Gimbal device, method for controlling gimbal device, and program

Abstract

To provide a gimbal device capable of performing balance adjustment even when information on a mounted object cannot be acquired.SOLUTION: A gimbal device (1) to and from which a load (100, 200) is attachable and detachable, the gimbal device (1) including a slide portion (14, 16, 18, 20) that is translationally movable in a predetermined direction, a rotation portion (7, 9, 11) that is rotationally movable around a predetermined axis, a slide position detection unit (71, 72, 73, 74) that detects position information of the slide portion, a rotation position detection unit (61, 62, 63) that detects rotation angle information of the rotation portion, and a control unit that controls the slide portion based on the position information, there are provided a control unit (50, 60, 70) that controls a rotation unit based on rotation angle information, a fixing unit (21) that fixes a mounted object, and an inclination detection unit (80) that detects an inclination angle of the mounted object fixed to the fixing unit with respect to a predetermined position, and the control unit determines a movement amount of the slide unit so that the inclination angle becomes small.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a gimbal device, a method for controlling a gimbal device, and a program. [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 mounted object. Patent Document 1 discloses a method for adjusting the center of gravity by moving the weight of the gimbal device in response to changes in the center of gravity in the optical axis direction caused by lens zoom of the mounted camera. Patent Document 2 discloses a method for an interchangeable lens camera in which the camera acquires lens center of gravity information linked to an ID from the mounted lens and calculates the combined center of gravity position of the camera and lens. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-211626 [Patent Document 2] Japanese Patent Application Publication No. 2018-56636 Summary of the Invention [Problem to be solved by the invention]

[0004] In the methods disclosed in Patent Documents 1 and 2, if information about the payload, such as center of gravity information, cannot be obtained, it is difficult to reduce the time required for balance adjustment.

[0005] Therefore, an object of the present invention is to provide a gimbal device that can perform balance adjustment even when information about the mounted object cannot be obtained. [Means for solving the problem]

[0006] A gimbal device according to one aspect of the present invention is a gimbal device to which a mount can be detachably attached, and includes a sliding section that can move translationally in a predetermined direction, a rotating section that can move rotationally around a predetermined axis, a sliding position detection section that detects position information of the sliding section, a rotation position detection section that detects rotation angle information of the rotating section, a control section that controls the sliding section based on the position information and the rotating section based on the rotation angle information, a fixing section that fixes the mount, and a tilt detection section that detects the tilt angle of the mount fixed to the fixing section relative to a predetermined position, and the control section determines the amount of movement of the sliding section so as to reduce the tilt angle.

[0007] Other objects and features of the present invention will be described in the following embodiments. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a gimbal device that can perform balance adjustment even when information about the mounted object cannot be obtained. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an external view of a gimbal device according to an embodiment of the present invention. [Figure 2] FIG. 1 is a block diagram of an imaging system according to an embodiment of the present invention. [Figure 3(a)] 4 is a flowchart showing a method for controlling the gimbal device according to the present embodiment. [Figure 3(b)] 4 is a flowchart showing a method for controlling the gimbal device according to the present embodiment. [Figure 4] 10 is an explanatory diagram relating to balance adjustment of a fourth slide plate in this embodiment. FIG. [Figure 5] 5A and 5B are explanatory diagrams of target movement amounts of a third slide plate and a fourth slide plate in the present embodiment. [Figure 6] 10A and 10B are explanatory diagrams of balance adjustment of the second slide plate in this embodiment. [Figure 7]5A and 5B are explanatory diagrams of target movement amounts of a second slide plate and a third slide plate in this embodiment. [Figure 8] 10 is an explanatory diagram of a target movement amount of a third slide plate in the present embodiment. FIG. [Figure 9] 5 is an explanatory diagram of a target movement amount of a first slide plate in the present embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0011] First, with reference to FIG. 1, a gimbal device 1 will be described as an example of an electronic device in this embodiment. FIG. 1 is an external view of the gimbal device 1. In FIG. 1, a power switch 2 is an operating member that switches the power of the gimbal device 1 on and off. A display unit 3 is a display unit provided on the gimbal device 1 that displays various information. An operating unit 4 is an operating member that issues various instructions to the gimbal device 1 or an imaging device 100 that will be described with reference to FIG. 2. The operating unit 4 is, for example, an operating member that combines a push button and an eight-way key, but is not limited to this. The number of operating members is also not limited.

[0012] The gimbal camera I / F 5 is an interface that connects the gimbal device 1 and the imaging device 100. The gimbal camera I / F 5 is a connection unit that connects to the imaging device 100 via, for example, a USB cable (not shown), but is not limited to this, including its arrangement. The grip unit 6 is a holding unit shaped to be easy for the user to hold when holding the gimbal device 1.

[0013] The pan drive unit 7 has a first rotary drive motor and is a rotating unit (first rotating unit that can rotate around the first rotation axis) that can rotate (pan axis rotation) an object mounted on the gimbal device 1 around a first rotation axis (pan rotation axis 8, predetermined axis). The pan rotation axis 8 is an axis parallel to the longitudinal direction of the grip unit 6 and is the rotation center of the pan drive unit 7.

[0014] The roll drive unit 9 is a rotation unit (second rotation unit that can rotate around the second rotation axis) that has a second rotation drive motor and is capable of rotating (roll axis rotation) an object mounted on the gimbal device 1 around a second rotation axis (roll rotation axis 10, predetermined axis). The roll rotation axis 10 is an axis that is disposed on a plane that includes the pan rotation axis 8, and is the rotation center of the roll drive unit 9.

[0015] The tilt drive unit 11 is a rotation unit (third rotation unit that can rotate about the third rotation axis) that has a third rotation drive motor and is capable of rotating (tilt axis rotation) an object mounted on the gimbal device 1 around a third rotation axis (tilt rotation axis 12, a predetermined axis). The tilt rotation axis 12 is an axis that is perpendicular to the roll rotation axis 10, and is the rotation center of the tilt drive unit 11. Note that in this embodiment, each rotation drive motor is a three-phase brushless DC motor that rotates an object mounted on the gimbal device 1 around the corresponding rotation axis, but is not limited to this.

[0016] The first slide plate driving unit 13 has a first slide drive motor and can move the first slide plate (first slide portion) 14 along a first slide axis (first direction, predetermined direction) that is perpendicular to the pan rotation axis 8. The first slide plate 14 is driven by the first slide plate driving unit 13 and is a mechanism (slide portion) that can move translationally to any position in the first direction.

[0017] The second slide plate driving unit 15 has a second slide drive motor and can move the second slide plate (second slide unit) 16 along a second slide axis (second direction, predetermined direction) that is perpendicular to the roll rotation axis 10. The second slide plate 16 is driven by the second slide plate driving unit 15 and is a mechanism (slide unit) that can move translationally to any position in the second direction.

[0018] The third slide plate driving unit 17 has a third slide drive motor and can move the third slide plate (third slide portion) 18 along a third slide axis (third direction, predetermined direction) that is perpendicular to the tilt rotation axis 12. The third slide plate 18 is driven by the third slide plate driving unit 17 and is a mechanism (slide portion) that can move translationally to any position in the third direction.

[0019] The fourth slide plate driving unit 19 has a fourth slide drive motor and can move the fourth slide plate (fourth slide portion) 20 along a fourth slide axis (fourth direction, predetermined direction). The fourth slide plate 20 is a mechanism (slide portion) that is driven by the fourth slide plate driving unit 19 and can move translationally to any position in the fourth direction. Note that in this embodiment, each slide drive motor is a linear actuator that linearly moves an object mounted on the gimbal device 1 in response to a control signal, but is not limited to this.

[0020] The camera fixing base 21 is a base (a fixing portion for fixing an object) on which an object mounted on the gimbal device 1 is attached. The object mounted on the gimbal device 1 is, for example, the imaging device 100, and is attached by a tripod screw, but is not limited to this.

[0021] Next, the first to fourth slide axes will be described. Here, the three axes constituting the three-dimensional Cartesian coordinate system are called the X-axis, Y-axis, and Z-axis, and the axis parallel to the gravity axis is defined as the Y-axis. In addition, for the purpose of the description, it is assumed that the gimbal device 1 is placed in a normal position (predetermined position). Here, the normal position is a state in which the long side of the grip portion 6 is parallel to the gravity axis (Y-axis), the camera fixing base 21 is perpendicular to the Y-axis, and the optical axis of the imaging device 100 attached to the camera fixing base 21 is perpendicular to the Y-axis. The axis parallel to the optical axis of the imaging device 100 is defined as the Z-axis, and the X-axis is defined as an axis perpendicular to the YZ plane.

[0022] When the gimbal device 1 is in the normal position, the first slide axis and the fourth slide axis are parallel to the Z axis, and the positive direction of the Z axis is defined as the first slide axis positive direction 22 and the fourth slide axis positive direction 28, respectively. The negative direction of the Z axis is defined as the first slide axis negative direction 23 and the fourth slide axis negative direction 29, respectively. The second slide axis is parallel to the X axis, and the positive direction of the X axis is defined as the second slide axis positive direction 24 and the negative direction of the X axis is defined as the second slide axis negative direction 25, respectively. The third slide axis is parallel to the Y axis, and the positive direction of the Y axis is defined as the third slide axis positive direction 26 and the negative direction of the Y axis is defined as the third slide axis negative direction 27, respectively.

[0023] The rotation directions are also defined as follows. When the gimbal device 1 is in the normal position, the direction of rotation clockwise relative to the + direction of the Y axis is defined as pan axis rotation + direction 30, and the direction of rotation counterclockwise relative to the + direction of the Z axis is defined as roll axis rotation + direction 32, and the direction of rotation counterclockwise relative to the - direction of the Z axis is defined as roll axis rotation - direction 33. The direction of rotation clockwise relative to the + direction of the X axis is defined as tilt axis rotation + direction 34, and the direction of rotation counterclockwise relative to the - direction of the X axis is defined as tilt axis rotation - direction 35. However, the definitions and relationships of these axes are merely examples and are not limited to these.

[0024] Next, the control of the gimbal device 1 for maintaining the optical axis of the image capture device 100 in a desired direction (for example, the Z-axis direction) will be described. The gimbal device 1 has the pan drive unit 7, roll drive unit 9, and tilt drive unit 11, as well as the first to third rotary drive motors described above, as well as respective axis encoders 61, 62, and 63, which will be described later with reference to FIG. 2. The system control unit 50 is capable of calculating the angle (target value) of each rotary drive unit required to maintain the optical axis of the image capture device 100 in a desired direction. The system control unit 50 supplies power to each rotary drive unit via the rotation control unit 60 so that the difference between the value (current value) of the rotation position detection unit (each axis encoder 61, 62, and 63) and the target value is eliminated. 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 is not limited to this.

[0025] Next, balance adjustment will be described. A balanced (balanced) state of the gimbal device 1 is a state in which the center of gravity of the loads is located on the pan rotation axis 8, the roll rotation axis 10, and the tilt rotation axis 12. Here, the term "loads" refers to the loads for the pan driver 7, the roll driver 9, and the tilt driver 11, respectively. In other words, the loads for the tilt driver 11 include the imaging device 100 and the lens device 200, as well as the third slide plate driver 17, the third slide plate 18, the fourth slide plate driver 19, the fourth slide plate 20, and the camera mount 21. The loads for the roll driver 9 include the loads for the tilt driver 11, as well as the second slide plate 16 and the second slide plate driver 15. The loads for the pan driver 7 include the loads for the roll driver 9, as well as the first slide plate 14 and the first slide plate driver 13.

[0026] When the gimbal device 1 is balanced, no rotational force acts on the imaging device 100 unless power is supplied to the pan drive unit 7, roll drive unit 9, and tilt drive unit 11. On the other hand, when the gimbal device 1 is out of balance, a rotational force acts that moves the center of gravity in the direction of gravity, and therefore, in order to maintain the optical axis of the imaging device 100 in a desired direction, it is necessary to continuously supply power to the pan drive unit 7, roll drive unit 9, and tilt drive unit 11. At this time, the power supplied to the pan drive unit 7, roll drive unit 9, and tilt drive unit 11 depends on the mass of each mounted object and the distance from the center of rotation to the center of gravity of the mounted object.

[0027] As described above, the first to fourth slide plate drivers 13, 15, 17, and 19 can translate the first to fourth slide plates 14, 16, 18, and 20 to any desired positions. Therefore, by translating each slide plate, the center of gravity of the load can be moved (changed), and the optical axis of the imaging device 100 can be kept parallel to the Z axis without supplying power to the pan driver 7, the roll driver 9, and the tilt driver 11. In this embodiment, moving the center of gravity of the load to an appropriate position by translating each slide plate is called balance adjustment.

[0028] Next, an imaging system 1000 according to this embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram of the imaging system 1000. The imaging system 1000 includes a gimbal device 1, an imaging device 100 connected to the gimbal device 1, and a lens device 200 connected to the imaging device 100.

[0029] The system control unit 50 is a control unit made up of at least one processor or circuit, and controls the entire gimbal device 1. The system control unit 50 executes programs recorded in the nonvolatile memory 51 to realize various processes described later in this embodiment. The system control unit 50 also implements various arithmetic processes by loading programs and the like read from the nonvolatile memory 51 into the system memory 52. ​​The system control unit 50 can also detect the operation mode (fixed angle of view mode, follow mode, etc.) and state (static state, handheld, walking shot, running shot, panning, tilting, etc.) of the gimbal device 1 as work process information.

[0030] Additionally, the system control unit 50 has an internal communication unit 90, and can communicate with the camera system control unit 150 via the gimbal camera I / F 5 to exchange various types of information. The various types of information include, for example, control instructions for the image capture device 100, the individual identification ID of the image capture device 100, and information about the operation mode (still image capture mode, video capture mode, LV mode, MENU mode, SLEEP mode, etc.). The various types of information may also include information about the attitude, movement, center of gravity coordinates, mass, motion vector of the captured image, remaining battery level, and attached accessories of the image capture device 100. The various types of information may also include information about the lens device 200 obtained by the camera system control unit 150 (described later) communicating with the lens system control unit 250, and various calculation results calculated by the camera system control unit 150.

[0031] The nonvolatile memory 51 is an electrically erasable and recordable memory, such as a Flash ROM. The nonvolatile memory 51 stores constants and programs for the operation of the system control unit 50. The programs referred to here are programs for executing various flowcharts described later in this embodiment. The nonvolatile memory 51 also stores information about the centers of gravity and masses of various members of the gimbal device 1.

[0032] The system memory 52 is, for example, a RAM. Constants and variables for the operation of the system control unit 50 and the programs of the nonvolatile memory 51 are loaded into the system memory 52. ​​The system timer 53 is a clock unit that measures the time used for various controls and the time of an internal clock. The power supply unit 54 is made up of primary batteries such as alkaline batteries or lithium batteries, secondary batteries such as NiCd batteries, NiMH batteries, or Li batteries, an AC adapter, etc.

[0033] The power supply control unit 55 is composed of a battery detection circuit, a DC-DC converter, a PD-IC (USB power delivery control IC), a selector switch circuit, etc., and detects whether a battery is installed, the battery type, and the remaining battery power. The power supply control unit 55 controls the DC-DC converter based on the detection results and instructions from the system control unit 50, and supplies the necessary power for the necessary period to each block inside the gimbal device. The power supply control unit 55 also communicates with the camera power supply control unit 155 via the gimbal camera I / F 5, allowing the exchange of various information and power. The various information includes information regarding the individual identification IDs, mass, center of gravity coordinates, remaining battery power, etc. of the image capture device 100 and the lens device 200 connected to the image capture device 100.

[0034] The rotation control unit 60 is composed of a motor driver, an encoder detection circuit, etc., and can detect the rotation angle and rotation speed of each axis rotation drive motor from the output signals of each axis encoder 61, 62, 63 (described later). Based on the rotation angle detection results and instructions from the system control unit 50, the rotation control unit 60 supplies a desired amount of power to the pan drive unit 7, roll drive unit 9, and tilt drive unit 11 to rotate the rotation drive motors of each rotation axis. Based on instructions from the system control unit 50, the rotation control unit 60 also sends a control signal to a rotation axis lock unit 64 (described later) to lock each rotation axis (pan drive unit 7, roll drive unit 9, and tilt drive unit 11) so that it does not rotate.

[0035] The pan axis encoder 61 is disposed near the pan driver 7 and uses an arbitrary angle as a reference and outputs absolute value information of the rotation angle of the pan driver 7 around the pan rotation axis 8 as an electrical signal to the rotation control unit 60. The roll axis encoder 62 is disposed near the roll driver 9 and uses an arbitrary angle as a reference and outputs absolute value information of the rotation angle of the roll driver 9 around the roll rotation axis 10 as an electrical signal to the rotation control unit 60. The tilt axis encoder 63 is disposed near the tilt driver 11 and uses an arbitrary angle as a reference and outputs absolute value information of the rotation angle of the tilt driver 11 around the tilt rotation axis 12 as an electrical signal to the rotation control unit 60. These encoders include magnetic sensors such as Hall elements, but are not limited to these.

[0036] The rotation axis locking unit 64 is a mechanical mechanism that physically fixes (locks) the rotation of each axis at an arbitrary angle, and can select whether the rotation control unit 60 is fixed (locked) or released (free).

[0037] The slide plate control unit 70 is composed of a motor driver, an encoder detection circuit, etc., and detects the position, movement amount, and movement speed of each axis slide plate from the output signals of each axis encoder (slide axis detection unit) 71, 72, 73, 74 described later. Based on instructions from the system control unit 50, the slide plate control unit 70 supplies an arbitrary amount of power to the first to fourth slide plate drive units 13, 15, 17, and 19 to move each axis slide plate. Also, based on instructions from the system control unit 50, the slide plate control unit 70 outputs a control signal to a slide plate lock unit 75 (described later) to fix (lock) the position of each axis slide plate.

[0038] The first encoder 71 is disposed near the first slide plate driver 13 and outputs an electrical signal corresponding to the position of the first slide plate 14 to the slide plate control unit 70. The second encoder 72 is disposed near the second slide plate driver 15 and outputs an electrical signal corresponding to the position of the second slide plate 16 to the slide plate control unit 70. The third encoder 73 is disposed near the third slide plate driver 17 and outputs an electrical signal corresponding to the position of the third slide plate 18 to the slide plate control unit 70. The fourth encoder 74 is disposed near the fourth slide plate driver 19 and outputs an electrical signal corresponding to the position of the fourth slide plate 20 to the slide plate control unit 70. Each of these encoders includes, but is not limited to, an optical sensor such as a photointerrupter or a photoreflector, or a magnetic sensor such as a Hall element.

[0039] The slide plate locking unit 75 is a mechanical mechanism that physically fixes (locks) each axis slide plate at any position, and can be controlled by the slide plate control unit 70 to select whether it is fixed (locked) or released (free).

[0040] The attitude detection unit (tilt detection unit) 80 is configured with a circuit including a gyro sensor and an acceleration sensor, and detects the attitude and movement of the grip unit 6 and the camera mount base 21, to which the imaging device 100, as a mounted object, is attached, relative to the direction of gravity. The attitude detection unit 80 can detect the attitude of the camera mount base 21, for example, by arranging an acceleration sensor on the third slide plate 18, which maintains a constant positional relationship with the camera mount base 21 even when the tilt axis rotates. Alternatively, the attitude detection unit 80 can detect the attitude of the camera mount base 21 based on information from the acceleration sensor arranged on the grip unit 6 and information on the rotation angle of each axis rotation drive motor detected by the rotation control unit 60. Based on the information detected by the attitude detection unit 80, the system control unit 50 sends instructions to the rotation control unit 60 and the slide plate control unit 70 so that the camera mount base 21 maintains the desired attitude.

[0041] The communication unit 90 is included in the system control unit 50 and enables communication with the imaging device 100 via any interface. The power detection unit 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 drive unit 7, roll drive unit 9, and tilt drive unit 11 via the rotation control unit 60. Furthermore, the power supply unit 54 can detect the direction of power and current supplied to the first to fourth slide plate drive units 13, 15, 17, and 19 via the slide plate control unit 70. The operation mode detection unit 92 is included in the system control unit 50 and enables the operation mode of the gimbal device 1 to be detected.

[0042] This concludes the description of the gimbal device 1. Next, the imaging device 100 mounted on the gimbal device 1 and the lens device 200 connected to the imaging device 100 will be described.

[0043] The camera system control unit 150 is a control unit including at least one processor or circuit, and controls the entire imaging device 100. The camera system control unit 150 executes programs stored in a nonvolatile memory 151 to perform various processes described later in this embodiment. The camera system control unit 150 also loads programs and the like read from the nonvolatile memory 151 into a system memory 152 to perform various types of arithmetic processing. The camera system control unit 150 also communicates with the system control unit 50 or the lens system control unit 250 via the camera gimbal I / F 105 or the camera lens I / F 106, and is able to exchange various types of information.

[0044] The nonvolatile memory 151 is an electrically erasable and recordable memory, and may be, for example, a Flash-ROM. Constants, programs, etc. for the operation of the camera system control unit 150 are recorded in the nonvolatile memory 151. The programs referred to here refer to programs for executing various flowcharts described later in this embodiment. The system memory 152 is, for example, a RAM. Constants and variables for the operation of the camera system control unit 150 and the programs of the nonvolatile memory 151 are loaded in the system memory 152.

[0045] The camera power supply unit 154 is made up of a primary battery such as an alkaline battery or a lithium battery, a secondary battery such as an NiCd battery, an NiMH battery, or a Li battery, an AC adapter, or the like. The camera power control unit 155 is composed of a battery detection circuit, a DCDC converter, a PD-IC (USB power delivery control IC), a selector switch circuit, etc., and detects whether a battery is installed, the battery type, and the remaining battery level. The camera power control unit 155 also controls the DCDC converter based on the detection results and instructions from the camera system control unit 150, and supplies the necessary power for the necessary period to each block inside the gimbal device. The camera power control unit 155 also communicates with the camera power control unit 155 via the camera gimbal I / F 105, allowing the exchange of various information and power.

[0046] The imaging unit 131 is composed of an imaging element such as a CMOS or a CCD. Imaging control is performed based on instructions from the camera power control unit 155, and captured image information acquired by the imaging unit 131 is processed by the image processing unit 132 and transmitted to the camera system control unit 150.

[0047] The camera operation unit 104 is an operation unit for inputting various predetermined operation instructions to the camera system control unit 150. These operation units are configured by any one of a switch, a dial, a touch panel, a voice recognition device, etc., or a combination of these.

[0048] Camera display unit 103 is a display device such as a rear monitor or electronic viewfinder, and is configured with a liquid crystal display such as an LCD or an organic EL display, and displays a menu screen, a playback image, and a through image of data from imaging unit 131. Camera display unit 103 may also function as a touch panel (operation unit). In this case, the touch panel constitutes part of camera operation unit 104. A capacitance type touch detection method is used, and the touch panel detects the proximity of a finger to the operation surface and a touch operation.

[0049] The camera attitude detection unit 181 is configured with a circuit including a gyro sensor or an acceleration sensor, and detects the attitude and movement of the imaging device 100 relative to the direction of gravity. The camera system control unit 150 can determine the attitude of the imaging device 100 in which the image captured by the imaging unit 131 was captured, based on the information detected by the camera attitude detection unit 181. The camera system control unit 150 can also add the information detected by the camera attitude detection unit 181 to the image file of the captured image, or rotate and record the image.

[0050] The actuator contact 107 is composed of a mechanism for connecting camera peripheral accessories such as a strobe (not shown) and an external microphone (not shown), and a communication terminal for the camera system control unit 150 to communicate with a control unit (not shown) on the peripheral accessory side.

[0051] Next, we will explain the lens device 200. The lens device 200 is an interchangeable lens unit, and is composed of a lens group 263, an aperture 262, a lens drive control unit 261 for driving the lens and the aperture for focus control, a lens system control unit 250, etc. External light from a composition including a subject enters the imaging unit 131 of the imaging device 100 through the aperture 262 and the lens group 263.

[0052] The lens camera I / F 206 is a lens connection unit and is composed of a mechanism for attaching and detaching the lens device 200 and a communication terminal for controlling focusing and aperture drive. The lens system control unit 250 is a control unit composed of at least one processor or circuit, and controls the entire lens device 200. The lens system control unit 250 executes programs recorded in the nonvolatile memory 251 to perform various processes described later in this embodiment. In addition, the lens system control unit 250 communicates with the camera system control unit 150 via the lens camera I / F 206, and is able to exchange various types of information. The various types of information include, for example, information regarding the individual identification ID, attitude, movement, center of gravity coordinates, mass, etc. of the lens device 200.

[0053] The nonvolatile memory 251 is an electrically erasable and recordable memory, such as a Flash-ROM. The nonvolatile memory 251 stores constants, programs, individual identification IDs, and the like for operating the lens system control unit 250. The programs referred to here are programs for executing various flowcharts described later in this embodiment.

[0054] Hereinafter, with reference to Figures 3(a) and (b) to Figures 9(a) and (b), we will explain the center of gravity position control (balance adjustment) of the imaging device 100 mounted on the gimbal device 1 and the lens device 200 connected to the imaging device 100 according to this embodiment.

[0055] Figures 3(a) and 3(b) are flowcharts showing a control method for the gimbal device 1 in this embodiment. Each process in the flowcharts of Figures 3(a) and 3(b) is realized by the system control unit 50 of the gimbal device 1 expanding a program stored in the nonvolatile memory 51 into the system memory 52, executing it, and controlling each functional block. The overall flow will be explained with reference to Figures 3(a) to 3(b), and supplementary explanations regarding the movement of each slide plate will be provided with reference to Figures 4(a) to (c) to 9(a) and (b).

[0056] 3(a) and 3(b), it is assumed that the imaging device 100 is attached to the camera fixture base 21. However, it is sufficient that the imaging device 100 is attached to the camera fixture base 21 before step S303, which will be described later, and for example, there may be a flow in which the imaging device 100 is attached to the camera fixture base 21 immediately after step S301 or step S302, which will be described later.

[0057] First, in step S301, the system control unit 50 initializes the rotation axes. In initializing the rotation axes, the system control unit 50 controls the pan drive unit 7, roll drive unit 9, and tilt drive unit 11 so that the imaging device 100 mounted on the gimbal device 1 is in the normal position (predetermined position), and fixes the rotation of each rotation axis with the rotation axis lock unit 64. At this point, because balance adjustment is not complete, the pan drive unit 7, roll drive unit 9, and tilt drive unit 11 may not be able to output the torque required for rotational drive. Therefore, the user may be prompted to manually initialize the rotation axes.

[0058] Next, in step S302, the system control unit 50 moves each slide plate to its initial position. For example, the slide plate drive units move the first slide plate 14 to the operating end of the first slide axis positive direction 22, and the second slide plate 16 to the operating end of the second slide axis positive direction 24. The system control unit 50 also moves the third slide plate 18 to the operating end of the third slide axis negative direction 27, and moves the fourth slide plate 20 to the operating end of the fourth slide axis negative direction 29. Thereafter, the system control unit 50 uses the slide plate lock unit 75 to lock each slide plate.

[0059] 4(a) to 4(d) are views of the imaging device 100 and the lens device 200 viewed from the tilt drive unit 11 side, and are explanatory diagrams regarding balance adjustment of the fourth slide plate 20. In step S302, the slide plate is moved to its initial position. Therefore, as shown in FIG. 4(a), the center of gravity 401 of the tilt movable unit, which is the combination of the imaging device 100, the lens device 200, and the components from the third slide plate drive unit 17 to the camera fixing base 21, is assumed to be in the third quadrant of the YZ plane centered on the tilt rotation axis 12. At this time, when the tilt axis rotation lock is released by the rotation axis lock unit 64 in step S303, the tilt movable unit center of gravity 401 tilts so as to move onto the Y axis (FIG. 4(b)).

[0060] Next, in step S304, system control unit 50 defines the tilt angle of the tilt axis rotation of image capture device 100 relative to the normal position as θ, and holds the tilt angle θi (rotation angle before tilt axis adjustment) immediately after unlocking the tilt axis rotation acquired by rotation control unit 60. Note that in this embodiment, tilt angle θ (second tilt angle) of image capture device 100 is the tilt angle relative to the normal position as the reference position (predetermined position) of image capture device 100, but is not limited to this, and a position other than the normal position may be the reference position.

[0061] 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 unlocking the tilt axis rotation in step 303, if the tilt movable unit center of gravity 401 is in the third quadrant on the YZ plane centered on the tilt rotation axis 12, as shown in FIG. 4(a), 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 be continued, and 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 is not possible, and proceeds to step S306.

[0062] In step S306, the system control unit 50 notifies the user that balance adjustment is not possible, and ends this flow.

[0063] In step S307, the system control unit 50 unlocks the fourth slide plate 20 using the slide plate lock unit 75 and starts moving the fourth slide plate 20 in the fourth slide axis positive direction 28 using the fourth slide plate drive unit 19. Subsequently, in step S308, the system control unit 50 determines whether the tilt angle θ (tilt axis rotation angle) is 0 degrees (θ=0). If the tilt angle θ becomes 0 degrees as shown in FIG. 4(c), the system control unit 50 determines that balance adjustment of the fourth slide plate 20 is complete and proceeds to step S310. The system control unit 50 continues moving the fourth slide plate 20 until the tilt angle θ becomes 0 degrees. Then, in step S309, it determines whether the fourth slide plate 20 has reached the operating end of the fourth slide axis positive direction 28. If the fourth slide plate 20 has reached the operating end of the fourth slide axis positive direction 28, the system control unit 50 proceeds to step S306.

[0064] In step S310, the system control unit 50 stops the movement of the fourth slide plate 20 by the fourth slide plate driving unit 19, and fixes the fourth slide plate 20 with the slide plate locking unit 75. Subsequently, in step S311, the system control unit 50 holds the movement amount ΔS4a of the fourth slide plate 20 from the operating end of the fourth slide axis - direction 29 until the tilt angle θ becomes 0 degrees, which is acquired by the slide plate control unit 70.

[0065] Next, in step S312, the system control unit 50 calculates a target movement amount ΔS3t of the third slide plate 18 for aligning the tilt movable part gravity center 401 with the tilt rotation axis 12. Fig. 5 is a diagram showing the relationship between the tilt angle θi, the movement amount ΔS4a of the fourth slide plate 20, and the target movement amount ΔS3t of the third slide plate 18. Because the tilt angle θi and the movement amount ΔS4a of the fourth slide plate 20 have already been acquired in the flow up to this point, the target movement amount ΔS3t of the third slide plate 18 can be calculated using the formula ΔS3t = ΔS4a / tan θi.

[0066] 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.

[0067] 6(a) to 6(c) are views of the imaging device 100 viewed from the roll drive unit 9 side, and are explanatory diagrams regarding balance adjustment of the second slide plate 16. In step S302, the slide plate is moved to its initial position. Therefore, as shown in FIG. 6(a), the center of gravity 601 of the roll movable part, which is the combination of the imaging device 100, the lens device 200, and the second slide plate drive unit 15 to the camera fixing base 21, is assumed to be in the fourth quadrant on the XY plane centered on the roll rotation axis 10. At this time, when the roll axis rotation lock is released by the rotation axis lock unit 64 in step S314, the roll movable part center of gravity 601 tilts so as to move onto the Y axis (FIG. 6(b)).

[0068] Next, in step S315, the system control unit 50 defines the tilt angle of the roll axis rotation of the image capture device 100 relative to the normal position as φ, and holds the tilt angle φi (rotation angle before roll axis adjustment) immediately after unlocking the roll axis rotation acquired by the rotation control unit 60. Note that in this embodiment, the tilt angle φ (first tilt angle) of the image capture device 100 is the tilt angle relative to the normal position as the reference position (predetermined position) of the image capture device 100, but is not limited to this, and a position other than the normal position may be used as the reference position.

[0069] 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 unlocking the roll axis rotation in step 314, if the roll movable part gravity center 601 is in the fourth quadrant on the XY plane centered on the roll rotation axis 10, as shown in FIG. 6(a), 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 be continued, and proceeds to step S317. On the other hand, if θi is outside the range, the system control unit 50 determines that adjustment is not possible, and proceeds to step S306.

[0070] In step S317, the system control unit 50 calculates a target movement amount ΔS2t of the second slide plate 16 for aligning the center of gravity 601 of the roll movable part with the roll rotation axis 10. Fig. 7 is a diagram showing the relationship between the tilt angle φi, the target movement amount ΔS4t of the second slide plate 16, and the target movement amount ΔS3t of the third slide plate 18. In the flow up to this point, the tilt angle φi and the target movement amount ΔS3t of the third slide plate 18 have already been calculated in step S312, so the target movement amount ΔS2t of the second slide plate 16 can be calculated using the formula ΔS2t = ΔS3t × tan θi.

[0071] 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 system control unit 50 proceeds to step S319. On the other hand, if the target movement amount ΔS2t is outside the movable range, the system control unit 50 proceeds to step S306.

[0072] In step S319, the system control unit 50 unlocks the second slide plate 16 using the slide plate lock unit 75 and starts moving the second slide plate 16 in the second slide axis - direction 25 using the second slide plate driver 15. Subsequently, in step S320, the system control unit 50 determines whether the tilt angle φ is 0 degrees (φ=0). If the tilt angle φ is 0 degrees as shown in FIG. 6C, the system control unit 50 determines that balance adjustment of the second slide plate 16 is complete and proceeds to step S322. Alternatively, if the amount of movement ΔS2 of the second slide plate 16 caused by the second slide plate driver 15 matches the target amount of movement ΔS2t of the second slide plate 16, the system control unit 50 determines that balance adjustment of the second slide plate 16 is complete and proceeds to step S322.

[0073] 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 matches ΔS2t, but in step S321, the system control unit 50 determines whether or not the second slide plate 16 has reached the operating end of the second slide axis - direction 25. If it is determined that the second slide axis - direction 25 has reached the operating end, the process proceeds to step S306.

[0074] In step S322, the system control unit 50 stops the movement of the second slide plate 16 by the second slide plate driving unit 15, and causes the slide plate locking unit 75 to lock the second slide plate 16 in place.

[0075] 8(a) and (b) are views of the imaging device 100 viewed from the roll drive unit 9 side, and FIG. 8(c) is a view of the imaging device 100 and the lens device 200 viewed from the tilt drive unit 11 side. The balance adjustment of the third sliding plate 18 will be explained using these figures. When step S322 is completed, the state shown in FIG. 8(a) is reached.

[0076] Next, in step S323, the system control unit 50 unlocks the third slide plate 18 using the slide plate lock unit 75, and starts moving the third slide plate 18 in the third slide axis + direction 26 using the third slide plate drive unit 17. At this time, the control torque T for moving 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 that uses a DC motor, the control duty of the DC motor is started from 0%.

[0077] Next, in step S324, the system control unit 50 uses the third slide plate drive unit 17 to stepwise increase the power P3 or torque T for moving the third slide plate 18. This is continued until the movement amount ΔS3 of the third slide plate 18 is no longer 0, that is, until the third slide plate 18 starts to move. 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, that is, if the third slide plate 18 has started to move, the system control unit 50 proceeds to step S326.

[0078] In step S326, the system control unit 50 retains information regarding the power P3 or torque Ts when the third slide plate 18 starts to move. Subsequently, 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, the center of gravity 601 of the roll movable part and the center of gravity 401 of the tilt movable part are respectively on the roll rotation axis 10 and the tilt rotation axis 12, as shown in FIGS. 8(b) and 8(c). This indicates that balance adjustment of the third slide plate 18 is complete, and the process proceeds to step S328. On the other hand, if the movement amount ΔS3 of the third slide plate 18 does not match the target movement amount ΔS3t of the third slide plate 18, the system control unit 50 continues moving the third slide plate 18.

[0079] In step S328, the system control unit 50 stops the movement of the third slide plate 18 by the third slide plate driving unit 17, and causes the slide plate locking unit 75 to lock the third slide plate 18 in place.

[0080] 9(a) and 9(b) are diagrams illustrating the imaging device 100 and the lens device 200 as viewed from the + direction of the Y axis, and are explanatory diagrams of balance adjustment for the first sliding plate 14. FIG. 9(a) shows the positional relationship of the center of gravity of the first sliding plate 14 before balance adjustment. In step S329, the system control unit 50 calculates a target movement amount ΔS1t for the first sliding plate 14. The target movement amount ΔS1t for the first sliding plate 14 is the distance between the center of gravity 901 of the pan moving part, which is the combination of the imaging device 100, the lens device 200, and the first sliding plate driving unit 13 to the camera fixing base 21, and the pan rotation shaft 8 in the movement direction of the first sliding plate 14. That is, the target movement amount ΔS1t can be calculated, for example, by the following equation.

[0081] ΔS1t=(M×S1i+Mg×Sgi) / (M+Mg) Here, M is the combined weight of the mounted imaging device 100, lens device 200, and the components from the third slide plate driver 17 to the camera fixed base 21 (not shown), which are part of the gimbal device 1, and is hereinafter referred to as the tilt axis weight. S1i is the distance between the tilt rotation axis 12 (tilt movable part gravity center 401) and the pan rotation axis 8 in the direction of movement of the first slide plate 14. Mg is the combined weight of the components from the first slide plate driver 13 to the tilt driver 11, which are part of the gimbal device 1. Sgi is the distance between the gimbal arm gravity center 902 from the first slide plate driver 13 to the tilt driver 11, which are part of the gimbal device 1, in the direction of movement of the first slide plate 14, and the pan rotation axis 8.

[0082] ΔS1t, S1i, and Sgi have a positive sign on the side of the pan rotation axis 8 in the positive direction of the first slide axis 22, and a negative sign in the opposite direction. S1i, Mg, and Sgi are values ​​determined solely by the gimbal device 1, regardless of the imaging device 100 and lens device 200 that are mounted thereon, and are therefore stored in advance in the nonvolatile memory 51. The nonvolatile memory 51 also stores, for example, a table representing the correspondence between the starting power P3s or torque Ts of the third slide plate 18 and the tilt axis weight M. The system control unit 50 determines (estimates) the tilt axis weight M using the information related to the starting power P3s or torque Ts of the third slide plate 18 acquired in step S326.

[0083] Subsequently, 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 of the first slide axis positive 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 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 system control unit 50 proceeds to step S331.

[0084] 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 (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.

[0085] In step S332, the system controller 50 unlocks the first slide plate 14 using the slide plate lock unit 75 and starts moving the first slide plate 14 in the first slide axis negative direction 23 using the first slide plate driver 13. Subsequently, in step S333, the system controller 50 determines whether the movement amount ΔS1 of the first slide plate 14 matches the target movement amount ΔS1t of the first slide plate 14 (ΔS1 = ΔS1t). If the movement amount ΔS1 matches the target movement amount ΔS1t, the pan movable unit center of gravity 901 is on the pan rotation axis 8, as shown in FIG. 9(b). Therefore, the system controller 50 determines that balance adjustment of the first slide plate 14 is complete, and proceeds to step S334. On the other hand, if the movement amount ΔS3 of the first slide plate 14 does not match the target movement amount ΔS3t of the first slide plate 14, the system controller 50 continues moving the first slide plate 14.

[0086] In step S334, the system control unit 50 stops the movement of the first slide plate 14 by the first slide plate driving unit 13 and fixes the first slide plate 14 with the slide plate locking unit 75. Next, in step S335, the system control unit 50 notifies the user that balance adjustment of all slide axes has been completed, and ends this flow.

[0087] As described above, the gimbal device 1 of this embodiment has a detachable mount and includes a slide unit, a rotation unit, a slide position detection unit, a rotation position detection unit, a control unit, a fixing unit, and a tilt detection unit. The slide unit is at least one slide unit (e.g., first to fourth slide plates 14, 16, 18, 20) that can translate in a predetermined direction. The rotation unit is at least one rotation unit (e.g., pan drive unit 7, roll drive unit 9, tilt drive unit 11) that can rotate around a predetermined axis. The slide position detection unit is at least one detection unit (e.g., first to fourth encoders 71, 72, 73, 74) that detects position information of each slide unit. The rotation position detection unit is at least one detection unit (e.g., pan axis encoder 61, roll axis encoder 62, tilt axis encoder 63) that detects rotation angle information of each rotation unit. The control unit (system control unit 50, rotation control unit 60, slide plate control unit 70) controls the slide unit based on the position information and controls the rotation unit based on the rotation angle information. The fixed unit (camera fixing base 21) fixes the mounted object. The tilt detection unit (attitude detection unit 80) detects the tilt angle of the mounted object fixed to the fixed unit relative to a predetermined position. The control unit determines the amount of movement of the slide unit so that the tilt angle becomes small.

[0088] Preferably, the control unit uses the tilt angle to determine the amount of movement of the sliding unit so that the center of gravity (401, 601, 901) of the movable unit of the rotating unit approaches the predetermined axis (more preferably so that the center of gravity of the movable unit coincides with the predetermined axis).

[0089] Preferably, the gimbal device 1 further includes a rotation axis locking unit 64 that locks the rotating unit, and the tilt detection unit detects the tilt angle in a state where the locking by the rotation axis locking unit is released.

[0090] (Other embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0091] According to each embodiment, it is possible to provide a gimbal device, a method for controlling a gimbal device, and a program that are capable of performing balance adjustment even when information about an onboard object cannot be obtained.

[0092] The disclosure of each embodiment includes the following configurations and methods. (Configuration 1) A gimbal device with a detachable payload, a slide portion that is translationally movable in a predetermined direction; a rotating part that is rotatable around a predetermined axis; a slide position detection unit that detects position information of the slide unit; a rotational position detection unit that detects rotation angle information of the rotating unit; a control unit that controls the sliding unit based on the position information and the rotating unit based on the rotation angle information; a fixing portion that fixes the mounted object; an inclination detection unit that detects an inclination angle of the mounted object fixed to the fixing unit with respect to a predetermined position, The gimbal device is characterized in that the control unit determines the amount of movement of the sliding unit so that the tilt angle becomes small. (Configuration 2) 2. The gimbal device according to claim 1, wherein the control unit uses the tilt angle to determine the amount of movement of the sliding unit so that the center of gravity of the movable part of the rotating unit approaches the predetermined axis. (Configuration 3) Further, a rotation shaft locking portion that fixes the rotating portion is provided, 3. The gimbal device according to claim 1, wherein the tilt detector detects the tilt angle in a state where the fixation by the rotation shaft locking unit is released. (Configuration 4) the tilt detection unit has an acceleration sensor, 4. The gimbal device according to claim 1, wherein the acceleration sensor is disposed between the fixed part and the rotating part. (Configuration 5) a holding portion for a user to hold the gimbal device; the tilt detection unit has an acceleration sensor, the acceleration sensor is disposed on the holding portion, 4. The gimbal device according to claim 1, wherein the control unit calculates the tilt angle of the mounted object with respect to the direction of gravity using the output of the acceleration sensor and the output of the rotational position detection unit. (Configuration 6) 6. The gimbal device according to claim 1, wherein the control unit determines the weight of the load using information related to the power or torque for moving the sliding unit. (Configuration 7) The slide portion is a first sliding portion that is translationally movable in a first direction; a second slide portion that is translationally movable in a second direction; a third slide portion that is translationally movable in a third direction; a fourth slide portion that is translationally movable in a fourth direction, The rotating part is a first rotating portion that is rotatable around a first rotation axis; a second rotating portion that is rotatable around a second rotation axis; 7. The gimbal device according to claim 1, further comprising: a third rotating portion that is rotatable about a third rotation axis. (Configuration 8) When the rotation of the second rotation unit is unlocked, the tilt detection unit detects a first tilt angle of the mounted object relative to the predetermined position, and the control unit determines a movement amount of the second sliding unit or the third sliding unit so as to reduce the first tilt angle; 8. The gimbal device according to claim 7, wherein, when the rotation of the third rotation unit is unlocked, the tilt detection unit detects a second tilt angle of the mounted object, and the control unit determines the amount of movement of the third sliding unit or the fourth sliding unit so as to reduce the second tilt angle. (Configuration 9) the first sliding portion moves in response to rotation of the first rotating portion, the second sliding portion moves in response to rotation of the second rotating portion, the third sliding portion and the fourth sliding portion are moved by the third rotating portion, The control unit moving the first slide portion and the second slide portion so as to change the position of the center of gravity of the load relative to the first rotating portion; moving the second sliding portion and the third sliding portion so as to change the position of the center of gravity relative to the second rotating portion; 9. The gimbal device according to claim 7, wherein the third sliding portion and the fourth sliding portion are moved so as to change the position of the center of gravity relative to the third rotating portion. (Method 1) A method for controlling a gimbal device to which a mounted object is detachable, the gimbal device having a sliding section that is capable of translational movement in a predetermined direction, a rotating section that is capable of rotational movement around a predetermined axis, and a fixing section that fixes the mounted object, comprising: detecting an inclination angle of the mounted object fixed to the fixing portion relative to a predetermined position; and determining a movement amount of the sliding portion so that the tilt angle becomes smaller. (Configuration 10) A program that causes a computer to execute the gimbal device control method described in Method 1.

[0093] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0094] 1 Gimbal device 7 Pan drive unit (rotating unit) 9 Roll drive unit (rotating unit) 11 Tilt drive unit (rotation unit) 14 First slide plate (slide part) 16 Second slide plate (slide part) 18 Third slide plate (slide part) 20 Fourth slide plate (slide part) 21 Camera fixing base (fixed part) 50 System control unit (control unit) 60 Rotation control unit (control unit) 61 Pan axis encoder (rotation position detection unit) 62 Roll axis encoder (rotation position detection unit) 63 Tilt axis encoder (rotation position detection part) 70 Slide plate control unit (control unit) 71 First encoder (slide position detector) 72 Second encoder (slide position detector) 73 Third encoder (slide position detector) 74 4th encoder (slide position detector) 80 Attitude detection unit (tilt detection unit) 100 Imaging device (mounted) 200 Lens device (onboard)

Claims

1. A gimbal device with a detachable payload, a slide portion that is translationally movable in a predetermined direction; a rotating part that is rotatable around a predetermined axis; a slide position detection unit that detects position information of the slide unit; a rotational position detection unit that detects rotation angle information of the rotating unit; a control unit that controls the sliding unit based on the position information and the rotating unit based on the rotation angle information; a fixing portion that fixes the mounted object; an inclination detection unit that detects an inclination angle of the mounted object fixed to the fixing unit with respect to a predetermined position, The gimbal device is characterized in that the control unit determines the amount of movement of the sliding unit so that the tilt angle becomes small.

2. 2. The gimbal device according to claim 1, wherein the control unit uses the tilt angle to determine the amount of movement of the sliding unit so that the center of gravity of the movable part of the rotating unit approaches the predetermined axis.

3. Further, a rotation shaft locking portion that fixes the rotating portion is provided, 2. The gimbal device according to claim 1, wherein the tilt detector detects the tilt angle in a state where the fixation by the rotation shaft locking unit is released.

4. the tilt detection unit has an acceleration sensor, 2. The gimbal device according to claim 1, wherein the acceleration sensor is disposed between the fixed part and the rotating part.

5. a holding portion for a user to hold the gimbal device; the tilt detection unit has an acceleration sensor, the acceleration sensor is disposed on the holding portion, 2. The gimbal device according to claim 1, wherein the control unit calculates the tilt angle of the mounted object with respect to the direction of gravity using the output of the acceleration sensor and the output of the rotational position detection unit.

6. The gimbal device according to claim 1 , wherein the control unit determines the weight of the load using information related to the power or torque for moving the sliding unit.

7. The slide portion is a first slide portion that is translationally movable in a first direction; a second slide portion that is translationally movable in a second direction; a third slide portion that is translationally movable in a third direction; a fourth slide portion that is translationally movable in a fourth direction, The rotating part is a first rotating portion that is rotatable around a first rotation axis; a second rotating portion that is rotatable around a second rotation axis; 7. The gimbal device according to claim 1, further comprising: a third rotating portion that is rotatable about a third rotation axis.

8. with the rotation of the second rotation unit unlocked, the tilt detection unit detects a first tilt angle of the mounted object relative to the predetermined position, and the control unit determines a movement amount of the second slide unit or the third slide unit so as to reduce the first tilt angle; 8. The gimbal device according to claim 7, wherein, when the rotation of the third rotation unit is unlocked, the tilt detection unit detects a second tilt angle of the mounted object, and the control unit determines the amount of movement of the third sliding unit or the fourth sliding unit so as to reduce the second tilt angle.

9. the first sliding portion moves in response to rotation of the first rotating portion, the second sliding portion moves in response to rotation of the second rotating portion, the third sliding portion and the fourth sliding portion are moved by the third rotating portion, The control unit moving the first slide portion and the second slide portion so as to change a center of gravity position of the mounted object relative to the first rotating portion; moving the second sliding portion and the third sliding portion so as to change the position of the center of gravity relative to the second rotating portion; 8. The gimbal device according to claim 7, wherein the third slide portion and the fourth slide portion are moved so as to change the position of the center of gravity relative to the third rotation portion.

10. A method for controlling a gimbal device to which a mounted object is detachable, the gimbal device having a sliding section that is capable of translational movement in a predetermined direction, a rotating section that is capable of rotational movement around a predetermined axis, and a fixing section that fixes the mounted object, comprising: detecting an inclination angle of the mounted object fixed to the fixing portion relative to a predetermined position; and determining a movement amount of the sliding portion so that the tilt angle becomes smaller.

11. A program causing a computer to execute the gimbal device control method according to claim 10.

Images