2, a recording device 4 mounted in azimuth and elevation and directional for mechanically recording at least one of the N cameras 2, 3, and a drive unit 6 coupled to the recording device 4 and controllable by a manipulated variable SG for aligning at least one of the N cameras 2, 3 in an environment, for example, to a specific target object ZO. Embodiments of such a camera device 1 are shown in Figs. 1 to 3. The method according to Fig. 5 comprises the following steps S1 to S3:

[0068] In step S1, an angular error WF1 between a target value SW and an actual value IW of a structure, for example a line of sight of the neuromorphic camera 2 aimed at the specific target object ZO, is determined using image data BD of the environment recorded by the neuromorphic camera 2.

[0069] In step S2, the control variable SG for the drive unit 6 for image stabilization of at least one of the N cameras 2, 3, for example the neuromorphic camera 2 aimed at the specific target object ZO, is provided as a function of the specific angular error WF1.

[0070] In step S3, the drive unit 6 is controlled by means of the provided control variable

[0071] SG is controlled in such a way that the recording device 4 reduces or compensates for a real angular error WF of the structure, for example the line of sight of the neuromorphic camera 2.

[0072] Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

[0073] LIST OF REFERENCE SYMBOLS

[0074] 1 camera device

[0075] 2 neuromorphic camera

[0076] 3 Camera

[0077] 4 Recording device

[0078] 5 joint

[0079] 6 Drive unit

[0080] 7 Determination unit

[0081] 8 Provisioning Unit

[0082] 9 Gyroscope

[0083] 10 Platform

[0084] BD image data

[0085] IW actual value of the line of sight

[0086] 51 process step

[0087] 52 process steps

[0088] 53 Process step

[0089] SG manipulated variable

[0090] SW Target value of the line of sight

[0091] WF real angle error

[0092] WF1 angular error (provided by neuromorphic camera)

[0093] WF2 angular error (provided by gyroscope)

[0094] ZO target object

Claims

PATENT CLAIMS 1. A camera device (1) with image stabilization, comprising a number N of cameras (2, 3) comprising a neuromorphic camera (2), with N > 1, a recording device (4) mounted so as to be directional in azimuth and elevation for mechanically recording at least one of the N cameras (2, 3), a drive unit (6) coupled to the recording device (4) and controllable by a control variable (SG) for aligning at least one of the N cameras (2, 3) in an environment, a determination unit (7) for determining an angular error (WF1) between a target value (SW) and an actual value (IW) of a structure using image data (BD) of the environment recorded by the neuromorphic camera (2), and a provision unit (8) which is configured to provide the control variable (SG) for the drive unit (6) for image stabilization of at least one of the N cameras (2, 3) as a function of the determined angular error (WF1). to provide.

2. Camera device according to claim 1, characterized in that the provision unit (8) is designed as a controller which is set up to provide the manipulated variable (SG) for the drive unit (6) as a function of the determined angular error (WF1) in such a way that the recording device (4) reduces or compensates for a real angular error (WF) of the structure.

3. Camera device according to claim 1 or 2, characterized in that that the N cameras (2, 3), with N > 2, comprise, in addition to the neuromorphic camera (2), a number M, with M > 1, of specific cameras (3), wherein the M specific cameras (3) comprise a day vision camera, an infrared camera, a thermal imaging camera and / or a UV camera.

4. Camera device according to one of claims 1 to 3, characterized in that the neuromorphic camera (2) is accommodated in the recording device (4).

5. Camera device according to one of claims 1 to 3, characterized in that N > 2 and the neuromorphic camera (2) is arranged externally of the recording device (4).

6. Camera device according to one of claims 1 to 5, characterized by a gyroscope (9) mechanically coupled to the recording device (4), which is designed to provide a measured angular error (WF2) between the desired value (SW) and the actual value (IW) of the structure.

7. Camera device according to claims 2 and 6, characterized in that the controller (8) is designed to provide the manipulated variable (SG) for the drive unit (6) as a function of the angular error (WF1) determined by the determination unit (7) and the angular error (WF2) measured by the gyroscope (9) in such a way that the recording device (4) reduces or compensates for a real angular error (WF) taking into account the determined angular error (WF1) and the measured angular error (WF2).

8. Camera device according to one of claims 1 to 7, characterized in that the determination unit (7) is integrated in the neuromorphic camera (2).

9. Platform (10) with a camera device (1) according to one of claims 1 to 8.

10. Platform according to claim 9, characterized in that the platform (10) is designed as a mobile platform or as a stationary platform or as a carriage.

11. Platform according to claim 10, characterized in that the platform is designed as a mobile platform (10) which is designed as an unarmored vehicle, as an armored vehicle or as a tracked vehicle, or a battle tank or a wheeled armored vehicle, as a watercraft, or as a warship, as an amphibious vehicle, or as an aircraft, or as an airplane or as a drone.

12. Platform according to claim 10 or 11, characterized by a tube weapon with a weapon barrel and an actuator and a control unit which is designed to control the actuator of the tube weapon for adjusting the orientation of the tube weapon in azimuth and / or elevation as a function of the control variable (SG) provided by the provision unit (8).

13. Method for operating a camera device (1) with a number N of cameras (2, 3) comprising a neuromorphic camera (2), a camera (3) which is adjustable in azimuth and Elevation-directed recording device (4) for mechanically recording at least one of the N cameras (2, 3) and a drive unit (6) coupled to the recording device (4) and controllable by a control variable (SG) for aligning at least one of the N cameras (2, 3) in an environment, with: Determining (Sl) an angle error (WF1) between a target value (SW) and an actual value (IW) of a structure using image data (BD) of the environment recorded by the neuromorphic camera (2), and Providing (S2) the control variable (SG) for the drive unit (6) for image stabilization of at least one of the N cameras (2, 3) as a function of the determined angular error (WF1).

14. Method according to claim 13, characterized by Controlling (S3) the drive unit (6) by means of the provided manipulated variable (SG) such that the receiving device (4) reduces or compensates for a real angular error (WF) of the structure.

15. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to claim 13 or 14.

Images