Gimbal device

Abstract

An object of the present disclosure is to provide a gimbal device capable of easily detecting an abnormality of a rotary gyro sensor.SOLUTION: The gimbal device 100 according to the present disclosure includes the rotary gyro sensors 10, the acceleration sensors 30, and the control device 50 to which signals output from each of the rotary gyro sensors 10 and each of the acceleration sensors 30 are input, wherein the control device 50 includes the calculation unit 51 capable of performing calculation on the signals input from each of the acceleration sensors 30 and calculating the calculation result, and the storage unit 52 capable of storing the calculation result, and the calculation unit 51 can detect an abnormality of each of the rotary gyro sensors 10 based on the calculation result.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a gimbal device. [Background technology]

[0002] Conventionally, vibration control devices using gimbal devices have included a gimbal supported on a gimbal shaft and rotated around the gimbal shaft by a servo motor, a disk that rotates around a main axis of rotation perpendicular to the gimbal shaft, and a velocity sensor (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 8-189545 Summary of the Invention [Problem to be solved by the invention]

[0004] Furthermore, conventional gimbal devices have also been configured to support a mounted object. Such gimbal devices have, for example, two or more axes that are perpendicular to each other and have frames that can rotate around the axes, and by independently rotating the corresponding frames around each axis, the mounted object on the frames can be oriented in any direction.

[0005] The gimbal device also had angle sensors, and the rotational drive around each axis was controlled by servo motors based on the detected values ​​of the angle sensors. The gimbal device also had an inertial sensor consisting of three angular velocity sensors and three acceleration sensors. The gimbal device was able to detect the horizontal plane using the inertial sensors, and had a vibration control function that could keep the payload horizontal at all times.

[0006] The angular velocity sensor of the gimbal device has been a rotary gyro sensor, a semiconductor gyro sensor, etc. Furthermore, the three angular velocity sensors and three acceleration sensors that make up the inertial sensor have been arranged so as to be orthogonal to each other.

[0007] In conventional gimbal devices, the rotational vibration component can increase due to factors such as deterioration of the rotating part of the rotary gyro sensor over time. In such cases, during on-site inspections, workers listen to the sound coming from the rotating part, i.e., the presence or absence and volume of rotation noise, and replace the rotary gyro sensor or other devices as necessary. Alternatively, the rotary gyro sensor or other devices may be replaced based on the number of years that have passed since the gimbal device was manufactured.

[0008] As such, determining when to replace the rotary gyro sensor and other devices in a gimbal device largely relies on operator confirmation, making it difficult to accurately determine when to replace them. Naturally, if a gimbal device is determined to be normal during a regular on-site inspection, no further inspections, including testing, are performed until the next regular inspection. If, during this time, a mechanism such as the bearing built into the rotary gyro sensor malfunctions due to aging or some other cause, the rotation noise and rotational vibrations can become louder, resulting in unwanted vibrations. In such cases, the acceleration sensor can pick up these vibrations, potentially affecting the gimbal device's functionality, such as its spatial stability.

[0009] Attempts have been made to detect gimbal device abnormalities by monitoring the drive current of the motor built into the rotary gyro sensor. However, the drive current can change significantly when an external disturbance is applied to the gimbal device, making it difficult to detect gimbal device abnormalities by monitoring the drive current. Thus, there was a problem in that it was not easy to detect abnormalities in the rotary gyro of the gimbal device.

[0010] In order to solve the above problem, an object of the present disclosure is to provide a gimbal device that can easily detect an abnormality in a rotary gyro sensor. [Means for solving the problem]

[0011] The gimbal device according to the present disclosure comprises one or more rotary gyro sensors, one or more acceleration sensors, and a control device to which signals output from each of the rotary gyro sensors and each of the acceleration sensors are input, and the control device has a calculation unit that can perform calculations on the signals input from each acceleration sensor to calculate the calculation results, and a memory unit that can store the calculation results, and the calculation unit can detect abnormalities in each of the rotary gyro sensors based on the calculation results. [Effects of the Invention]

[0012] According to the gimbal device according to the present disclosure, an abnormality in the rotary gyro sensor can be easily detected. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view showing an outline of a gimbal device according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating the function of the gimbal device in FIG. [Figure 3] FIG. 2 is a perspective view showing an outline of the rotary gyro sensor of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Embodiment 1 Fig. 1 is a perspective view showing an outline of a gimbal device 100 according to Embodiment 1. Fig. 2 is a schematic diagram showing the function of the gimbal device 100 in Fig. 1.

[0015] The gimbal device 100 is used, for example, as a vibration control device. Moving objects such as cars and airplanes, or structures such as buildings, may vibrate. For example, a moving object may vibrate due to its own movement, while a building may vibrate due to vibrations in the ground on which it is built.

[0016] When placing an object on a moving object such as a car or an airplane, or a structure such as a building, it may be preferable for the vibrations of the structure not to be transmitted to the object, causing the object to vibrate, depending on the object.

[0017] For example, if the placed object is a camera, and vibrations from the structure are transmitted to the camera, the image captured by the camera will appear to vibrate in response to the vibrations, resulting in an undesirable image.

[0018] The gimbal device 100 of the present disclosure can be used as a vibration control device for preventing vibration of a mounted object caused by vibration of such a structure. Specifically, by disposing the gimbal device 100, which is a vibration control device, between the structure and the mounted object, the gimbal device 100 functions to keep the mounted object in a fixed position, for example, horizontal, even if the structure vibrates.

[0019] The gimbal device 100 includes a main body 110, a first frame 120, a mounting frame 130, a first drive mechanism 115 that rotates the first frame 120 about a first rotation axis RZ, a mounting drive mechanism 125 that rotates the mounting frame 130 about a mounting rotation axis RY, three rotary gyro sensors 10, an electronic gyro sensor 20, three acceleration sensors 30, and a control device 50. Here, the first rotation axis RZ and the mounting rotation axis RY are perpendicular to each other.

[0020] The main body 110 is fixed to a structure such as a moving body, for example. The main body 110 supports other components of the gimbal device 100. A first drive mechanism 115 is disposed inside the main body 110.

[0021] The first frame 120 is supported by the main body 110. The first frame 120 is rotatable about a first rotation axis RZ that extends vertically relative to the main body 110. The first drive mechanism 115 is capable of rotating the first frame 120 about the first rotation axis RZ relative to the main body 110.

[0022] The first drive mechanism 115 is composed of a first servo motor 116 that generates a driving force for rotating the first frame 120, and a sensor (not shown) that includes an encoder or the like for detecting the rotation state of the first servo motor 116.

[0023] An object such as a camera is placed on the mounting frame 130. The mounting frame 130 is supported by the first frame 120. The mounting frame 130 is rotatable around a mounting rotation axis RY that extends horizontally relative to the first frame 120.

[0024] A mounting drive mechanism 125 is disposed on the first frame 120. The mounting drive mechanism 125 can rotate the mounting frame 130 relative to the first frame 120 around a mounting rotation axis RY.

[0025] The mounting drive mechanism 125 is composed of a mounting servo motor 126 that generates a driving force for rotating the mounting frame 130, and a sensor (not shown) such as an encoder for detecting the rotation state of the mounting servo motor 126. The first servo motor 116 and the mounting servo motor 126 are arranged as drive motors that rotate the first frame 120 and the mounting frame 130.

[0026] The three rotary gyro sensors 10, the electronic gyro sensor 20, and the three acceleration sensors 30 are each arranged on a mounting frame 130. Fig. 3 is a perspective view showing an outline of the rotary gyro sensor 10 of Fig. 1.

[0027] Each rotary gyro sensor 10 detects its own angular velocity or acceleration in rotation and can output the detected angular velocity or angular acceleration as a signal. The three rotary gyro sensors 10 are arranged facing in different directions, i.e., corresponding to three different axes, so that they can detect angular velocities in different directions. The three different axes are perpendicular to one another.

[0028] Each rotary gyro sensor 10 has a main body frame 15, a frame 13 rotatably supported by the main body frame 15, a disk-shaped rotating body 11 rotatably supported by the frame 13, and a rotation motor 12 that rotates the rotating body 11. The rotating body 11 has a certain amount of weight to increase the inertial force during its own rotation.

[0029] Rotation motor 12 can continuously rotate rotating body 11 at a constant speed. Rotation motor 12 can detect and output the operating state of rotation motor 12 itself or the rotation state of rotating body 11, for example, using a device built into rotation motor 12 itself.

[0030] The operating state of the rotary motor 12 itself is the rotation speed of the rotary motor 12 itself. The rotation state of the rotating body 11 is the rotation speed of the rotating body 11 itself.

[0031] 1 and 2, the explanation will be continued. The electronic gyro sensor 20 is a semiconductor gyro sensor. The electronic gyro sensor 20 functions redundantly for the three rotary gyro sensors 10. In other words, the electronic gyro sensor 20 can detect and output the same angular velocities and accelerations as the three rotary gyro sensors 10.

[0032] Each acceleration sensor 30 is disposed so as to detect acceleration along a corresponding axis, which is the same as the axis corresponding to each rotary gyro sensor 10.

[0033] Here, the three rotary gyro sensors 10, the electronic gyro sensor 20, and the three acceleration sensors 30 function as inertial sensors. The three rotary gyro sensors 10, the electronic gyro sensor 20, and the three acceleration sensors 30 functioning as inertial sensors can detect a horizontal plane, that is, can detect deviation from the horizontal plane of the system in which the inertial sensors are arranged.

[0034] The control device 50 is connected to each of the rotary gyro sensors 10, the electronic gyro sensor 20, the acceleration sensors 30, the first drive mechanism 115, and the mounting drive mechanism 125 so as to be able to communicate information.

[0035] The control device 50 has a calculation unit 51, a storage unit 52, and an input / output unit 53. The calculation unit 51 can perform calculations based on various information input via the input / output unit 53 and various information stored in the storage unit 52.

[0036] Specifically, the calculation unit 51 can calculate control commands for the first drive mechanism 115 and the placement drive mechanism 125 and output them as control signals via the input / output unit 53. Furthermore, the calculation unit 51 can store the calculation results and information input from the input / output unit 53 in the storage unit 52.

[0037] The results of the calculations performed by the calculation unit 51 may be transmitted to devices other than the gimbal device 100 via the input / output unit 53 as needed.

[0038] The storage unit 52 can store information such as control parameters input in advance by an operator or the like, information calculated by the calculation unit 51, or information input from the input / output unit 53. The information stored in the storage unit 52 can be read out or deleted by the calculation unit 51.

[0039] The input / output unit 53 functions as an interface for transmitting information to devices other than the control device 50. That is, signals output from each rotary gyro sensor 10, each acceleration sensor 30, first drive mechanism 115, and mounting drive mechanism 125 are input to the input / output unit 53. For example, signals such as the rotation angle, rotation speed, and acceleration detected and output by each device are input to the input / output unit 53.

[0040] Furthermore, the input / output unit 53 outputs control signals for each rotary gyro sensor 10, the first drive mechanism 115, and the placement drive mechanism 125. For example, drive signals for each motor are output.

[0041] Furthermore, information is input to the input / output unit 53 from devices other than the gimbal device 100, and information is output from the input / output unit 53 to devices other than the gimbal device 100.

[0042] The calculation unit 51 can control the servo motors of the first drive mechanism 115 and the mounting drive mechanism 125 based on signals from each rotary gyro sensor 10, signals from each acceleration sensor 30, and redundant signals of the rotary gyro sensor 10 obtained from the electronic gyro sensor 20.

[0043] The gimbal device 100 can suppress vibration of a mounted object such as a camera even when the structure vibrates, by the control device 50 controlling the first servo motor 116 and the mounted servo motor 126.

[0044] For example, the gimbal device 100 can be used as a vibration control device in which the main body 110 is fixed to a structure such as a moving body, and an object such as a camera is fixed to the mounting frame 130, thereby maintaining the camera in a constant position relative to a horizontal plane.

[0045] Next, we will explain the startup of the gimbal device 100. When power is applied to the gimbal device 100, the control device 50, each rotary gyro sensor 10, the electronic gyro sensor 20, each acceleration sensor 30, the first drive mechanism 115, and the mounting drive mechanism 125 are all started up.

[0046] Specifically, in each rotary gyro sensor 10, the rotor 11 rotates at a constant rotational speed, and the angular velocity and angular acceleration are detected and output as signals. The electronic gyro sensor 20 and each acceleration sensor 30 also output the detected results as signals.

[0047] Signals from the rotary gyro sensors 10, the electronic gyro sensor 20, and the acceleration sensors 30 begin to be constantly input to the control device 50. The calculation unit 51 starts to control the first drive mechanism 115 and the placement drive mechanism 125 based on the input signals.

[0048] This allows the gimbal device 100 to exert a vibration suppression function. Note that when power is applied to the gimbal device 100, the control device 50, each rotary gyro sensor 10, the electronic gyro sensor 20, each acceleration sensor 30, the first drive mechanism 115, and the mounting drive mechanism 125 are activated. However, this is not limitative.

[0049] For example, after power is applied to the gimbal device 100, the control device 50 may first be started up, and the started control device 50 may then apply power to and start up each rotary gyro sensor 10, the electronic gyro sensor 20, each acceleration sensor 30, the first drive mechanism 115, and the mounting drive mechanism 125.

[0050] Next, a description will be given of detection of an abnormality in the rotary gyro sensor 10. An abnormality in each rotary gyro sensor 10 is detected based on the signal output by each acceleration sensor 30.

[0051] The rotating body 11 of each rotary gyro sensor 10 has a certain amount of weight so that the rotating body 11 itself rotates stably, and by rotating at a high speed, it is possible to generate a larger gyro moment.

[0052] In the rotary gyro sensor 10, for example, a mechanical abnormality may occur in a portion such as the rotation motor 12 or the bearing of the rotating body 11. However, abnormalities in each rotary gyro sensor 10 are not limited to mechanical abnormalities in portions such as the rotation motor 12 or the bearing of the rotating body 11.

[0053] Vibrations may occur when an abnormality occurs in each rotary gyro sensor 10. Furthermore, vibrations caused by an abnormality occurring in each rotary gyro sensor 10 may be transmitted from each rotary gyro sensor 10 to one of the acceleration sensors 30 via the mounting frame 130.

[0054] Each acceleration sensor 30 constantly detects its own acceleration. Therefore, when vibration caused by an abnormality in any of the rotary gyro sensors 10 is transmitted to each acceleration sensor 30, each acceleration sensor 30 detects acceleration that includes the vibration caused by the abnormality.

[0055] Therefore, by analyzing the signals output from each acceleration sensor 30, it is possible to detect an abnormality in each rotary gyro sensor 10. That is, it is possible to detect an abnormality in each rotary gyro sensor 10 based on the signals input from each acceleration sensor 30.

[0056] Next, a detailed description will be given of the detection of an abnormality in each rotary gyro sensor 10. The calculation unit 51 performs calculations at regular intervals on the signals of each acceleration sensor 30 input to the input / output unit 53, and calculates the calculation results. The calculation unit 51 stores the calculated calculation results in the memory unit 52.

[0057] That is, the calculation result is the result of calculation performed on the signals of each acceleration sensor 30 at a fixed period and output. Here, the current calculation result calculated by the calculation unit 51 based on the current input signals of each acceleration sensor 30 is referred to as the current calculation result, and the past calculation result stored in the storage unit 52 is referred to as the past calculation result.

[0058] The calculation unit 51 sequentially calculates the current calculation result based on the latest input signal of each acceleration sensor 30 .

[0059] The calculation may be a real-time FFT conversion. The calculation unit 51 can perform a real-time FFT conversion as a calculation on the signal input from the acceleration sensor 30. This results in a calculation result as a waveform converted into frequency components.

[0060] The calculation performed by the calculation unit 51 on the signal input from the acceleration sensor 30 is not limited to real-time FFT conversion, and any known calculation may be appropriately selected. For example, simple amplification or smoothing may be used.

[0061] The calculated current calculation result becomes a past calculation result by being stored in the storage unit 52. That is, the current calculation results calculated successively are accumulated as past calculation results.

[0062] The calculation unit 51 stores the current calculation result obtained by calculating the signal from each acceleration sensor 30 in the storage unit 52, and can simultaneously compare the current calculation result with the past calculation result.

[0063] The calculation unit 51 can use any past calculation result stored in the storage unit 52 as the past calculation result to be used in the comparison. That is, the calculation unit 51 can call up any past calculation result stored in the storage unit 52 and compare it with the current calculation result.

[0064] A specific comparison method is, for example, to calculate the difference between a past calculation result and a current calculation result, and if the difference exceeds a certain threshold, it is determined that an abnormality has been detected. Here, the point in the current calculation result where the difference between the past calculation result and the current calculation result exceeds the threshold is defined as a feature point.

[0065] The past calculation result and the current calculation result obtained by the real-time FFT transformation are each converted into frequency components. In this case, the feature point is a portion corresponding to at least some of the frequencies represented in the current calculation result.

[0066] Specifically, when a point where the waveforms of the past calculation result and the current calculation result being compared are significantly different from each other is detected, a part of the current calculation result corresponding to the significantly different point can be recognized as a feature point.

[0067] For example, when a large peak-shaped waveform not seen in the past calculation results appears in the current calculation result, the calculation unit 51 can recognize the peak-shaped portion as a feature point. That is, a feature point can be detected by comparing the current calculation result with the past calculation results, and is at least a part of the current calculation result that is not seen in the past calculation results. Note that the feature point may be the entire current calculation result. That is, there may be cases where the past calculation result and the current calculation result are significantly different overall.

[0068] Here, for convenience, the current calculation result having the feature point is referred to as current calculation result (1). Furthermore, a fixed period has elapsed since the calculation of current calculation result (1), and the calculation unit 51 obtains the next new current calculation result. This new current calculation result is referred to as current calculation result (2). Furthermore, the successively obtained current calculation results are referred to as current calculation result (3), current calculation result (4), ... current calculation result (n). In this way, the current calculation results are calculated sequentially at fixed periods.

[0069] The calculation unit 51 has detected a characteristic point in the current calculation result (1), and based on this, it can be assumed that an abnormality has been detected in the rotary gyro sensor 10. However, even if a characteristic point is detected in only one current calculation result (1), it is possible that this characteristic point is not due to an abnormality in the rotary gyro sensor 10, but is instead due to a disturbance to the gimbal device 100, for example.

[0070] Therefore, just because a feature point is detected in one current calculation result, the calculation unit 51 does not necessarily determine that an abnormality has been detected in the rotary gyro sensor 10. For example, the calculation unit 51 may determine that an abnormality has been detected in the rotary gyro sensor 10 only when a feature point or a feature similar to a feature point is detected in each of a plurality of current calculation results calculated over a specified period of time.

[0071] For example, if similar feature points are detected in the current calculation results (2) to (6) calculated after the current calculation result (1), the calculation unit 51 may determine that an abnormality in the rotary gyro sensor 10 has been detected.

[0072] When an abnormality in the rotary gyro sensor 10 is detected, the calculation unit 51 can notify the user of the abnormality. In the gimbal device 100, the abnormality is notified by, for example, displaying a message on a display unit (not shown). The display unit (not shown) may be an indicator light or a message display disposed on the main body 110.

[0073] Furthermore, a signal indicating that an abnormality in the rotary gyro sensor 10 has been detected may be output to an external device via the input / output unit 53. For example, the gimbal device 100 may be connected to a computer in a control room so as to be able to exchange information, and the signal indicating that an abnormality in the rotary gyro sensor 10 has been detected and output via the input / output unit 53 may be processed by the computer and notified to an operator. For the notification, well-known notification means such as a monitor, a warning lamp, an alarm device, and notification by email may be used.

[0074] The calculation unit 51 does not store the current calculation result in which a feature point has been found in the storage unit 52. However, if it is considered that the calculation result in which a feature point has been found is necessary for subsequent abnormality verification, the calculation unit 51 may store the calculation result in which a feature point has been found in the storage unit 52.

[0075] In this case, it is desirable that the calculation results in which feature points have been found be stored in the storage unit 52 in a state that allows them to be distinguished from past calculation results that are read out and compared with the current calculation results.

[0076] For example, the current calculation result in which a feature point has been found may be linked to the fact that the feature point has been found and stored in the storage unit 52. Alternatively, the calculation result in which a feature point has been found may be stored in a folder different from the folder in which the past calculation result in which a feature point has not been found is stored.

[0077] Alternatively, it is possible to manage whether or not a calculation result has detected a feature point based on date and time information associated with a past calculation result stored in the storage unit 52. In this case, when the calculation unit 51 stores the past calculation result in the storage unit 52, it is possible to use date and time information as a file generation date and time that is automatically assigned to the past calculation result, or it is possible to store a calculation result linked to date and time information such as the date and time when the calculation result was calculated.

[0078] This allows the calculation unit 51, when retrieving past calculation results from the memory unit 52, to select past calculation results when no abnormalities were found, i.e., when the rotary gyro sensor 10 was considered normal.

[0079] Conversely, when storing in the storage unit 52 the calculation result calculated by the calculation unit 51 when the rotary gyro sensor 10 is in a normal operating state, the calculation result may be stored as a normal operation result in the storage unit 52. Specifically, when storing in the storage unit 52 as a normal operation result, the calculation result may be stored in the storage unit 52 with a link to the fact that it is a calculation result when the rotary gyro sensor 10 is in a normal operating state.

[0080] The normal operation result is, for example, a calculation result calculated and stored when an operator checks that the rotary gyro sensor 10 is operating normally. Examples of situations in which an operator checks that the rotary gyro sensor 10 is operating normally include an inspection during a check run before the gimbal device 100 is shipped from the factory, or an inspection during regular maintenance of the gimbal device 100.

[0081] The calculation unit 51 can check the storage capacity of the storage unit 52. When the calculation unit 51 determines that the storage capacity of the storage unit 52 has become low, the calculation unit 51 can delete the stored calculation results.

[0082] The calculation results to be deleted can be calculation results other than the normal calculation results. Furthermore, the calculation unit 51 can also delete the other past calculation results while leaving the normal calculation results and the calculation results in which feature points have been detected.

[0083] When comparing the current calculation result with the past calculation result, the calculation unit 51 can take into consideration the operating states of the first servo motor 116 and the mounted servo motor 126. If either the first servo motor 116 or the mounted servo motor 126 is driven, the acceleration sensor 30 may detect vibrations caused by the driving of that servo motor.

[0084] Normally, vibrations caused by driving at least one of the first servo motor 116 and the mounted servo motor 126 are minute and last for a short period of time. Therefore, by appropriately setting a threshold value or the like, it is possible to prevent the vibrations caused by driving the first servo motor 116 and the mounted servo motor 126 from affecting the determination of an abnormality in the rotary gyro sensor 10 based on a comparison between the current calculation result and the past calculation result.

[0085] On the other hand, if it is possible to grasp even a small amount of vibration caused by an abnormality in the rotary gyro sensor 10, it may be possible to detect the abnormality in the rotary gyro sensor 10 early, so it may be necessary to improve the accuracy of comparing the current calculation result with the past calculation result.

[0086] In such a case, the calculation unit 51 may compare the current calculation result with the past calculation result, taking into consideration the operating states of the servo motors of the first driving mechanism 115 and the placement driving mechanism 125.

[0087] That is, the gimbal device 100 further includes a first servo motor 116 and a mounted servo motor 126 as one or more drive motors controlled by the calculation unit 51, and when comparing a current calculation result with a past calculation result, the calculation unit 51 can detect an abnormality in the rotary gyro sensor 10 by taking into consideration the operating states of the first servo motor 116 and the mounted servo motor 126. This makes it possible to compare a current calculation result with a past calculation result in which the operating states of the drive motors, that is, the first servo motor 116 and the mounted servo motor 126, are the same. Therefore, an abnormality in each rotary gyro sensor 10 can be detected more accurately.

[0088] The gimbal device 100 in the first embodiment is equipped with three rotary gyro sensors 10 and two servo motors, a first drive mechanism 115 and a mounting drive mechanism 125, as drive motors, and performs control along two axes. However, this is not limited to this. The present disclosure can also be applied to a gimbal device 100 that can be controlled along one axis or any multiple axes, a gimbal device 100 having one or more rotary gyro sensors 10, and a gimbal device 100 having one or more drive motors.

[0089] The gimbal device 100 according to the first embodiment includes one or more rotary gyro sensors 10, one or more acceleration sensors 30, and a control device 50 to which signals output from each of the rotary gyro sensors 10 and each of the acceleration sensors 30 are input. The control device 50 also includes a calculation unit 51 that can calculate calculation results by performing calculations on the signals input from each acceleration sensor 30, and a storage unit 52 that can store the calculation results. The calculation unit 51 can detect abnormalities in each of the rotary gyro sensors 10 based on the calculation results. As a result, as long as the gimbal device 100 is powered on, abnormalities in the rotary gyro sensors 10 can be detected without inspection work. Therefore, abnormalities in the rotary gyro sensors 10 can be easily detected. Furthermore, as a result, abnormalities in the rotary gyro sensors 10 can be constantly detected without the need for a special abnormality detection mechanism. Furthermore, as a result, vibrations caused by events that may not necessarily be abnormalities in the rotary gyro sensors 10 but may develop into abnormalities can also be identified based on the stored multiple calculation results. Therefore, an abnormality in the rotary gyro sensor 10 can be predicted.

[0090] The calculation unit 51 in the gimbal device 100 according to the first embodiment compares a past calculation result, which is a calculation result stored in the past, with a current calculation result, which is a calculation result calculated based on newly input signals from each acceleration sensor 30. Furthermore, if the calculation unit 51 detects a feature point in the current calculation result, it detects an abnormality in the rotary gyro sensor 10. The feature point is at least a part of the current calculation result, and the feature point is at least a part of the current calculation result that is not found in the past calculation result and can be detected by comparing the current calculation result with the past calculation result. This allows for detection of an abnormality in the rotary gyro sensor 10 by comparing it with the past calculation result. Therefore, it is possible to more accurately detect an abnormality in the rotary gyro sensor 10. Furthermore, by analyzing the calculation result before an abnormality occurs in the rotary gyro sensor 10 and setting a more appropriate threshold value for detecting the feature point, it is possible to more accurately detect an abnormality in the rotary gyro sensor 10. Therefore, it is possible to more accurately grasp the lifespan of the rotary gyro sensor 10, thereby reducing maintenance costs for the rotary gyro sensor 10.

[0091] In the gimbal device 100 according to the first embodiment, when a feature point is detected in each of a plurality of current calculation results calculated over a certain period of time among the current calculation results that are calculated sequentially, this is detected as an abnormality in the rotary gyro sensor 10. This reduces false detection of an abnormality in the rotary gyro sensor 10 that is caused by disturbances and electrical noise. Therefore, an abnormality in the rotary gyro sensor 10 can be detected more accurately.

[0092] In the gimbal device 100 according to the first embodiment, when the calculation result calculated by the calculation unit 51 and stored in the storage unit 52 when each rotary gyro sensor 10 is operating normally is defined as the normal calculation result, the normal calculation result is used as the past calculation result. As a result, the normal calculation result obtained when the rotary gyro sensor 10 is confirmed to be operating normally can be used for comparison with the current calculation result. Therefore, even minor abnormalities in the rotary gyro sensor 10 that do not result in a major abnormality such as inoperability can be detected. Therefore, abnormalities in the rotary gyro sensor 10 can be detected more accurately. Furthermore, this enables early detection and early response to abnormalities in the rotary gyro sensor 10. Therefore, abnormalities in the rotary gyro sensor 10 can be immediately responded to, and the downtime of the system using the gimbal device 10 due to an abnormality in the rotary gyro sensor 10 can be shortened.

[0093] In the gimbal device 100 according to the first embodiment, the normal operation result is a calculation result calculated by the calculation unit 51 and stored in the storage unit 52 when it is confirmed that each rotary gyro sensor 10 is operating normally during a factory inspection or a periodic maintenance inspection. This makes it clear that the normal operation result was stored when the operator confirmed that each rotary gyro sensor 10 was operating normally. Therefore, the origin of the normal operation result is clear, and the operator can use the normal operation result without anxiety. This reduces the mental burden on the operator.

[0094] In the gimbal device 100 according to the first embodiment, the calculation unit 51 detects an abnormality in the rotary gyro sensor 10 when at least a part of the calculation results exceeds a preset threshold. This makes it possible to detect an abnormality in the rotary gyro sensor 10 using the threshold set by a designer, developer, or the like. This allows an appropriate safety margin to be provided for an abnormality in the rotary gyro sensor 10. Therefore, by appropriately setting the threshold, it is possible to detect an abnormality in the rotary gyro sensor 10 early and to use the rotary gyro sensor 10 until it becomes inoperable. This allows for efficient operation of the gimbal device 100.

[0095] In the gimbal device 100 according to the first embodiment, the calculation performed by the calculation unit 51 on the signals input from each acceleration sensor 30 is a real-time FFT transformation. This allows the frequency of vibrations occurring when an abnormality occurs in the rotary gyro sensor 10 to be determined. Therefore, by accumulating knowledge about the frequency occurring when an abnormality occurs, it becomes easier to identify the location or situation of an abnormality in the rotary gyro sensor 10. This also makes it possible to manage the gimbal device 100 by taking advantage of the advantage of calculations performed using real-time FFT transformation. [Explanation of symbols]

[0096] 10 Rotating gyro sensor, 11 Rotating body, 12 Rotation motor, 13 Frame, 15 Main body frame, 20 Electronic gyro sensor, 30 Acceleration sensor, 50 Control device, 51 Calculation unit, 52 Memory unit, 53 Input / output unit, 100 Gimbal device, 110 Main body, 120 First frame, 115 First drive mechanism, 116 First servo motor (drive motor), 130 Mounting frame, 125 Mounting drive mechanism, 126 Mounting servo motor (drive motor), RZ First rotation axis, RY Mounting rotation axis.

Claims

1. one or more rotary gyro sensors (10); one or more acceleration sensors (30); a control device (50) to which signals output from each of the rotary gyro sensors (10) and each of the acceleration sensors (30) are input; Equipped with The control device (50) has a calculation unit (51) that can calculate a calculation result by performing calculation on the signals input from each of the acceleration sensors (30), and a storage unit (52) that can store the calculation result, The calculation unit (51) can detect an abnormality in each of the rotary gyro sensors (10) based on the calculation results. A gimbal device (100).

2. The calculation unit (51) compares a past calculation result, which is the calculation result stored in the past, with a current calculation result, which is the calculation result calculated based on newly input signals from each of the acceleration sensors (30), and detects an abnormality in the rotary gyro sensor (10) when a characteristic point is detected from the current calculation result, The feature point is at least a part of the current calculation result, The feature point is at least a part of the current calculation result that is not found in the past calculation result and can be detected by comparing the current calculation result with the past calculation result. The gimbal assembly (100) of claim 1.

3. When the characteristic point is detected in each of the plurality of current calculation results calculated over a certain period of time in the current calculation results that are calculated sequentially, an abnormality is detected in the rotary gyro sensor (10). The gimbal assembly (100) of claim 2.

4. When the calculation result calculated by the calculation unit (51) and stored in the storage unit (52) when each of the rotary gyro sensors (10) is in a normal operating state is taken as a normal calculation result, The normal operation result is used as the past operation result. The gimbal assembly (100) of claim 2.

5. The normal operation result is the operation result calculated by the calculation unit (51) and stored in the memory unit (52) when it is confirmed that each of the rotary gyro sensors (10) is in a normal operating state during an inspection at the time of shipment from a factory or an inspection during regular maintenance. The gimbal assembly (100) of claim 4.

6. The calculation unit (51) detects an abnormality in the rotary gyro sensor (10) when at least a part of the calculation result exceeds a preset threshold value. The gimbal assembly (100) of claim 1.

7. The calculation performed by the calculation unit (51) on the signals input from each of the acceleration sensors (30) is a real-time FFT transformation. The gimbal assembly (100) of claim 1.

Images