Universal joint apparatus, control method thereof, storage medium, and program product

Abstract

The invention provides a universal joint apparatus, a control method thereof, a storage medium, and a program product. The universal joint device capable of being detachably attached to a mounting object includes: a sliding body capable of translating in a predetermined direction; a rotating body capable of rotating about a predetermined axis; a sliding position detector configured to detect position information related to the sliding body; a rotational position detector configured to detect rotational angle information related to the rotating body; a memory storing instructions; a processor configured to control the sliding body based on the position information and control the rotating body based on the rotation angle information when the instruction is executed; a fixing unit configured to fix a mounting object; and a tilt detector configured to detect a tilt angle of the attachment fixed to the fixing unit with respect to a predetermined position. The processor is configured to determine an amount of movement of the slider to reduce the tilt angle.

Description

Technical Field

[0001] This disclosure relates to gimbal devices, control methods therewith, and storage media. Background Technology

[0002] To properly use a gimbal device, it is important to adjust the balance (center of gravity) of the gimbal device, including the mounting. Japanese Patent Application Publication No. 2017-211626 discloses a method for adjusting the center of gravity by moving the weight of the gimbal device according to the change in the center of gravity in the optical axis direction caused by the zoom of the lens in the camera, which is the mounting. Japanese Patent Application Publication No. 2018-56636 discloses a method in a lens-interchangeable camera, in which the camera obtains lens center of gravity information marked with ID from the attached lens and calculates the center of gravity position of the combination of the camera and the lens.

[0003] In the absence of information related to the installation (such as center of gravity information), the methods disclosed in Japanese Patent Application Publication Nos. 2017-211626 and 2018-56636 are difficult to reduce the time spent on balancing adjustments. Summary of the Invention

[0004] According to one aspect of this disclosure, a universal joint device is detachably attached to an object. The universal joint device includes: a slider capable of translation in a predetermined direction; a rotating body capable of rotation about a predetermined axis; a slider position detector configured to detect position information related to the slider; a rotation position detector configured to detect rotation angle information related to the rotating body; a memory storing instructions; a processor configured to control the slider based on the position information and the rotating body based on the rotation angle information when executing the instructions; a fixing unit configured to fix the object; and a tilt detector configured to detect the tilt angle of the object fixed to the fixing unit relative to a predetermined position. The processor is configured to determine the amount of movement of the slider to reduce the tilt angle. The control method of the above-described universal joint device also constitutes another aspect of this disclosure. A storage medium storing a program that causes a computer to execute the above-described control method also constitutes another aspect of this disclosure.

[0005] Further features of various embodiments of this disclosure will become apparent from the following description of the embodiments with reference to the accompanying drawings. The following description of the embodiments is provided by way of example. Attached Figure Description

[0006] Figure 1 This is an external view of the universal joint device according to this embodiment.

[0007] Figure 2 This is a block diagram of the camera system according to this embodiment.

[0008] Figure 3A and Figure 3B This is a flowchart illustrating a control method for a universal joint device according to this embodiment.

[0009] Figure 4A , Figure 4B and Figure 4C The balance adjustment of the fourth skateboard according to this embodiment is explained.

[0010] Figure 5 The target movement of the third and fourth skateboards according to this embodiment is explained.

[0011] Figure 6A , Figure 6B and Figure 6C The balance adjustment of the second skateboard according to this embodiment is explained.

[0012] Figure 7 The target movement of the second and third skateboards according to this embodiment is explained.

[0013] Figure 8A , Figure 8B and Figure 8C The target movement of the third skateboard according to this embodiment is explained.

[0014] Figure 9A and Figure 9B The target movement of the first skateboard according to this embodiment is explained. Detailed Implementation

[0015] In the following text, the term "unit" may refer to a software context, a hardware context, or a combination of both. In a software context, the term "unit" refers to a function, application, software module, feature, routine, instruction set, or program that can be executed by a programmable processor, such as a microprocessor, central processing unit (CPU), or a specially designed programmable device or controller. Memory contains instructions or programs that, when executed by the CPU, cause the CPU to perform operations corresponding to the unit or function. In a hardware context, the term "unit" refers to a hardware element, circuit, assembly, physical structure, system, module, or subsystem. According to a specific embodiment, the term "unit" may include mechanical, optical, or electrical components, or any combination thereof. The term "unit" may include active (e.g., transistors) or passive (e.g., capacitors) components. The term "unit" may include a semiconductor device having a substrate and other material layers having various conductivity concentrations. The term "unit" may include a CPU or programmable processor capable of executing programs stored in memory to perform a specified function. The term "unit" may include logic elements (e.g., AND, OR) implemented by transistor circuitry or any other switching circuitry. In the combination of software and hardware contexts, the term "unit" or "circuit" refers to any combination of software and hardware contexts as described above. Additionally, the terms "element," "assembly," "component," or "device" may also refer to a "circuit" integrated with or not integrated with packaging material.

[0016] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0017] Reference Figure 1 The gimbal device 1, which is an example of an electronic device according to this embodiment, will be described. Figure 1 This is an external view of universal joint device 1. Figure 1 In this configuration, power switch 2 is an operating component used to switch between power on and power off the universal joint device 1. Display unit 3 is a display unit installed on the universal joint device 1 used to display various information. Operating unit 4 is used to input information to the universal joint device 1 or a reference... Figure 2 The described camera device 100 has operating components that issue various instructions. The operating unit 4 is, for example, an operating component combining a button and an eight-way key, but is not limited to this example. The number of operating components is also not limited to this example.

[0018] The gimbal camera interface (I / F) 5 is an interface for connecting the gimbal device 1 and the camera device 100. The gimbal camera I / F 5 is, for example, a connector for connecting to the camera device 100 via a USB cable (not shown), but the gimbal camera I / F 5 (including its arrangement) is not limited to this example. The grip 6 is a holding part shaped to allow the user to easily hold the gimbal device 1.

[0019] The panning drive unit 7 includes a first rotary drive motor and is a rotating body (a first rotating body rotatable about the first rotation axis) configured to rotate the mount of the universal joint device 1 about a first rotation axis (panning rotation axis 8, designated axis). The panning rotation axis 8 is an axis parallel to the longitudinal direction of the grip 6 and is the rotation center of the panning drive unit 7.

[0020] The tilt drive unit 9 includes a second rotary drive motor and is a rotating body (a second rotating body rotatable about the second rotation axis) configured to rotate the mount of the universal joint device 1 about a second rotation axis (tilt rotation axis 10, designated axis). The tilt rotation axis 10 is an axis arranged on a plane including the pan rotation axis 8 and is the rotation center of the tilt drive unit 9.

[0021] The pitch drive unit 11 includes a third rotary drive motor and is a rotating body (a third rotating body rotatable about a third rotation axis) configured to rotate the mount of the universal joint device 1 about a third rotation axis (pitch rotation axis 12, designated axis). The pitch rotation axis 12 is an axis orthogonal to the roll rotation axis 10 and is the rotation center of the pitch drive unit 11. In this embodiment, each rotary drive motor is a three-phase brushless DC motor configured to rotate the mount of the universal joint device 1 about its respective rotation axis, but is not limited to this example.

[0022] The first slide drive unit 13 includes a first sliding drive motor and can move the first slide (first sliding body) 14 along a first sliding axis (first direction, predetermined direction) orthogonal to the panning rotation axis 8. The first slide 14 is a mechanism (sliding body) driven by the first slide drive unit 13 and capable of translating to any position in the first direction.

[0023] The second slide drive unit 15 includes a second sliding drive motor and can move the second slide (second sliding body) 16 along a second sliding axis (second direction, predetermined direction) orthogonal to the tilt rotation axis 10. The second slide 16 is a mechanism (slider) driven by the second slide drive unit 15 and capable of translating to any position in the second direction.

[0024] The third slide drive unit 17 includes a third slide drive motor and can move the third slide (third sliding body) 18 along a third sliding axis (third direction, predetermined direction) orthogonal to the pitch rotation axis 12. The third slide 18 is a mechanism (slider) driven by the third slide drive unit 17 and can be translated to any position in the third direction.

[0025] The fourth slide plate drive unit 19 includes a fourth slide drive motor and can move the fourth slide plate (fourth sliding body) 20 along a fourth sliding axis (fourth direction, predetermined direction). The fourth slide plate 20 is a mechanism (sliding body) driven by the fourth slide plate drive unit 19 and can be translated to any position in the fourth direction. In this embodiment, each slide drive motor is a linear actuator for linearly moving the mount of the universal joint device 1 according to a control signal, but is not limited to this example.

[0026] The camera mounting base 21 is a base (configured as a fixing unit for fixing the gimbal device 1) to which the mounting is attached. The mounting of the gimbal device 1 is, for example, a camera device 100 and is attached by tripod screws, but is not limited to this example.

[0027] Next, the first to fourth sliding axes will be described. Here, the three axes forming a three-dimensional orthogonal coordinate system will be referred to as the X-axis, Y-axis, and Z-axis, and the axis parallel to the gravity axis will be defined as the Y-axis. This description assumes that the gimbal device 1 is placed in its normal position (predetermined position). Here, the normal position refers to the state where the long side of the grip 6 is parallel to the gravity axis (Y-axis), the camera mounting base 21 is orthogonal to the Y-axis, and the optical axis of the imaging device 100 attached to the camera mounting base 21 is orthogonal to the Y-axis. The axis parallel to the optical axis of the imaging device 100 will be defined as the Z-axis, and the X-axis will be defined as the axis orthogonal to the YZ plane.

[0028] With the universal joint device 1 oriented in its normal position, the first and fourth sliding axes are parallel to the Z-axis, and the positive direction of the Z-axis is defined as the first sliding axis positive direction 22 and the fourth sliding axis positive direction 28, respectively. The negative direction of the Z-axis is defined as the first sliding axis negative direction 23 and the fourth sliding axis negative direction 29, respectively. The second sliding axis is parallel to the X-axis, and the positive direction of the X-axis is defined as the second sliding axis positive direction 24, and the negative direction of the X-axis is defined as the second sliding axis negative direction 25. The third sliding axis is parallel to the Y-axis, and the positive direction of the Y-axis is defined as the third sliding axis positive direction 26, and the negative direction of the Y-axis is defined as the third sliding axis negative direction 27.

[0029] The rotation directions will be defined as follows: With the universal joint device 1 oriented in its normal position, clockwise rotation relative to the + direction of the Y-axis will be defined as the roll axis rotation + direction 30, and counterclockwise rotation will be defined as the roll axis rotation - direction 31. Similarly, clockwise rotation relative to the + direction of the Z-axis will be defined as the roll axis rotation + direction 32, and counterclockwise rotation will be defined as the roll axis rotation - direction 33. Clockwise rotation relative to the + direction of the X-axis will be defined as the pitch axis rotation + direction 34, and counterclockwise rotation will be defined as the pitch axis rotation - direction 35. However, these axis definitions and relationships are merely examples and are not limited to this example.

[0030] Next, the control of the gimbal device 1 for maintaining the optical axis of the imaging device 100 in any direction (e.g., the Z-axis direction) will be described. The gimbal device 1 includes the first to third rotary drive motors mentioned above, which are included in the pan / tilt drive unit 7, the yaw drive unit 9, and the pitch drive unit 11, and will be referred to later. Figure 2 The encoders 61, 62, and 63 of each axis are described. The system control unit 50 can calculate the angle (target value) of each rotary drive unit required to hold the optical axis of the imaging device 100 in any direction. The system control unit 50 supplies power to each rotary drive unit via the rotary control unit 60 to reduce (or eliminate) the difference between the value (current value) of the rotary position detector (each axis encoder 61, 62, and 63) and the target value. It is assumed that the power supplied to each rotary drive unit is determined by PID control for the control deviation (the difference between the target value and the current value), but this embodiment is not limited to this example.

[0031] Next, the balance adjustment is described. As a prerequisite, the gimbal device 1 being in a balanced state (balanced) means that the center of gravity of the mounted object (the loaded item) is located on the pan rotation axis 8, the tilt rotation axis 10, and the pitch rotation axis 12. Here, "mounted object" refers to the mounting objects for the pan drive unit 7, the tilt drive unit 9, and the pitch drive unit 11. That is, in addition to the camera device 100 and the lens device 200, the mounting objects for the pitch drive unit 11 also include the third slide drive unit 17, the third slide 18, the fourth slide drive unit 19, the fourth slide 20, and the camera mounting base 21. In addition to the mounting objects for the pitch drive unit 11, the mounting objects for the tilt drive unit 9 also include the second slide 16 and the second slide drive unit 15. In addition to the mounting objects for the tilt drive unit 9, the mounting objects for the pan drive unit 7 also include the first slide 14 and the first slide drive unit 13.

[0032] When the gimbal device 1 is balanced, no rotational force is applied to the camera device 100 unless power is supplied to the pan drive unit 7, tilt drive unit 9, and pitch drive unit 11. On the other hand, when the gimbal device 1 is unbalanced, a rotational force is applied to move the center of gravity in the direction of gravity, requiring a continuous supply of power to the pan drive unit 7, tilt drive unit 9, and pitch drive unit 11 to maintain the optical axis of the camera device 100 in any direction. At this time, the power supplied to the pan drive unit 7, tilt drive unit 9, and pitch drive unit 11 depends on the mass of each component and the distance from the center of rotation to the center of gravity of the component.

[0033] As described above, the first to fourth slide drive units 13, 15, 17, and 19 can translate the first to fourth slides 14, 16, 18, and 20 to any position. Therefore, translating each slide allows the center of gravity of the mount to be moved (changed), and the optical axis of the camera device 100 remains parallel to the Z-axis without supplying power to the pan drive unit 7, tilt drive unit 9, and pitch drive unit 11. In this embodiment, moving the center of gravity of the mount to the appropriate position by translating each slide is called balance adjustment.

[0034] Reference Figure 2 A camera system 1000 according to this embodiment is described. Figure 2 This is a block diagram of a camera system 1000. The camera system 1000 includes a gimbal device 1, a camera device 100 connected to the gimbal device 1, and a lens device 200 connected to the camera device 100.

[0035] The system control unit 50 is a control unit consisting of at least one processor or circuit, and controls the entire gimbal device 1. The system control unit 50 executes programs recorded in the non-volatile memory 51 to perform various processes according to this embodiment, as described later. The system control unit 50 also loads programs read from the non-volatile memory 51 into the system memory 52 to perform various computational processes. The system control unit 50 can also detect the operating mode (fixed viewing mode, follow mode, etc.) and state (stationary state, handheld, walking shooting, running shooting, panning, tilting, etc.) of the gimbal device 1 as work processing information.

[0036] The system control unit 50 internally includes a communication unit 90 and can communicate with the camera system control unit 150 via the gimbal camera I / F5 to exchange various information. This information includes, for example, control instructions for the imaging device 100, the individual ID of the imaging device 100, and information related to operating modes (still image review mode, moving image shooting mode, live view (LV) mode, MENU mode, SLEEP mode, etc.). This information may also include information related to the posture (orientation), motion, center of gravity coordinates, mass, motion vector of captured images, remaining battery level, and attached accessories of the imaging device 100. Finally, this information may include information related to the lens device 200 obtained through communication between the camera system control unit 150 (described later) and the lens system control unit 250, as well as various calculation results calculated by the camera system control unit 150.

[0037] The non-volatile memory 51 is an electrically erasable and recordable memory such as a flash ROM. The non-volatile memory 51 stores constants and programs for the operation of the system control unit 50. Here, "program" refers to a program used to execute the various flowcharts described later according to this embodiment. The non-volatile memory 51 stores the center of gravity and mass information of various components of the gimbal device 1.

[0038] System memory 52 is, for example, RAM. Constants and variables for the operation of system control unit 50, as well as programs in non-volatile memory 51, are loaded into system memory 52. ​​System timer 53 is a clock unit used to measure time for various controls and the time of the built-in clock. Power supply unit 54 includes primary batteries such as alkaline and lithium batteries, secondary batteries such as NiCd, NiMH, and Li batteries, and an AC adapter.

[0039] The power control unit 55 includes a battery detection circuit, a DC-DC converter, a PD-IC (USB power delivery control IC), a switching circuit, and other components. It detects whether a battery is attached, the battery type, and the remaining battery power. Based on the detection results and instructions from the system control unit 50, the power control unit 55 controls the DC-DC converter and supplies the required power for the desired period to the various blocks within the gimbal device 1. The power control unit 55 communicates with the camera power control unit 155 via the gimbal camera I / F 5 and is capable of communicating various information and power. This information includes information related to individual ID, mass, center of gravity coordinates, remaining battery power, and other information related to the imaging device 100 and the lens device 200 connected to the imaging device 100.

[0040] The rotation control unit 60 includes a motor driver, an encoder detection circuit, etc., and is capable of detecting the rotation angle and rotation speed of each axis rotation drive motor based on the output signals of the respective axis encoders 61, 62, and 63 (described later). The rotation control unit 60 also supplies arbitrary electrical force to the roll drive unit 7, the tilt drive unit 9, and the pitch drive unit 11 based on the rotation angle detection results and instructions from the system control unit 50, to rotate the rotation drive motors of each rotation axis. Based on instructions from the system control unit 50, the rotation control unit 60 sends control signals to the rotation axis locking unit 64 (described later) to fix (lock) each rotation axis (roll drive unit 7, tilt drive unit 9, and pitch drive unit 11) so that it does not rotate.

[0041] A roll axis encoder 61 is located near the roll drive unit 7 and outputs absolute value information related to the rotation angle of the roll drive unit 7 centered on the roll rotation axis 8, with an arbitrary angle as a reference, as an electrical signal to the rotation control unit 60. A tilt axis encoder 62 is arranged near the tilt drive unit 9 and outputs absolute value information related to the rotation angle of the tilt drive unit 9 about the tilt rotation axis 10, with an arbitrary angle as a reference, as an electrical signal to the rotation control unit 60. A pitch axis encoder 63 is arranged near the pitch drive unit 11 and outputs absolute value information related to the rotation angle of the pitch drive unit 11 about the pitch rotation axis 12, with an arbitrary angle as a reference, as an electrical signal to the rotation control unit 60. These encoders have magnetic sensors such as Hall elements, but are not limited to these.

[0042] The rotation axis locking unit 64 is a mechanical mechanism that physically locks the rotation of each axis at any angle, and can be selected to fix (lock) or release (unlock) the rotation control unit 60.

[0043] The skateboard control unit 70 includes a motor driver and an encoder detection circuit, and detects the position, movement amount, and movement speed of each skateboard axis based on the output signals of the respective axis encoders (sliding axis detectors) 71, 72, 73, and 74 (described later). Based on the movement amount detection results and instructions from the system control unit 50, the skateboard control unit 70 supplies arbitrary power to the first to fourth skateboard drive units 13, 15, 17, and 19 to move each skateboard axis. Furthermore, based on instructions from the system control unit 50, the skateboard control unit 70 outputs control signals to the skateboard locking unit 75 (described later) to fix (lock) the position of each skateboard axis.

[0044] The first encoder 71 is located near the first skateboard drive unit 13 and outputs an electrical signal corresponding to the position of the first skateboard 14 to the skateboard control unit 70. The second encoder 72 is located near the second skateboard drive unit 15 and outputs an electrical signal corresponding to the position of the second skateboard 16 to the skateboard control unit 70. The third encoder 73 is located near the third skateboard drive unit 17 and outputs an electrical signal corresponding to the position of the third skateboard 18 to the skateboard control unit 70. The fourth encoder 74 is located near the fourth skateboard drive unit 19 and outputs an electrical signal corresponding to the position of the fourth skateboard 20 to the skateboard control unit 70. These encoders each have an optical sensor such as a light interruptor or light reflector, or a magnetic sensor such as a Hall element, but are not limited to this example.

[0045] The skateboard locking unit 75 is a mechanical mechanism that physically fixes (locks) each axle skateboard at any position, and can be selected to fix (lock) or release (unlock) under the control of the skateboard control unit 70.

[0046] The posture detector (tilt detector) 80 has circuitry including a gyroscope sensor and an accelerometer sensor, and detects the posture and movement of the grip portion 6 and the camera mounting base 21 to which the imaging device 100 is attached, relative to the direction of gravity. The posture detector 80 can detect the posture of the camera mounting base 21, for example, by placing an accelerometer sensor on a third slide plate 18, which maintains a constant positional relationship with the camera mounting base 21 even when the pitch axis rotates. Alternatively, the posture detector 80 can also detect the posture of the camera mounting base 21 by placing an accelerometer sensor on the grip portion 6 and based on information from the accelerometer sensor and information related to the rotation angles of the rotation drive motors of each axis detected by the rotation control unit 60. The system control unit 50 sends instructions to the rotation control unit 60 and the slide plate control unit 70 based on the information detected by the posture detector 80, causing the camera mounting base 21 to be in the desired posture.

[0047] A communication unit 90 is included in the system control unit 50 and enables communication with the camera device 100 via any interface. A power detector 91 is included in the system control unit 50 and enables the power supply unit 54 to detect the direction of power and current supplied to the pan / tilt drive unit 7, the yaw drive unit 9, and the pitch drive unit 11 via the rotation control unit 60. This enables the power supply unit 54 to detect the direction of power and current supplied to the first to fourth slide drive units 13, 15, 17, and 19 via the slide control unit 70. An operation mode detector 92 is included in the system control unit 50 and enables the detection of the operation mode of the gimbal device 1.

[0048] Therefore, the universal joint device 1 is discussed. Next, the camera device 100, which is mounted on the universal joint device 1, and the lens device 200 connected to the camera device 100 will be described.

[0049] The camera system control unit 150 is a control unit consisting of at least one processor or circuit, and controls the entire imaging device 100. The camera system control unit 150 executes programs stored in non-volatile memory 151 to perform various processes according to this embodiment, as described later. The camera system control unit 150 also loads programs read from non-volatile memory 151 into system memory 152 to perform various computational processes. The camera system control unit 150 also communicates with system control unit 50 or lens system control unit 250 via camera gimbal I / F 105 or camera lens I / F 106, and is capable of communicating various information.

[0050] The non-volatile memory 151 is an electrically erasable and recordable memory, and is, for example, a flash ROM. Constants and programs for the operation of the camera system control unit 150 are recorded in the non-volatile memory 151. As used herein, the program is a program for executing the various flowcharts described later according to this embodiment. The system memory 152 is, for example, RAM. Constants and variables for the operation of the camera system control unit 150, as well as the program in the non-volatile memory 151, are loaded into the system memory 152.

[0051] The camera power supply unit 154 includes a primary battery such as an alkaline battery and a lithium battery, a secondary battery such as a NiCd battery, a NiMH battery and a Li battery, and an AC adapter.

[0052] The camera power control unit 155 includes a battery detection circuit, a DC-DC converter, a PD-IC (USB power delivery control IC), a switching circuit, and other components. It detects whether a battery is attached, the battery type, and the remaining battery level. Based on the detection results and instructions from the camera system control unit 150, the camera power control unit 155 controls the DC-DC converter and supplies the required power to the various blocks within the gimbal device for the required period of time. The camera power control unit 155 also communicates with the camera gimbal I / F 105, and is capable of communicating various information and power parameters.

[0053] The camera unit 131 includes an image sensor such as a CMOS or CCD. The camera performs camera control based on instructions from the camera power control unit 155, processes the captured image information acquired by the camera unit 131 using the image processing unit 132, and transmits the results to the camera system control unit 150.

[0054] The camera operation unit 104 is an operation unit used to input various predetermined operation instructions to the camera system control unit 150. The operation unit includes any one or a combination of switches, dials, touch panels, and voice recognition devices.

[0055] The camera display unit 103 is a display device such as a rear monitor or electronic viewfinder, and includes a liquid crystal such as an LCD or organic EL, displaying menu screens, playback images, and through images of data from the camera unit 131. The camera display unit 103 can also be used as a touch panel (operation unit). In this case, the touch panel forms part of the camera operation unit 104. As a touch detection method, a capacitive method is used, and the touch panel detects the proximity of a finger to the operating surface and touch operations.

[0056] The camera posture detector 181 has circuitry including a gyroscope sensor or an accelerometer sensor and detects the posture and movement of the imaging device 100 relative to the direction of gravity. The camera system control unit 150 can determine the posture of the imaging device 100 when the imaging unit 131 is capturing an image based on the information detected by the camera posture detector 181. The camera system control unit 150 can also add the information detected by the camera posture detector 181 to the image file of the captured image, or rotate and record the image.

[0057] Accessory socket contact 107 includes a mechanism for connecting peripheral camera accessories such as a flash (not shown) or an external microphone (not shown), and a communication terminal for communication between the camera system control unit 150 and the control unit (not shown) on the peripheral accessory side.

[0058] Next, the lens device 200 will be described. The lens device 200 is a replaceable lens unit and includes a lens unit 263, an aperture 262, a lens drive control unit 261 for driving the lens and aperture for focus control, and a lens system control unit 250, etc. External light from a composition including the subject is incident on the imaging unit 131 of the imaging device 100 through the aperture 262 and the lens unit 263.

[0059] Lens camera I / F 206 is a lens connector and includes mechanisms for attaching and detaching the lens device 200, as well as communication terminals for controlling focus and aperture. Lens system control unit 250 is a control unit including at least one processor or circuitry and controls the entire lens device 200. Lens system control unit 250 implements the processes described later according to this embodiment by executing programs recorded in non-volatile memory 251. Lens system control unit 250 communicates with camera system control unit 150 via lens camera I / F 206 and can communicate various information. This information includes, for example, information related to the individual ID, posture, motion, center of gravity coordinates, and mass of the lens device 200.

[0060] The non-volatile memory 251 is an electrically erasable and recordable memory such as a flash ROM. The non-volatile memory 251 stores constants, programs, individual IDs, etc., for the operation of the lens system control unit 250. As used herein, a program refers to a program used to execute the various flowcharts described later according to this embodiment.

[0061] Now refer to Figures 3A to 9B The center of gravity position control (balance adjustment) of the camera device 100 mounted on the gimbal device 1 and the lens device 200 connected to the camera device 100 according to this embodiment will be described.

[0062] Figure 3A and Figure 3B This is a flowchart illustrating the control method of the universal joint device 1 according to this embodiment. Figure 3A and Figure 3B The processes in the flowchart are implemented by the system control unit 50 in the universal joint device 1 loading the program stored in the non-volatile memory 51 into the system memory 52, executing the program, and controlling the various functional blocks. (Refer to...) Figure 3A and Figure 3B Describe the entire process and refer to... Figures 4A to 9B Provide supplementary descriptions related to the movement of each skateboard.

[0063] exist Figure 3A and Figure 3B As shown in the flowchart, it is assumed that the camera device 100 is attached to the camera mounting base 21. The camera device 100 may be attached to the camera mounting base 21 before step S303 described later, and for example, there may be a process of attaching the camera device 100 to the camera mounting base 21 immediately after step S301 or step S302 described later.

[0064] First, in step S301, the system control unit 50 initializes the rotation axes. During rotation axis initialization, the system control unit 50 controls the pan / tilt drive unit 7, the tilt drive unit 9, and the pitch drive unit 11 to position the camera device 100 mounted on the universal joint device 1 in its normal position (predetermined position), and uses the rotation axis locking unit 64 to fix the rotation of each rotation axis. At this time, because the balance adjustment has not been completed, the pan / tilt drive unit 7, the tilt drive unit 9, and the pitch drive unit 11 may not be able to output the torque required for rotation drive. Therefore, the user can be prompted to manually initialize the rotation axes.

[0065] Next, in step S302, the system control unit 50 moves each slide to its initial position. For example, via the slide drive units, the first slide 14 is moved to the operating end on the first sliding axis + direction 22, and the second slide 16 is moved to the operating end on the second sliding axis + direction 24. The system control unit 50 also moves the third slide 18 to the operating end on the third sliding axis - direction 27, and the fourth slide 20 to the operating end on the fourth sliding axis - direction 29. Then, the system control unit 50 uses the slide locking unit 75 to fix each slide.

[0066] Figure 4A , Figure 4B and Figure 4C This is a diagram of the camera device 100 and lens device 200 viewed from the side of the pitch drive unit 11, illustrating the balance adjustment of the fourth slide plate 20. In step S302, the slide plate is moved to its initial position. Thus, as... Figure 4A As shown, it is assumed that the center of gravity 401 of the pitch movable unit, which is a combination of the camera device 100, lens device 200, third slide drive unit 17, and camera mounting base 21, is in the third quadrant of the YZ plane centered on the pitch rotation axis 12. In this case, when the pitch axis rotation is unlocked by the rotation axis locking unit 64 in step S303, the center of gravity 401 of the pitch movable unit tilts in a manner that it moves onto the Y-axis. Figure 4B ).

[0067] Next, in step S304, the system control unit 50 defines the tilt angle of the camera device 100's pitch axis rotation relative to its normal position as θ, and stores the tilt angle θi (the rotation angle before the pitch axis adjustment) obtained by the rotation control unit 60 immediately after the pitch axis rotation is unlocked. In this embodiment, the tilt angle θ (second tilt angle) of the camera device 100 is the tilt angle relative to the normal position, which serves as the reference position (predetermined position) of the camera device 100, but is not limited to this example, and any position other than the normal position can be the reference position.

[0068] Next, in step S305, the system control unit 50 determines whether the tilt angle θi is within the range of 0 to 90 degrees (0°≤θi≤90°). Before the pitch axis rotation is unlocked in step 303, as... Figure 4A As shown, when the center of gravity 401 of the pitch movable unit is located in the third quadrant of the YZ plane centered on the pitch rotation axis 12, θi should be within the range of 0 to 90 degrees. If θi is within the range of 0 to 90 degrees, the system control unit 50 determines that balance adjustment can continue, and the process proceeds to step S307. On the other hand, if θi is outside the range of 0 to 90 degrees, the system control unit 50 determines that balance adjustment has failed, and the process proceeds to step S306.

[0069] In step S306, the system control unit 50 notifies the user that the balance adjustment has failed, and the process ends.

[0070] In step S307, the system control unit 50 unlocks the fourth slide plate 20 using the slide plate locking unit 75, and uses the fourth slide plate drive unit 19 to begin moving the fourth slide plate 20 along the fourth sliding axis + direction 28. Next, in step S308, the system control unit 50 determines whether the tilt angle θ (pitch axis rotation angle) is 0 degrees (θ = 0). Figure 4C As shown, when the tilt angle θ becomes 0 degrees, the system control unit 50 determines that the balance adjustment of the fourth slide plate 20 is complete, and the process proceeds to step S310. The system control unit 50 continues to move the fourth slide plate 20 until the tilt angle θ becomes 0 degrees, and in step S309, it determines whether the fourth slide plate 20 has reached the operating end on the fourth sliding axis + direction 28. If the fourth slide plate 20 has reached the operating end on the fourth sliding axis + direction 28, the system control unit 50 proceeds to step S306.

[0071] In step S310, the system control unit 50 stops the movement of the fourth slide plate 20 using the fourth slide plate drive unit 19 and fixes the fourth slide plate 20 using the slide plate locking unit 75. Next, in step S311, the system control unit 50 stores the movement amount ΔS4a of the fourth slide plate 20 from the operating end on the fourth sliding axis-direction 29 until the tilt angle θ becomes 0 degrees, which is obtained by the slide plate control unit 70.

[0072] Next, in step S312, the system control unit 50 calculates the target movement amount ΔS3t of the third slide plate 18 to align the center of gravity 401 of the pitch movable unit with the pitch rotation axis 12. Figure 5The relationship between the tilt angle θi, the movement amount ΔS4a of the fourth slide 20, and the target movement amount ΔS3t of the third slide 18 is shown. Since the tilt angle θi and the movement amount ΔS4a of the fourth slide 20 have been obtained in the process up to this point, the target movement amount ΔS3t of the third slide 18 can be calculated using the following formula: ΔS3t=ΔS4a / tanθi.

[0073] Next, in step S313, the system control unit 50 determines whether the calculated target movement amount ΔS3t of the third slide plate 18 is within the movable range of the third slide plate 18. If the target movement amount ΔS3t is within the movable range of the third slide plate 18, the process proceeds to step S314. On the other hand, if the target movement amount ΔS3t is outside the movable range, the process proceeds to step S306.

[0074] Figure 6A , Figure 6B and Figure 6C The camera device 100 is shown as viewed from the side of the tilt drive unit 9, and the balance adjustment of the second slide plate 16 is illustrated. In step S302, the slide plate is moved to its initial position. Thus, as... Figure 6A As shown, it is assumed that the center of gravity 601 of the tilt-movable unit, which is a combination of the camera device 100, the lens device 200, and the second slide drive unit 15 to the camera mounting base 21, is in the fourth quadrant of the XY plane centered on the tilt rotation axis 10. In this case, when the tilt axis rotation is unlocked by the rotation axis locking unit 64 in step S314, the center of gravity 601 of the tilt-movable unit tilts in a manner that moves onto the Y-axis. Figure 6B ).

[0075] Next, in step S315, the system control unit 50 defines the tilt angle of the camera device 100's tilt axis rotation relative to its normal position as φ, and stores the tilt angle φi (the rotation angle before tilt axis adjustment) obtained by the rotation control unit 60 immediately after the tilt axis rotation is unlocked. In this embodiment, the tilt angle φ (first tilt angle) of the camera device 100 is the tilt angle relative to its normal position, which serves as a reference position (predetermined position) for the camera device 100, but is not limited to this example, and positions other than the normal position can be set as the reference position.

[0076] Next, in step S316, the system control unit 50 determines whether φi is within the range of 0 to 90 degrees (0°≤φi≤90°). Before the tilt axis rotation is unlocked in step 314, the center of gravity 601 of the tilt movable unit is as follows... Figure 6AWhen the axis is located in the fourth quadrant of the XY plane centered on the tilt rotation axis 10, φi should be within the range of 0 to 90 degrees. If φi is within the range of 0 to 90 degrees, the system control unit 50 determines that balance adjustment can continue, and the process proceeds to step S317. Conversely, if φi is outside this range, the system control unit 50 determines that balance adjustment has failed, and the process proceeds to step S306.

[0077] In step S317, the system control unit 50 calculates the target movement amount ΔS2t of the second slide plate 16 to align the center of gravity 601 of the tilt movable unit with the tilt rotation axis 10. Figure 7 The relationship between the tilt angle φi, the target movement ΔS4t of the second slide plate 16, and the target movement ΔS3t of the third slide plate 18 is shown. In the process up to this point, the tilt angle φi and the target movement ΔS3t of the third slide plate 18 have already been calculated in step S312; therefore, the target movement ΔS2t of the second slide plate 16 can be calculated using the formula ΔS2t=ΔS3t×tanθi.

[0078] Next, in step S318, the system control unit 50 determines whether the calculated target movement amount ΔS2t of the second slide plate 16 is within the movable range of the second slide plate 16. If the target movement amount ΔS2t is within the movable range of the second slide plate 16, the process proceeds to step S319. On the other hand, if the target movement amount ΔS2t is outside the movable range, the process proceeds to step S306.

[0079] In step S319, the system control unit 50 unlocks the second slide plate 16 using the slide plate locking unit 75 and begins to move the second slide plate 16 along the second sliding axis in the direction 25 using the second slide plate drive unit 15. Next, in step S320, the system control unit 50 determines whether the tilt angle φ is 0 degrees (φ=0). Figure 6C As shown, when the tilt angle φ is 0 degrees, the system control unit 50 determines that the balance adjustment of the second slide plate 16 is complete, and the process proceeds to step S322. Alternatively, when the movement amount ΔS2 of the second slide plate 16 via the second slide plate drive unit 15 is consistent with the target movement amount ΔS2t of the second slide plate 16, the system control unit 50 determines that the balance adjustment of the second slide plate 16 is complete, and the process proceeds to step S322.

[0080] The second slide plate 16 continues to move until the tilt angle φ becomes 0 degrees or the movement amount ΔS2 of the second slide plate 16 is consistent with ΔS2t. In step S321, the system control unit 50 determines whether the second slide plate 16 has reached the operating end on the second sliding axis-direction 25. If it is determined that the second slide plate 16 has reached the operating end on the second sliding axis-direction 25, the process proceeds to step S306.

[0081] In step S322, the system control unit 50 stops the movement of the second slide plate 16 using the second slide plate drive unit 15 and uses the slide plate locking unit 75 to fix the second slide plate 16.

[0082] Figure 8A and Figure 8B The image device 100 is shown as viewed from the side of the tilt drive unit 9, and... Figure 8C The camera device 100 and lens device 200 are shown as viewed from the side of the pitch drive unit 11. The balance adjustment of the third slide plate 18 will be discussed using these figures. Upon completion of step S322, the following is obtained: Figure 8A The state.

[0083] Next, in step S323, the system control unit 50 unlocks the third slide plate 18 using the slide plate locking unit 75 and begins to move the third slide plate 18 in the third sliding axis + direction 26 using the third slide plate drive unit 17. At this time, the control torque T used to move the third slide plate 18 is set to 0. For example, if the third slide drive motor included in the third slide plate drive unit 17 is a linear actuator using a DC motor, the control duty cycle of the DC motor starts from 0%.

[0084] Next, in step S324, the system control unit 50 uses the third slide drive unit 17 to increase the power P3 or torque T for moving the third slide 18 in a stepped manner. This continues until the movement amount ΔS3 of the third slide 18 is no longer 0 (i.e., until the third slide 18 starts moving). That is, if the movement amount ΔS3 is 0 in step S325, the system control unit 50 returns to step S324. On the other hand, if the movement amount ΔS3 is 0 (i.e., the third slide 18 starts moving), the process proceeds to step S326.

[0085] In step S326, the system control unit 50 stores information related to the electrical power P3s or torque Ts when the third slide plate 18 begins to move. Next, in step S327, the system control unit 50 determines whether the movement amount ΔS3 of the third slide plate 18 matches the target movement amount ΔS3t of the third slide plate 18. If these movement amounts match, such as... Figure 8B and Figure 8CAs shown, the center of gravity 601 of the tilt movable unit and the center of gravity 401 of the pitch movable unit are located on the tilt rotation axis 10 and the pitch rotation axis 12, respectively. Therefore, it is determined that the balance adjustment of the third slide plate 18 has been completed, and the process proceeds to step S328. On the other hand, if the movement amount ΔS3 of the third slide plate 18 is inconsistent with the target movement amount ΔS3t of the third slide plate 18, the system control unit 50 continues to move the third slide plate 18.

[0086] In step S328, the system control unit 50 stops the movement of the third slide plate 18 using the third slide plate drive unit 17 and uses the slide plate locking unit 75 to fix the third slide plate 18.

[0087] Figure 9A and Figure 9B The camera device 100 and lens device 200 are shown as viewed from the + direction of the Y-axis, and the balance adjustment of the first slide plate 14 is illustrated. Figure 9A The diagram shows the center-of-gravity position of the first slide plate 14 before balance adjustment. In step S329, the system control unit 50 calculates the target movement amount ΔS1t of the first slide plate 14. The target movement amount ΔS1t of the first slide plate 14 is the distance between the center of gravity 901 of the panning movable unit, which is a combination of the camera device 100, lens device 200, and the first slide plate drive unit 13 to the camera mounting base 21, and the panning rotation axis 8 in the direction of movement of the first slide plate 14. That is, the target movement amount ΔS1t can be calculated, for example, by the following formula:

[0088] ΔS1t=(M×S1i+Mg×Sgi) / (M+Mg)

[0089] Here, M is the combined weight of the camera device 100, lens device 200, and the third slide drive unit 17 (part of the gimbal device 1) to the camera mounting base 21 (not shown), hereinafter referred to as the pitch axis weight. S1i is the distance in the direction of movement of the first slide 14 between the pitch rotation axis 12 (pitch movable unit center of gravity 401) and the pan rotation axis 8. Mg is the combined weight of the first slide drive unit 13 (part of the gimbal device 1) to the pitch drive unit 11. Sgi is the distance in the direction of movement of the first slide 14 between the center of gravity 902 of the gimbal arm of the first slide drive unit 13 (part of the gimbal device 1) to the pan rotation axis 8.

[0090] Δs1t, S1i, and Sgi have positive signs on the first sliding axis + direction 22 side relative to the pan / tilt rotation axis 8, and negative signs on the opposite side. S1i, Mg, and Sgi are values ​​determined by the gimbal device 1 independently of the camera device 100 and lens device 200 as the mounts, and are therefore pre-stored in the non-volatile memory 51. The non-volatile memory 51 also stores, for example, in tabular form the correspondence between the starting power P3s or torque Ts of the third slide plate 18 and the pitch axis weight M. The system control unit 50 uses the information related to the starting power P3s or torque Ts of the third slide plate 18 obtained in step S326 to determine (estimate) the pitch axis weight M.

[0091] Next, in step S330, the system control unit 50 determines whether the calculated target movement amount ΔS1t of the first slide plate 14 is equal to or less than 0 (ΔS1t≤0). In step S302, the first slide plate 14 is moved to the operating end on the first sliding axis + direction 22. Therefore, if the target movement amount ΔS1t of the first slide plate 14 is greater than 0, the system control unit 50 determines that it is outside the balance adjustment range, and the process proceeds to step S306. On the other hand, if the target movement amount ΔS1t of the first slide plate 14 is equal to or less than 0, the process proceeds to step S331.

[0092] In step S331, the system control unit 50 determines whether the calculated target movement amount ΔS1t of the first slide plate 14 is within the movable range of the first slide plate 14 (the movable amount of the first slide plate 14 ≥ ΔS1t). If the target movement amount ΔS1t is within the movable range of the first slide plate 14, the process proceeds to step S332. On the other hand, if the target movement amount ΔS1t is outside the movable range, the process proceeds to step S306.

[0093] In step S332, the system control unit 50 unlocks the first slide plate 14 using the slide plate locking unit 75 and begins to move the first slide plate 14 along the first sliding axis-direction 23 using the first slide plate drive unit 13. Next, in step S333, the system control unit 50 determines whether the movement amount ΔS1 of the first slide plate 14 is consistent with the target movement amount ΔS1t of the first slide plate 14 (ΔS1 = ΔS1t). If the movement amount ΔS1 is consistent with the target movement amount ΔS1t, then... Figure 9B As shown, the center of gravity 901 of the panning movable unit is located on the panning rotation axis 8. Therefore, the system control unit 50 determines that the balance adjustment of the first slide plate 14 is complete, and the process proceeds to step S334. On the other hand, if the movement amount ΔS1 of the first slide plate 14 is inconsistent with the target movement amount ΔS1t of the first slide plate 14, the system control unit 50 continues to move the first slide plate 14.

[0094] In step S334, the system control unit 50 stops the movement of the first slide plate 14 using the first slide plate drive unit 13 and uses the slide plate locking unit 75 to fix the first slide plate 14. Next, in step S335, the system control unit 50 notifies the user that the balance adjustment of all sliding axes has been completed, and the process ends.

[0095] As described above, the universal joint device 1 according to this embodiment has a structure for detachably attaching to a mounting, and includes a sliding unit, a rotating body, a sliding position detector, a rotational position detector, a control unit (and a memory), a fixing unit, and a tilt detector. The sliding unit includes at least one sliding unit (e.g., first to fourth sliding plates 14, 16, 18, and 20) that can translate in a predetermined direction. The rotating body includes at least one rotating body that can rotate about a predetermined axis (e.g., a roll drive unit 7, a tilt drive unit 9, and a pitch drive unit 11). The sliding position detector is at least one detector configured to detect position information related to each sliding body (e.g., first to fourth encoders 71, 72, 73, and 74). The rotational position detector is at least one detector configured to detect rotational angle information related to each rotating body (e.g., a roll axis encoder 61, a tilt axis encoder 62, and a pitch axis encoder 63). The memory stores instructions. The control unit (system control unit 50, rotation control unit 60, and sliding plate control unit 70) is configured, when executing instructions, to control the sliding body based on the position information and the rotating body based on the rotational angle information. The mounting unit (camera mounting base 21) secures the mount. The tilt detector (attitude detector 80) detects the tilt angle of the mount fixed to the mounting unit relative to a predetermined position. The control unit is configured to determine the amount of movement of the slider to reduce the tilt angle.

[0096] The control unit can use the tilt angle to determine the amount of movement of the slider, so that the center of gravity (401, 601, 901) of the movable unit of the rotating body is close to the predetermined axis (or so that the center of gravity of the movable unit is aligned with the predetermined axis).

[0097] The universal joint device 1 may also include a rotation axis locking unit 64 configured to fix the rotating body, and a tilt detector to detect the tilt angle when the rotating body is unlocked by the rotation axis locking unit.

[0098] Other embodiments

[0099] Embodiments of the present invention can also be implemented by providing software (including computer program products of computer programs) that performs the functions of the above embodiments to a system or device via a network or various storage media, and the computer (central processing unit (CPU) or microprocessor unit (MPU) of the system or device) reads and executes the computer program.

[0100] While this disclosure describes exemplary embodiments, it should be understood that this disclosure is not limited to the exemplary embodiments. The scope of the appended claims should be accorded the broadest interpretation to cover all such modifications and equivalent structures and functions.

[0101] This embodiment can provide a universal joint device that allows for balance adjustments even when information about the installation is unavailable.

Claims

1. A universal joint device capable of being detachably attached to an installation, said universal joint device comprising: A sliding body that can translate in a predetermined direction; A rotating body that is capable of rotating about a predetermined axis; A sliding position detector is configured to detect position information related to the sliding body; A rotational position detector is configured to detect rotational angle information related to the rotating body; A control unit is configured to control the slider based on the position information and to control the rotater based on the rotation angle information; A fixing unit configured to fix the mounting object; as well as A tilt detector is configured to detect the tilt angle of the mount fixed to the fixing unit relative to a predetermined position. The control unit is characterized in that it is configured to determine the amount of movement of the slider in order to reduce the tilt angle.

2. The universal joint device according to claim 1, characterized in that, The control unit is configured to use the tilt angle to determine the amount of movement of the slider, such that the center of gravity of the movable unit of the rotating body approaches the predetermined axis.

3. The universal joint device according to claim 1 further includes a rotary shaft locking unit, the rotary shaft locking unit being configured to lock the rotating body. Its features are, The tilt detector detects the tilt angle when the rotating body is unlocked by the rotation axis locking unit.

4. The universal joint device according to claim 1, characterized in that, The tilt detector includes an acceleration sensor. The acceleration sensor is arranged between the fixed unit and the rotating body.

5. The universal joint device according to claim 1 further includes a retaining part, the retaining part being used for a user to hold the universal joint device. Its features are, The tilt detector includes an acceleration sensor. The acceleration sensor is disposed in the holding part, and The control unit is configured to use the output of the acceleration sensor and the output of the rotation position detector to calculate the tilt angle of the installation relative to the direction of gravity.

6. The universal joint device according to claim 1, characterized in that, The control unit is configured to determine the weight of the mount using information related to the power or torque used to move the slider.

7. The universal joint device according to any one of claims 1 to 6, characterized in that, The sliding body includes: The first sliding body is capable of translation in the first direction. The second sliding body is capable of translation in the second direction. The third sliding body, which can translate upwards on a third side, and The fourth sliding body, which is capable of translation in the fourth direction, The rotating body includes: The first rotating body is capable of rotating about a first rotation axis. The second rotating body, which is capable of rotating about the second rotation axis, and The third rotating body is capable of rotating about the third axis of rotation.

8. The universal joint device according to claim 7, characterized in that, The tilt detector detects a first tilt angle of the installation relative to the predetermined position when the rotation of the second rotating body is unlocked. The control unit is configured to determine the amount of movement of the second or third slider to reduce the first tilt angle. The tilt detector detects the second tilt angle of the installation when the rotation of the third rotating body is unlocked. The control unit is configured to determine the amount of movement of the third or fourth slider to reduce the second tilt angle.

9. The universal joint device according to claim 7, characterized in that, The first sliding body can move by the rotation of the first rotating body. The second sliding body can move by the rotation of the second rotating body. The third and fourth sliding bodies are movable via the third rotating body. The control unit is configured as follows: The first and second sliding bodies are moved to change the position of the center of gravity of the mount relative to the first rotating body. The second and third sliding bodies are moved to change the position of the center of gravity relative to the second rotating body. The third and fourth sliding bodies are moved to change the position of the center of gravity relative to the third rotating body.

10. A control method for a universal joint device, the universal joint device being detachably attachable to an installation, and the universal joint device comprising: A sliding body that can translate in a predetermined direction; A rotating body that is capable of rotating about a predetermined axis; and a fixing unit configured to fix the mount, the control method comprising: The tilt angle of the mount fixed to the fixing unit relative to a predetermined position is detected; as well as The amount of movement of the slider is determined to reduce the tilt angle.

11. A non-transitory computer-readable storage medium storing a program that causes a computer to perform the method according to claim 10.

12. A computer program product comprising a program that causes a computer to perform the method according to claim 10.

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