Universal joint apparatus for imaging, universal joint image pickup apparatus, and control method

Abstract

[Problem] To prevent an imaging beam from being blocked by a gimbal structure without requiring a user operation or interrupting imaging. [Solution] A universal joint device (200) is provided with a main body section (110), a first drive member (131) that rotates a first support section (141) about a first axis with respect to the main body section, and a second drive member (132) that rotates a second support section (142) that supports an image forming unit (120) about a second axis that is orthogonal to the first axis with respect to the first support section. And a third drive member (133) that rotates the image forming unit about a third axis orthogonal to the first axis and the second axis with respect to the second support portion. In a case where a rotation angle ([theta] 3) from a second-axis orthogonal plane (132a) toward the second driving member becomes higher than a predetermined angle during imaging by the imaging unit, a control member (230) drives the first driving member such that the second driving member rotates to an opposite position with respect to the second-axis orthogonal plane while the imaging unit continues to perform imaging, and controls the second driving member to rotate to an opposite position with respect to the second-axis orthogonal plane. And drives the third driving member such that a rotation angle from the second axis orthogonal plane to an opposite side of the second driving member with respect to the opposite position is a predetermined angle.

Description

Technical Field

[0001] The present invention relates to a gimbal device for imaging having a gimbal mechanism. Background Art

[0002] Patent Document 1 discloses a gimbal device that uses a gimbal mechanism serving as a three-axis rotation mechanism to stabilize the posture (orientation) of an imaging device. This gimbal device prevents the imaging light beam from being blocked by the gimbal structure connecting the pitch and roll axes as the rotation angle (pitch angle) about the pitch axis closest to the imaging device increases, thereby enabling the roll and yaw axes to be reversed.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2022-65624 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, the gimbal apparatus disclosed in Patent Document 1 requires the user to stop imaging and manually reverse the roll axis and the yaw axis if the pitch angle increases during imaging.

[0008] An object of the present invention is to provide a gimbal device that can prevent an imaging light beam from being blocked by a gimbal structure without requiring manual operation by a user or interruption of imaging.

[0009] Solutions for solving problems

[0010] According to one aspect of the present invention, a universal joint device includes: a main body; a first driving component, which is configured to rotate the first supporting component relative to the main body around a first axis; a second driving component, which is configured to rotate the second supporting component supporting the imaging unit relative to the first supporting component around a second axis orthogonal to the first axis; a third driving component, which is configured to rotate the imaging unit relative to the second supporting component around a third axis orthogonal to the first axis and the second axis; a detection component, which is configured to detect a rotation angle around the third axis formed by the optical axis of the imaging unit relative to a second axis orthogonal plane orthogonal to the second axis and including the third axis; and a control component, which is configured to control the first driving component, the second driving component and the third driving component when executing an instruction. If the rotation angle from the second axis-orthogonal plane toward the second drive member becomes higher than a predetermined angle during imaging by the imaging unit, the control unit is configured to: drive the first drive member so that the second drive member rotates to an opposite position relative to the second axis-orthogonal plane, and drive the third drive member so that the rotation angle from the second axis-orthogonal plane toward the opposite side of the second drive member in the opposite position becomes the predetermined angle, while the imaging unit continues imaging. A gimbal camera apparatus having the above-described gimbal apparatus and imaging unit also constitutes another aspect of the present invention.

[0011] According to a control method for a universal joint device according to another aspect of the present invention, the universal joint device includes: a main body; a first driving component, which is configured to rotate a first supporting component relative to the main body around a first axis; a second driving component, which is configured to rotate a second supporting component supporting an imaging unit relative to the first supporting component around a second axis orthogonal to the first axis; and a third driving component, which is configured to rotate the imaging unit relative to the second supporting component around a third axis orthogonal to the first axis and the second axis, the control method includes: detecting a rotation angle around the third axis formed by an optical axis of the imaging unit relative to a second axis orthogonal plane orthogonal to the second axis and including the third axis; and controlling the first driving component, the second driving component and the third driving component. During imaging by the imaging unit, if the rotation angle from the second axis-orthogonal plane toward the second driving member becomes higher than a predetermined angle, the control includes: driving the first driving member so that the second driving member rotates to an opposite position relative to the second axis-orthogonal plane, and driving the third driving member so that the rotation angle from the second axis-orthogonal plane toward the opposite side of the second driving member in the opposite position becomes the predetermined angle, while the imaging unit continues imaging. A program that causes a computer to execute the above-described control method also constitutes another aspect of the present invention.

[0012] Effects of the Invention

[0013] The present invention can provide a gimbal device that can prevent an imaging light beam from being blocked by a gimbal structure (second driving component) without requiring manual operation by a user or interruption of imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a diagram showing the configuration of a gimbal camera according to this embodiment.

[0015] Figure 2 is a diagram showing the appearance of a gimbal camera.

[0016] Figure 3 It is explained that when the third axis rotation angle θ3 exceeds the threshold θ 30 FIG operation of the case.

[0017] Figure 4 It is a diagram explaining the operation change depending on the view angle information.

[0018] Figure 5 is a diagram explaining vertical inversion of the movable unit when inverted about the first axis.

[0019] Figure 6 1 is a diagram for explaining a vertical inversion recording operation in a case where a vertical posture inversion is detected.

[0020] Figure 7 It is a diagram explaining an operation of connecting and recording images before and after a rotation operation.

[0021] Figure 8 is a flowchart illustrating processing performed by a gimbal camera.

[0022] Figure 9 1 is a diagram explaining the obstruction of an imaging light beam in the related art. DETAILED DESCRIPTION

[0023] Referring now to the drawings, a description will be given of embodiments according to the present invention.

[0024] (First embodiment)

[0025] Figure 1The configuration of a gimbal camera (gimbal camera device) according to the first embodiment is shown. The gimbal camera includes a gimbal device 200 and a movable unit 120. The movable unit 120 is an imaging unit, which includes a camera 300 that performs imaging and a lens unit 400 that accommodates an optical system, and the gimbal device 200 movably (rotatably) supports the movable unit 120. The gimbal device 200, the camera 300, and the lens unit 400 can be integrated with each other or can be attached and detachable to each other. The gimbal device can support a general (universal) lens-interchangeable single-lens reflex or mirrorless camera, a lens-integrated camera, or a smartphone with a camera function, etc., as an imaging unit.

[0026] The gimbal device 200 includes a gimbal unit 210 configured to change the posture of the movable unit 120 about three mutually orthogonal rotation center axes described later, a gimbal drive unit 220 configured to drive the gimbal unit 210, and a rotation control unit 230 configured to control the gimbal drive unit 220. The rotation control unit 230, serving as a control unit, controls the gimbal drive unit 220, thereby achieving image stabilization drive and panning drive of the movable unit 120. The gimbal unit 210 and the gimbal drive unit 220 constitute a rotation unit.

[0027] The gimbal device 200 further includes a rotation angle detector (detection component) 211, a user input unit 240, a recorder 250, and a display unit 260. Figure 3 As shown in (a) and (b), the rotation angle detector 211 detects the third axis rotation angle θ3, which is the angle between the plane 132a (hereinafter referred to as the second axis orthogonal plane) that is orthogonal to the second axis A2 and includes the third axis A3 and the optical axis 400a of the optical system in the lens unit 400.

[0028] The rotation control unit 230 receives user input from the user input unit 240, which can be operated by the user. This user input is reflected in the control of the gimbal unit 210. The rotation control unit 230 communicates with the imaging control unit 320 of the camera 300, receives images (video) acquired through imaging, and records the images in the recorder 250. The recorder 250 also stores angle of view information and threshold information associated with the angle of view information, which will be described later.

[0029] The display unit 260 displays an image input via the rotation control unit 230 as a processing unit. The rotation control unit 230 is electrically connected to the imaging control unit 320 and the lens control unit 430 in the lens unit 400, and receives various states and setting conditions of the gimbal device 200, the camera 300, and the lens unit 400, and displays them on the display unit 260.

[0030] The camera 300 includes an image sensor 310 configured to photoelectrically convert (capture) an optical image formed by the optical system in the lens unit 400, an imaging control unit 320 configured to control the image sensor 310, and a vibration detector 330 configured to detect vibration (angular velocity and acceleration) of the movable unit 120. The vibration detector 330, as a determining component, has a function of determining the vertical posture of the movable unit 120 by detecting the direction of gravitational acceleration. The imaging control unit 320 is electrically connected to the rotation control unit 230 described above and transmits camera information, including an image acquired based on the output signal from the image sensor 310, to the rotation control unit 230. The imaging control unit 320 is also electrically connected to the lens control unit 430 and communicates various information with the lens control unit 430.

[0031] Although not shown, an image stabilization mechanism that shifts the image sensor 310 in a direction orthogonal to the optical axis 400 a to perform an image stabilization operation may be provided in the camera 300 .

[0032] The optical system in the lens unit 400 includes a plurality of optical elements, such as a zoom lens 411, a focus lens 410, and an aperture stop (not shown). The lens unit 400 includes an angle of view changer 421 that drives the zoom lens 411 in the direction in which the optical axis 400a extends (the optical axis direction), and an angle of view information acquisition unit 422 that acquires angle of view information of the optical system based on the position of the zoom lens 411. The lens unit 400 also includes a focus drive unit 420 configured to drive the focus lens 410, and a lens control unit 430 configured to control the angle of view changer 421 and the focus drive unit 420.

[0033] The gimbal camera according to the present embodiment further includes a microphone (not shown) provided in any of the gimbal device 200 , the camera 300 , and the lens unit 400 , and can acquire audio.

[0034] Figure 2 (a) and (b) show the appearance of the gimbal camera 100 according to this embodiment. The gimbal device 200 includes a grip portion 110 as a main body portion to be held by a user. The grip portion 110 accommodates Figure 1 The rotation control unit 230 and the recorder 250 shown, and although Figure 2 (a) and (b) are not shown, but Figure 1 The user input unit 240 and the display unit 260 are shown disposed on an outer surface of the grip portion 110 .

[0035] The movable unit 120 includes a connection pipe 121 rotatably connected to a third-axis rotator 133 (described later) and a movable pipe 122 that can move (advance and retract) in the optical axis direction relative to the connection pipe 121 . Figure 1 The camera 300 is shown housed in the connecting tube 121. The movable tube 122 is arranged according to Figure 1 The change in zoom state of the lens unit 400 is shown as moving forward and backward relative to the connection tube 121 .

[0036] As described above, the gimbal device rotates the movable unit 120 around three rotation center axes. The gimbal device 200 includes a first arm (first support portion) 141, a second arm (second support portion) 142, a first axis rotator (first axis rotation drive unit) (first drive component) 131, a second axis rotator (second axis rotation drive unit) (second drive component) 132, and a third axis rotator (third axis rotation drive unit) (third drive component) 133, each of which is a gimbal structure. The first arm 141 connects the first axis rotator 131 and the second axis rotator 132, and the second arm 142 connects the second axis rotator 132 and the third axis rotator 133. The first axis rotator 131 rotates (pans) the first arm 141 (i.e., the movable unit 120) around the y-axis relative to the grip portion 110. The second axis rotator 132 rotates (pitches) the second arm 142 (i.e., the movable unit 120) around the z-axis relative to the first arm 141. The third axis rotator 133 drives the movable unit 120 to rotate (roll) around the x-axis relative to the second arm 142. The movable unit 120 can be tilted around three axes relative to the grip 110 by being connected to the grip 110 via the first to third axis rotators 131 to 133.

[0037] The first to third shaft rotators 131 to 133 constitute Figure 1 The gimbal drive unit 220 is shown, and the first arm 141 and the second arm 142 constitute the gimbal unit 210.

[0038] Already used here Figure 2 The x-axis, y-axis, and z-axis in (a) and (b) of FIG. 1 describe the rotation center axes of pan, pitch, and roll. However, the rotation center axes of pan, pitch, and roll vary depending on the posture of the movable unit 120, for example, because when the movable unit 120 moves from Figure 2 When the postures shown in (a) and (b) are rotated 90 degrees in the roll direction, the axis of the third axis rotating device 133 becomes the y-axis.

[0039] Next, the image stabilization operation of the gimbal camera 100 according to this embodiment will be described. The gimbal camera 100 tilts due to the tilt of the user's hand holding the grip 110. It also vibrates due to vibrations in the holding hand itself (hand vibration) and user movements such as walking. Consequently, images captured by the camera 300 may tilt and vibrate.

[0040] Therefore, this embodiment controls the spatial posture of the movable unit 120 by rotating the first-axis rotator 131 to the third-axis rotator 133, stabilizing the image captured by the camera 300 at a certain tilt and reducing image blur. For example, this embodiment controls the image so that it is always horizontal regardless of the tilt of the user's hand, and controls the image to be captured with less image blur regardless of the presence or absence of vibration. The operation of suppressing this tilt and image blur is referred to as image stabilization.

[0041] In addition to the image stabilization operation by the first to third axis rotators 131 to 133 , the image stabilization operation may be performed by driving the focus lens 410 using the focus driving unit 420 or by shifting the image sensor 310 in the above-described camera 300 .

[0042] Now, description will be given of the panning operation, the tilting operation, and the rolling operation in the gimbal camera 100 according to this embodiment. In the case where the above-mentioned user input indicates the panning operation, Figure 1 The rotation control unit 230 shown drives the first axis rotator 131. Therefore, the spatial posture (rotational position) of the camera 300 can be changed in the pan direction, and the imaging angle of view of the camera 300 is changed in the pan direction. In the case where the user input indicates a pitch operation, the rotation control unit 230 drives the third axis rotator 133. Therefore, the spatial posture of the camera 300 can be changed in the pitch direction, and the imaging angle of view of the camera 300 is changed in the pitch direction. In the case where the user input indicates a roll operation, the rotation control unit 230 drives the second axis rotator 132. Therefore, the spatial posture of the camera 300 can be changed in the roll direction, and the imaging angle of the camera 300 is changed in the roll direction.

[0043] The rotation control unit 230 can also control the driving of the first axis rotator 131 to the third axis rotator 133 to change the posture of the camera 300 in the pan, pitch and roll directions, and track a specific subject (e.g., a moving object, etc.) in the image captured by the camera 300.

[0044] Now refer to Figure 9 (a) to (d) will be described the occlusion of the imaging light beam that occurs in a conventional gimbal camera. Figure 9(a), (b), (c) and (d) show a conventional gimbal camera viewed from the -x direction. Those elements that are the corresponding elements in the conventional gimbal camera will be replaced by the same elements as those in the conventional gimbal camera. Figure 2 The same reference numerals as in (a) and (b) are used to represent the same reference numerals.

[0045] Figure 9 (a) shows a state in which the movable unit 120 in a conventional gimbal camera faces the +z direction. The optical axis 400a in the lens unit 400 extends in the +z direction. A1, A2, and A3 respectively represent the first axis, the second axis, and the third axis as the rotation center axes of the first axis rotator 131, the second axis rotator 132, and the third axis rotator 133. The imaging light beam 500 is incident on the optical system in the lens unit 400. Figure 9 In the state shown in (a), the imaging light beam 500 is not blocked.

[0046] Figure 9 (b) shows that the movable unit 120 has been moved from Figure 9 The state shown in (a) is a state in which the camera 300 is rotated clockwise by more than 90° about the third axis A3 (x-axis). In this state, a portion 502 of the imaging light beam 500 is blocked by the second axis rotator 132. As a result, the second axis rotator 132 appears in the image captured by the camera 300, and the image quality is degraded.

[0047] Therefore, in a conventional gimbal camera, the user would temporarily pause imaging and move the first axis rotator 131 from Figure 9 The state shown in (b) is turned to Figure 9 The state shown in (c) is to reverse (reversely rotate) the movable unit 120. In addition, as Figure 9 As shown in (d), the third axis rotator 133 is rotated until the orientation of the movable unit 120 becomes consistent with Figure 9 (b) shows the same orientation. These operations must be performed by the gimbal camera through user input, which is arduous for the user. In addition, imaging will be suspended.

[0048] Now refer to Figure 3 (a) to (d) of FIG. 1 , a description will be given of the operation of the gimbal camera 100 according to this embodiment. Figure 3 (a) to (d) show the gimbal camera 100 according to this embodiment when viewed from the −x direction.

[0049] Figure 3 (a) shows a state in which the movable unit 120 of the gimbal camera 100 faces the +z direction. The optical axis 400a in the lens unit 400 extends in the +z direction. Figure 9As in (a), A1, A2, and A3 respectively represent the first axis, the second axis, and the third axis which are the rotation center axes of the first axis rotator 131, the second axis rotator 132, and the third axis rotator 133. The imaging light beam 500 is incident on the optical system in the lens unit 400. Figure 3 In the state (a), the imaging beam 500 is not blocked. In addition, the display unit 260 is provided on the outer surface of the grip portion 110. Figure 3 In (a) to (d), the display unit 260 faces the -z direction. Figure 3 In the state (a), the imaging light beam 500 is not blocked.

[0050] Figure 3 (b) shows that the Figure 3 In the state (a), the third axis rotator 133 is driven to rotate the movable unit 120 clockwise about the third axis A3 by more than 90 degrees. In this embodiment, the rotation angle of the optical axis 400a about the third axis A3 relative to the second axis-orthogonal plane 132a, which is orthogonal to the second axis A2 as the rotation center axis of the second axis rotator 132 and includes the third axis A3, will be referred to as the third axis rotation angle θ3. Figure 3 (b) shows that the third axis rotation angle θ3 has reached the threshold value θ 30 state, the threshold θ 30 It is a predetermined angle from the second axis-orthogonal plane 132a toward the second axis rotor side (second driving member side).

[0051] In this way, the third axis rotation angle θ3 reaches the threshold value θ 30 In the case of Figure 3 As shown in (c) of FIG. 1 , the rotation control unit 230 rotates the first axis rotator 131 around the first axis A1 to reverse the movable unit 120. Therefore, the second axis rotator 132 moves to the second axis orthogonal plane 132a (third axis A3) with respect to the second axis orthogonal plane 132a. Figure 3 The position is the opposite of the position in the state (b).

[0052] like Figure 3 As shown in (d), the rotation control unit 230 causes the third axis rotator 133 to rotate from Figure 3 The state (c) is rotated 2×θ around the third axis A3 30 , so that the third axis rotation angle θ3 is θ on the side opposite to the second axis rotator 132 located at the opposite position with respect to the second axis orthogonal plane 132a. 30 Therefore, the posture of the movable unit 120 can be Figure 3 The posture of (b) is the same. Since the second shaft rotating device 132 is Figure 3 The position of the state (d) is Figure 3The position in the state (b) is opposite to the second axis orthogonal plane 132a, so the movable unit 120 can further rotate in the clockwise direction around the third axis A3 without blocking the imaging beam 500.

[0053] In the gimbal camera 100 according to this embodiment, the rotation control unit 230 automatically performs rotation from Figure 3 (b) state to Figure 3 The state of (c) then goes to Figure 3 The series of operations of the state (d) of FIG. 1 are performed without requiring user input. Therefore, the user can focus on imaging without worrying about the blocking of the imaging beam 500 by the second axis rotator 132.

[0054] Therefore, when the third axis rotation angle θ3 becomes higher than the threshold value θ 30 In the case of the rotation control unit 230, the first axis rotator 131 is driven so that the second axis rotator 132 is rotated to the opposite position, and the third axis rotator 133 is driven 2×θ in the opposite side of the second axis rotator 132. 30 Therefore, it is possible to avoid blocking of the imaging light beam 500 by the second shaft rotator 132 without requiring the user to perform laborious input operations or interrupting imaging.

[0055] The gimbal camera 100 according to this embodiment changes the threshold value of the third axis rotation angle θ3 based on the viewing angle information of the lens unit 400. Figure 4 (a) to (d) of the discussion. Figure 4 (a) to (d) also show the gimbal camera 100 according to this embodiment viewed from the −x direction. Figure 4 (a) to (d) show that the angle of view of the lens unit 400 on the telephoto side is larger than that on the Figure 3 (a) to (d) are states where the viewing angle is narrow.

[0056] Figure 4 (a) shows a state where the movable unit 120 faces the +z direction. Figure 3 In (a), the imaging light beam 500 is incident on the lens unit 400 at a narrow viewing angle. Figure 4 In (a), the imaging beam 501 is not blocked.

[0057] Figure 4 (b) shows that the Figure 4 The state in (a) drives the third axis rotator 133 to rotate the movable unit 120 around the third axis A3 (x axis) in the clockwise direction by more than 90 degrees. Figure 4In (b), the angle formed by the optical axis 400a about the third axis A3 with respect to the second axis-orthogonal plane 132a which is orthogonal to the second axis A2 of the second axis rotator 132 and includes the third axis A3 will be referred to as a third axis rotation angle θ3. Figure 4 (b) shows that the third axis rotation angle θ3 has reached the threshold value θ 31 state, the threshold θ 31 The threshold value θ is a predetermined value from the second axis orthogonal plane 132a toward the second axis rotor side. 31 Greater than the threshold θ 30 .

[0058] In this way, the third axis rotation angle θ3 has reached the threshold value θ 31 In the case of Figure 4 As shown in (c), the rotation control unit 230 rotates the first axis rotator 131 around the first axis A1 to reverse the movable unit 120. Therefore, the second axis rotator 132 moves to the position corresponding to the third axis A3. Figure 4 The position is the opposite of the position in the state (b).

[0059] like Figure 4 As shown in (d), the rotation control unit 230 further causes the third axis rotator 133 to rotate from Figure 3 The state (c) is rotated 2×θ around the third axis A3 31 , so that the third axis rotation angle θ3 becomes θ on the side opposite to the second axis rotator 132 in the opposite position with respect to the second axis orthogonal plane 132a. 31 Therefore, the posture of the movable unit 120 is Figure 4 The posture shown in (b) is the same. Since the second shaft rotating device 132 is Figure 4 The position of the state (d) is Figure 4 The position in the state (b) is opposite to the second axis orthogonal plane 132a, so the movable unit 120 can further rotate clockwise around the third axis A3 without blocking the imaging beam 501.

[0060] In the case where the lens unit 400 has a narrow viewing angle, the imaging beam 501 of the second axis rotator 132 is less likely to be blocked. Therefore, the rotation control unit 230 sets the threshold θ 31 Set to be greater than the threshold θ 30 Therefore, from Figure 4 The state of (b) changes to Figure 4 The frequency of operation of the state of (d) can be achieved via Figure 4Therefore, changing the threshold for driving the first and third axis rotators 131 and 133 according to the viewing angle of the lens unit 400 may reduce the frequency of driving the first and third axis rotators 131 and 133.

[0061] Now refer to Figure 5 (a) to (d) of FIG. 1 , a description will be given of a case where the movable unit 120 is turned upside down. Figure 5 (a) to (d) also show the gimbal camera 100 according to this embodiment when viewed from the -x direction.

[0062] Figure 5 (a) shows a state in which the movable unit 120 faces the +z direction and the upper surface 120a of the movable unit 120 faces the y-axis direction. Figure 5 In (a), the imaging beam 501 is not blocked.

[0063] Figure 5 (b) shows that the grip portion 110 has been Figure 5 The state in (a) is rotated more than 90° in the counterclockwise direction around the third axis A3 (x axis) and the movable unit 120 is further relative to Figure 5 The +z direction in (a) is slightly tilted clockwise around the x-axis. Figure 5 In (b), the angle formed by the optical axis 400a about the third axis A3 with respect to the second axis-orthogonal plane 132a which is orthogonal to the second axis A2 of the second axis rotator 132 and includes the third axis A3 will be referred to as a third axis rotation angle θ3.

[0064] When the movable unit 120 rotates about the third axis A3 and the third axis rotation angle θ3 from the second axis orthogonal plane 132a toward the second axis rotator side reaches the threshold value θ 31 In the case of Figure 5 As shown in (c), the rotation control unit 230 rotates the first axis rotator 131 around the first axis A1 to reverse the movable unit 120. Therefore, the second axis rotator 132 moves to the position aligned with the third axis A3. Figure 5 The position is the opposite of the position in the state (b).

[0065] like Figure 5 As shown in (d), the rotation control unit 230 causes the third axis rotator 133 to rotate around the third axis A3 from Figure 4 The state in (c) rotates 2×θ 31 , so that the third axis rotation angle θ3 is θ on the side opposite to the second axis rotator 132 located at the opposite position with respect to the second axis orthogonal plane 132a. 31 Therefore, the posture of the movable unit 120 can be Figure 5In addition, since the second shaft rotating device 132 is Figure 5 The position of the state (d) is Figure 5 The position in the state (b) is opposite to the second axis orthogonal plane 132a, so the movable unit 120 can further rotate in the clockwise direction around the third axis A3 without blocking the imaging beam 500.

[0066] exist Figure 5 In the state (d), the upper surface 120a of the movable unit 120 is located on the lower side. In other words, the posture of the movable unit 120 is the same as that of the movable unit 120. Figure 5 The posture of the camera 300 is upside down compared to that in (a). Therefore, the image captured by the camera 300 is also upside down.

[0067] Figure 6 (a) shows the Figure 5 The image 121a is captured by the camera 300 in the state of (a). In the image 121a, the subject 122a is captured in the same vertical posture as when the user views the subject 122a with his eyes. Figure 5 In the state of (a), the image 121a is stored in the recorder 250 in the same up and down posture.

[0068] Figure 6 (b) shows that Figure 5 121d is an image captured by the camera 300 in the state of (d) before being vertically (up and down) reversed. In the image 121d, the subject 122d is captured in a posture that is vertically (up and down) reversed relative to the subject viewed by the user with his eyes.

[0069] In this case, if Figure 6 As shown in (c) of FIG. 1 , the rotation control unit 230 in this embodiment reverses the image 122d upside down to generate the image 121e and stores it in the recorder 250. Therefore, it is possible to prevent the image 122d from being reversed upside down. Figure 5 When imaging is performed in the state (d), an upside-down image is stored in the recorder 250 .

[0070] In Figure 5 In the case of imaging in the state (d), the image displayed on the display unit 260 is also Figure 6 Therefore, the vertical posture of the subject 122e displayed on the display unit 260 can be consistent with the vertical posture of the subject viewed by the user with his eyes.

[0071] Figure 7The diagram shows the operation of the rotation control unit 230 connecting and recording images acquired before the first-axis rotator 131 and the third-axis rotator 133 are driven (before the rotation operation) and images acquired after they are driven (after the rotation operation). The horizontal axis represents time, the upper row represents images acquired by imaging, and the lower row represents images recorded in the recorder 250.

[0072] The image 510 before the rotation operation shown in the upper row is obtained by Figure 3 The image 511 is obtained by rotating the first axis rotator 131 around the first axis A1 and imaging from the first axis rotator 131. Figure 3 The state of (b) changes to Figure 3 The image 512 is obtained by imaging during the state (c) of FIG. The image 512 is obtained when the third axis rotator 133 is rotating around the third axis A3 so that the third axis rotation angle θ3 is 2×θ 30 , and from Figure 3 The state of (c) changes to Figure 3 Image 513 is taken after the rotation operation of the third axis rotator 133 is completed. Figure 3 Image captured in state (d).

[0073] Images 511 and 512 during the rotation of first-axis rotator 131 and third-axis rotator 133 are unnecessary images. Therefore, rotation control unit 230 deletes images 511 and 512 and records a combined image 514 in recorder 250 by connecting image 510 before the rotation operation and image 513 after the rotation operation. Thus, the user can focus on imaging without worrying about occlusion caused by the gimbal structure, and a high-quality image is automatically stored, from which unnecessary images during the rotation operation have been removed.

[0074] Figure 8 The flowchart in (a) shows the processing performed by the rotation control unit 230 as a computer according to the program. In this processing, while imaging is continuing, the images 510 and 513 before and after the rotation operation of the first-axis rotator 131 and the third-axis rotator 133 are connected together to generate a combined image 514, and the imaging light beam 500 is prevented from being blocked by the second-axis rotator 132. Then, the combined image 514 is recorded in the recorder 250. The combined image 514 can also be output to the outside and recorded in an external recorder. S represents a step.

[0075] The rotation control unit 230 that starts the process in S600 performs a threshold value update process in S700. The threshold value update process will be described later. After the threshold value update process, in S602, the rotation control unit 230 acquires the third axis rotation angle θ3 from the rotation angle detector 211.

[0076] Next, in S603, the rotation control unit 230 determines whether the third axis rotation angle θ3 is greater than a threshold value θ 30 . When θ3>θ 30 In the case of θ3, the rotation control unit 230 proceeds to S604 and rotates the first axis rotator 131 around the first axis A1 to reverse the movable unit 120. Furthermore, in S605, the rotation control unit 230 rotates the third axis rotator 133 around the third axis A3 so that θ3 becomes 2×θ 30 .

[0077] Then, the rotation control unit 230 deletes the Figure 7 The images 511 and 512 during the rotation operation described in , and the images 510 and 513 before and after the rotation operation are connected (combined) in S607.

[0078] In S603, θ3 is equal to or less than θ 30 In the case of , or after combining the images 510 and 513 before and after the rotation operation in S607, the rotation control unit 230 proceeds to S608.

[0079] In S608, the rotation control unit 230 uses the vibration detector 330 to determine the vertical posture of the movable unit 120. Figure 5 In the case where the vertical posture of the movable unit 1120 is upside down as shown in (d), the rotation control unit 230 proceeds to S609, in which Figure 6 As described in (b) and (c), the image 122d is reversed upside down to generate the image 121e. Then, the process proceeds to S610. In the case where the vertical posture of the movable unit 1120 is not reversed upside down, the rotation control unit 230 directly proceeds to S610.

[0080] In S610, the rotation control unit 230 stores the combined image 514 obtained by connecting the images 510 and 513 before and after the rotation operation in S607 and the image 121a acquired by the camera 300 or the image 121e reversed in S609 in the recorder 250. Then, the flow ends.

[0081] Figure 9 The flowchart in (b) shows the threshold value update process executed in S700 . After the threshold value update process starts, in S701 , the rotation control unit 230 acquires the angle of view information of the optical system from the angle of view information acquisition unit 422 via the lens control unit 430 .

[0082] Next, in S702 , the rotation control unit 230 acquires the threshold value θ3 corresponding to the angle of view information acquired in S701 from the recorder 250 , in which the threshold value θ3 for each angle of view information has been previously stored.

[0083] Next, in S703, the rotation control unit 230 changes the previously set threshold value θ3 to the threshold value θ3 acquired in S702. Then, the flow proceeds to S602.

[0084] As mentioned above, when the third axis rotation angle θ3 is greater than the threshold value θ 30 In this case, the gimbal camera 100 according to this embodiment rotates the first-axis rotator 131 and the third-axis rotator 133 while continuing imaging. A combined image 514, obtained by combining images 510 and 513 before and after the rotation operation, is stored in the recorder 0. This series of operations is automatically performed by the gimbal camera 100. Therefore, it is possible to prevent the imaging beam 500 from being blocked by the second-axis rotator 132 without requiring the user to perform laborious operations or interrupt imaging.

[0085] (Other embodiments)

[0086] The present invention can be implemented by supplying a program that implements one or more functions of the above-described embodiments to a system or device via a network or storage medium, and can be implemented by one or more processors in a computer of the system or device configured to read and execute the program. The present invention can also be implemented by a circuit (e.g., an ASIC) that implements one or more functions.

[0087] Although the preferred embodiments and examples of the present invention have been described, the present invention is not limited to these embodiments and examples, and various modifications and changes can be made within the scope of the gist thereof.

Claims

1. A universal joint device, comprising: Main body; a first driving component configured to rotate the first supporting portion relative to the main body portion around a first axis; a second driving member configured to rotate a second supporting portion supporting the imaging unit relative to the first supporting portion around a second axis orthogonal to the first axis; a third driving component configured to rotate the imaging unit relative to the second supporting portion around a third axis orthogonal to the first axis and the second axis; a detection component configured to detect a rotation angle around the third axis formed by the optical axis of the imaging unit relative to a second axis-orthogonal plane that is orthogonal to the second axis and includes the third axis; as well as a control component configured to control the first drive component, the second drive component, and the third drive component, Wherein, when the rotation angle from the second axis-orthogonal plane toward the second driving component side becomes higher than a predetermined angle during imaging by the imaging unit, the control component is configured to: While the imaging unit continues to perform imaging, driving the first driving member so that the second driving member rotates to an opposite position relative to a plane orthogonal to the second axis, and The third driving member is driven so that the rotation angle from the second axis-orthogonal plane to the opposite side of the second driving member at the opposite position is the predetermined angle.

2. The gimbal device according to claim 1, wherein: The predetermined angle is an angle smaller than an angle at which the light beam incident on the imaging unit is blocked by the second driving part.

3. The gimbal device according to claim 1 or 2, further comprising a processing component configured to process the image acquired by the imaging unit, in, The processing section is configured to generate a combined image by connecting images acquired before and after the first driving section and the third driving section are driven while the imaging is continued. 4 . The gimbal device according to claim 3 , further comprising a recording component configured to record the combined image.

5. The gimbal device according to claim 3, further comprising a judging component configured to judge a vertical posture of the imaging unit, and in, The processing component is configured to reverse the combined image upside down if the vertical posture is reversed.

6. The universal joint device according to any one of claims 1 to 5, wherein: The viewing angle of the imaging unit is changeable, and Wherein, the control component is configured to change the predetermined angle according to the viewing angle.

7. A gimbal camera device comprising: The universal joint device according to any one of claims 1 to 6; as well as The imaging unit.

8. A method for controlling a universal joint device, the universal joint device comprising: Main body; a first driving component configured to rotate the first supporting portion relative to the main body portion around a first axis; a second driving member configured to rotate a second supporting portion supporting the imaging unit relative to the first supporting portion around a second axis orthogonal to the first axis; and a third driving component configured to rotate the imaging unit relative to the second supporting portion around a third axis orthogonal to the first axis and the second axis, the control method comprising: detecting a rotation angle of the optical axis of the imaging unit about the third axis relative to a second axis-orthogonal plane that is orthogonal to the second axis and includes the third axis; and controlling the first drive component, the second drive component and the third drive component, Wherein, when the rotation angle from the second axis-orthogonal plane toward the second driving component side becomes higher than a predetermined angle during imaging by the imaging unit, the control includes: While the imaging unit continues to perform imaging, driving the first driving member so that the second driving member rotates to an opposite position relative to a plane orthogonal to the second axis, and The third driving member is driven so that the rotation angle from the second axis-orthogonal plane to the opposite side of the second driving member at the opposite position is the predetermined angle.

9. A program for causing a computer to execute the control method according to claim 8.

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