Apparatus for supporting a support and its control method

Abstract

Reduce the frequency of calibration of the angular velocity sensor. [Solution] The device comprises a support 100 and a support means 200 for rotating the support around multiple axes. The device comprises an angular velocity sensor 105 for detecting the angular velocity of the support around multiple axes, control means 104, 404 for controlling the support means using a control method selected from multiple control methods, and a temperature sensor 110 for detecting the temperature of the angular velocity sensor. The multiple control methods include a first method and a second method that control the support means using correction data relating to the angular velocity around specific axes that are different from each other and the offset value of the angular velocity sensor corresponding to the temperature. When the temperature is within a predetermined range, a notification prompting calibration to update the correction data is issued, and the predetermined range is changed depending on whether the first method or the second method is selected.

Description

Technical Field

[0001] The present invention relates to an apparatus provided with a support mechanism such as a gimbal.

Background Art

[0002] In an apparatus provided with a gimbal used for suppressing shake of a supported object caused by hand-holding, driving of the gimbal is controlled such that the angular velocity detected by an angular velocity sensor approaches zero. However, the output of the angular velocity sensor includes an offset value, and the offset value changes depending on temperature. For this reason, by performing calibration for updating the offset value before operating the gimbal, the gimbal can be operated favorably.

[0003] Patent Document 1 discloses an apparatus that determines whether calibration is necessary and notifies a user when calibration is necessary, in order to reduce the frequency of performing calibration.

Prior Art Literature

Patent Literature

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] There is a demand for further reducing the frequency of performing calibration compared to the apparatus of Patent Document 1.

Means for Solving the Problem

[0006] An apparatus as one aspect of the present invention comprises a support and a support means for rotating the support around a plurality of axes. The apparatus comprises an angular velocity sensor for detecting the angular velocity of the support around the plurality of axes, a control means for controlling the support means using a control method selected from a plurality of control methods, and a temperature sensor for detecting the temperature of the angular velocity sensor. The plurality of control methods include a first method in which the specific axis is a first axis and a second method in which the specific axis is different from the first axis, as angular velocity usage methods for controlling the support means using correction data relating to the angular velocity around a specific axis among the plurality of axes and the offset value of the angular velocity sensor corresponding to the temperature. The control means is characterized in that, when the temperature is within a predetermined range, it prompts calibration to update the correction data, and changes the predetermined range depending on whether the first method or the second method is selected.

[0007] Another aspect of the present invention is a control method which is applied to a device that includes a supported body, a support means for rotating the supported body around multiple axes, an angular velocity sensor for detecting the angular velocity of the supported body around the multiple axes, and a temperature sensor for detecting the temperature of the angular velocity sensor, and controls the support means using a control method selected from among multiple control methods. The multiple control methods include a first method in which the specific axis is the first axis and a second method in which the specific axis is different from the first axis, as angular velocity usage methods which control the support means using correction data relating to the angular velocity around a specific axis among the multiple axes and the offset value of the angular velocity sensor corresponding to the temperature. The control method is characterized by including a step of notifying the user to perform calibration to update the correction data when the temperature is within a predetermined range, and a step of changing the predetermined range depending on whether the first method or the second method is selected. A program which causes a computer to execute processing according to the above control method also constitutes another aspect of the present invention. [Effects of the Invention]

[0008] According to the present invention, the frequency of calibration of correction data related to the angular velocity sensor can be reduced. [Brief explanation of the drawing]

[0009] [Figure 1] This is an external view of the imaging device of the embodiment. [Figure 2] This is a block diagram showing the optical and electrical configuration of the imaging device in the embodiment. [Figure 3] This diagram shows the control configuration of the imaging device in the example. [Figure 4] This flowchart shows the processing performed by the imaging device in the embodiment. [Figure 5] This figure shows the angular velocity-temperature compensation table in the example. [Figure 6] This figure shows the relationship between the gimbal mode and angular velocity offset in the embodiment. [Figure 7] This is a flowchart showing the process in the example. [Figure 8] This figure shows the angular velocity-temperature correction table with a determination temperature range added in the example. [Modes for carrying out the invention]

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

[0011] Figures 1(A) and 1(B) show the external appearance of an imaging device (gimbal camera) as an embodiment, viewed from the y and x directions. Figure 2 shows the optical and electrical configuration of the imaging device. The imaging device includes an imaging unit 100 as a support, a gimbal 200 as a support means (support mechanism), and a gripping part 300.

[0012] The imaging unit 100 includes an imaging lens 109 and an image sensor (image element) 102 composed of a photoelectric conversion element such as a CCD sensor or a CMOS sensor. The image sensor 102 photoelectrically converts (images) the optical image formed by the imaging lens 109. The imaging unit 100 also includes an imaging control unit 101, a memory 103, a lens control unit 107, and a lens drive unit 108.

[0013] The imaging control unit 101 controls imaging in accordance with an operation signal from an operation unit 302 provided on the grip unit 300. The imaging control unit 101 also generates image data from the electrical signal output from the image sensor 102, and stores the image data in the memory 103 including RAM, ROM, flash memory and the like.

[0014] The lens control unit 107 drives an actuator in the lens driving unit 108 in accordance with a command from the imaging control unit 101, to cause the imaging lens 109 to perform a zoom operation and a focus operation.

[0015] Furthermore, the imaging unit 100 includes an attitude control unit 104, an angular velocity sensor 105, an acceleration sensor 106, and a temperature sensor 110.

[0016] The angular velocity sensor 105 is a gyro sensor, and detects angular velocities about three axes of the imaging unit 100: a yaw axis (a first axis extending in the z-direction in FIG. 1(A)), a pitch axis (an axis extending in the x-direction), and a roll axis (an axis extending in the y-direction). The acceleration sensor 106 detects accelerations about three axes of the imaging unit 100: the yaw axis, the pitch axis, and the roll axis.

[0017] The temperature sensor 110 detects the temperature of the angular velocity sensor 105. The temperature detected by the temperature sensor 110 is used to determine whether calibration of an angular velocity-temperature correction table, which will be described later, is necessary. This will be described later.

[0018] In the case where the gimbal 200 supports the imaging unit 100 about two axes, the angular velocity sensor 105 and the acceleration sensor 106 that detect angular velocity and acceleration about two axes may be used.

[0019] In addition, the temperature detected by the temperature sensor 110 may be used for temperature correction of the focus position of the imaging lens 109 and temperature correction of the output of the image sensor 102.

[0020] The gimbal 200 is configured as a gimbal mechanism that supports the imaging unit 100 so that it can rotate around the roll axis, pitch axis, and yaw axis relative to the base portion 204. The gimbal 200 has a pitch axis drive mechanism 201, a yaw axis drive mechanism 202, and a roll axis drive mechanism 203, and the actuators in these drive mechanisms 201 to 203 can rotate the imaging unit 100 around the roll axis, pitch axis, and yaw axis.

[0021] The attitude control unit 104 within the imaging unit 100 controls the drive mechanisms 201-203 based on the angular velocity and acceleration obtained through the angular velocity sensor 105 and the acceleration sensor 106. There are three gimbal modes as control methods for the attitude control unit 104.

[0022] The first is a fixed mode in which the drive mechanisms 201 to 203 are controlled to maintain the posture of the imaging unit 100 and reduce shaking regardless of changes in the posture of the base unit 204 around all axes.

[0023] The second mode is a follow mode in which the drive mechanisms 201 to 203 are controlled so that the posture of the imaging unit 100 follows the posture change of the base unit 204, that is, so that the posture of the base unit 204 and the imaging unit 100 change together. In follow mode, the posture of the imaging unit 100 can be made to follow the posture of the base unit 204 around all axes, including the roll axis, pitch axis, and yaw axis, or it can be maintained around one or two axes and made to follow the posture of the base unit 204 around the remaining axes.

[0024] The third mode is an encoder control mode, which controls each drive mechanism 201 to 203 based on the drive angle of each drive mechanism 201 to 203 detected by the encoder described later, around all axes. The encoder control mode uses the respective drive angles of drive mechanisms 201 to 203 detected by encoder 403 to control the drive angles of drive mechanisms 201 to 203 so that they match the target angle. The encoder control mode does not depend on information from the angular velocity sensor (gyro) or acceleration sensor, and is therefore not affected by the angular velocity offset described later.

[0025] The imaging control unit 101, the lens control unit 107, and the attitude control unit 104 may be configured by separate processors (computers) such as CPUs or MPUs, or they may be configured by a single processor.

[0026] The gripping section 300 is the part that is held by the user's hand holding the imaging device for imaging purposes, and is fixed to the base section 204. The gripping section 300 includes a display section (notification means) 301 and an operation section 302.

[0027] The control unit 302 includes a power button for switching the power ON / OFF, an imaging button for instructing imaging, a mode button for instructing the switching of imaging modes (still image / video mode), and the like.

[0028] The display unit 301 displays image data generated by imaging and displays menus for various settings. The display unit 301 may also have a touch sensor to detect various touch operations. In this embodiment, an imaging device in which the imaging unit 100 and the gimbal 200 are integrated is described, but the imaging unit may be detachable from the gimbal 200. In this case, the attitude control unit 104, angular velocity sensor 105, acceleration sensor 106, and temperature sensor 110 may be provided on the gimbal 200.

[0029] Figure 3 shows the configuration of the attitude control circuit of the imaging unit 100. This attitude control circuit includes an operation unit 302, a target angle setting unit 401, a gimbal mode setting unit 402, an encoder 403, a vibration damping processing unit 404, an additive unit 405, an attitude control unit 104, an angular velocity sensor 105, an acceleration sensor 106, and a temperature sensor 110. The target angle setting unit 401, the gimbal mode setting unit 402, the vibration damping processing unit 404, and the additive unit 405 are configured by one or more processors. Note that the target angle setting unit 401, the gimbal mode setting unit 402, the vibration damping processing unit 404, and the additive unit 405 may be provided within the attitude control unit 104.

[0030] The target angle setting unit 401 sets the target angle of the gimbal 200 according to the operation of the operation unit 302. The gimbal mode setting unit 402 sets the gimbal mode selected by the operation of the operation unit 302. The encoder 403 detects the drive angle of each of the drive mechanisms 201 to 203.

[0031] The vibration isolation unit 404 calculates the vibration isolation amount, which is the amount of drive for the drive mechanisms 201 to 203, so that the angular velocity of the imaging unit 100 detected through the angular velocity sensor 105 approaches 0. The angular velocity, acceleration, drive angle, and temperature information detected by the angular velocity sensor 105, acceleration sensor 106, encoder 403, and temperature sensor 110 are used to calculate the vibration isolation amount.

[0032] The addition unit 405 adds the target angle and the amount of vibration isolation and outputs the addition result to the attitude control unit 104. The attitude control unit 104 controls the drive mechanisms 201 to 203 based on the addition result. The vibration isolation processing unit 404 and the attitude control unit 104 constitute the control means.

[0033] As explained earlier, the output of the angular velocity sensor includes an angular velocity component (hereinafter referred to as angular velocity offset) that corresponds to an offset value (offset error), and the angular velocity offset differs depending on the temperature. For this reason, in this embodiment as well, the angular velocity offset of the angular velocity sensor 105 for each temperature is obtained (estimated), and calibration is performed to update the angular velocity offset in the angular velocity-temperature correction table described later.

[0034] By adding or subtracting an angular velocity offset corresponding to the temperature of the angular velocity sensor 105 from the angular velocity obtained through the angular velocity sensor, accurate angular velocity can be detected regardless of temperature. In this embodiment, the frequency of calibration is reduced by determining whether calibration is necessary and only having (recommending) the user to perform calibration if it is determined to be necessary.

[0035] The flowchart in Figure 4 shows the process (control method) up to determining whether calibration of the angular velocity sensor 105 is necessary in this embodiment. The vibration isolation processing unit 404 executes this process according to the program.

[0036] In step S401, the gimbal mode is set in the gimbal mode setting unit 402 according to the operation of the operation unit 302, and in step S402, the target angles of the drive mechanisms 201 to 203 are set in the target angle setting unit 401 according to the operation of the operation unit 302. After this, the vibration damping processing unit 404 performs the processing in step S403.

[0037] In step S403, the vibration isolation unit 404 detects the angular velocity of the imaging unit 100 through the angular velocity sensor 105.

[0038] Next, in step S404, the vibration isolation processing unit 404 detects the acceleration of the imaging unit 100 through the acceleration sensor 106.

[0039] Next, in step S405, the vibration isolation unit 404 detects the respective drive angles of the drive mechanisms 201 to 203 through the encoder 403.

[0040] Next, in step S406, the vibration isolation unit 404 detects the temperature of the imaging unit 100, that is, the angular velocity sensor 105, using the temperature sensor 110.

[0041] Next, in step S407, the vibration isolation unit 404 estimates (acquires) the angular velocity offset of the angular velocity sensor 105 based on the temperature of the angular velocity sensor 105 detected in step S406 (hereinafter referred to as the detected temperature) and the angular velocity-temperature correction table stored in the memory 103. The angular velocity-temperature correction table is correction data for the angular velocity offset for each temperature.

[0042] Figure 5(A) shows the time evolution of angular velocity when the imaging device is installed in a completely stationary position on a flat surface and the angular velocity is detected through the angular velocity sensor 105 at a certain period. In this figure, the angular velocity ω1 is detected at time t1, and at other times it fluctuates relative to the angular velocity ω1. Thus, the angular velocity detected through the angular velocity sensor 105 fluctuates even when stationary due to angular velocity offset.

[0043] Figure 5(B) shows the time change of the angular velocity offset when the imaging device is installed completely stationary on a flat surface and the imaging unit 100 is allowed to perform imaging for a long period of time. When the imaging unit 100 is allowed to perform imaging for a long period of time, the temperature of the imaging unit 100 rises due to the heat generated from the heat-generating elements such as the image sensor 102 and the imaging control unit 101. The angular velocity offset changes (increases) in accordance with this rise in temperature.

[0044] Figure 5(C) shows the angular velocity-temperature compensation table described above. The angular velocity-temperature compensation table is updated by performing calibration. The latest angular velocity-temperature compensation table is stored in memory 103.

[0045] The vibration isolation processing unit 404 obtains the angular velocity offset corresponding to the detected temperature in the angular velocity-temperature correction table. If an angular velocity offset corresponding to the temperature detected by the temperature sensor 110 exists in the angular velocity-temperature correction table, that angular velocity offset is read. If an angular velocity offset corresponding to the detected temperature does not exist in the angular velocity-temperature correction table, the angular velocity offset corresponding to the detected temperature is calculated by interpolation processing such as linear interpolation.

[0046] For example, in the angular velocity-temperature correction table, let ωa and ωb be the angular velocity offsets corresponding to temperatures Ta and Tb, respectively, and when the temperature detected by the temperature sensor 110 is Tx, the angular velocity offset ωx corresponding to the detected temperature Tx is obtained by the following equation (1).

[0047] ωx=(ωb-ωa) / (Tb-Ta)×(Tx-Ta)+ωa (1) Next, in step S408, the vibration damping unit 404 calculates the swing angle of the imaging unit 100. The method for calculating the swing angle differs for each of the encoder control mode, follow mode, and fixed mode in gimbal mode. In the following step S409, the vibration damping unit 404 calculates the amount of vibration damping needed to bring the calculated swing angle closer to zero.

[0048] In encoder control mode, the swing angle is calculated using only the drive angle detected through encoder 403.

[0049] In follow mode, the swing angle is calculated based on the angular velocity detected through the angular velocity sensor 105 and the drive angle detected through the encoder 403. Specifically, when the base unit 204 moves around any of the pitch, yaw, or roll axes, the swing angle required to maintain a constant positional relationship between the base unit 204 and the imaging unit 100 is calculated from the angular velocity detected through the angular velocity sensor 105 and the encoder 403 and the drive angle.

[0050] In fixed mode, the oscillation angle is calculated using the angular velocity and acceleration detected through the angular velocity sensor 105 and the acceleration sensor 106.

[0051] Generally, angular velocity sensors have high accuracy in detecting angular velocity in high-frequency oscillations, but low accuracy in detecting angular velocity in low-frequency oscillations due to the effect of angular velocity offset. Similarly, acceleration sensors 106 have high accuracy in detecting acceleration in low-frequency motions, but low accuracy in detecting acceleration in high-frequency motions. To improve the accuracy of oscillation detection, in fixed mode, the oscillation angle θ is detected complementaryly using both the angular velocity and acceleration detected through the angular velocity sensor 105 and acceleration sensor 106, as shown in equation (2) below.

[0052] θ(t)=(1-α)×[θ(t-1)+ω?Δt]+α?θ accel (2) In equation (2), θ(t) is the deflection angle θ at time t. α is the filter coefficient, set between 0 and 1. The closer this coefficient is to 1, the higher the detection accuracy for high-frequency deflections. ω is the angular velocity detected through the angular velocity sensor 105. Δt is the time interval for calculating the deflection angle. θ accel This is the acceleration detected through the accelerometer 106.

[0053] By calculating the deflection angle using both angular velocity and acceleration in this way, the accuracy of calculating the deflection angle can be improved when low-frequency deflections occur, which reduce the detection accuracy of the angular velocity sensor 105. Furthermore, even if the angular velocity sensor 105 has an angular velocity offset, the effect of the angular velocity offset can be reduced because the deflection angle in the low-frequency range is compensated for by acceleration.

[0054] However, the only angular velocities that can be reduced are those around the pitch axis (extending in the x direction) and the roll axis (extending in the y direction), assuming the z-direction of the yaw axis is the direction of gravity, as shown in Figure 1(A). Since the direction of the angular velocity around the yaw axis (extending in the z direction) is perpendicular to the direction of gravity, when imaging is performed in the orientation shown in Figure 1(A), compensation by acceleration around the yaw axis is ineffective, and therefore the effect of angular velocities cannot be reduced. This is true not only when the imaging device is in the state shown in Figure 1(A), but also when the direction in which the yaw axis extends is closer to the direction of gravity than the directions in which the pitch axis and roll axis extend, as shown in Figure 1(B).

[0055] Figure 6 shows the effect of angular velocity offset for each gimbal mode. The yaw-pitch follow mode is a follow mode in which the attitude of the imaging unit 100 follows the attitude of the base unit 204 around the yaw axis and pitch axis, and the attitude of the imaging unit 100 is maintained around the roll axis. The yaw follow mode is a follow mode in which the attitude of the imaging unit 100 follows the attitude of the base unit 204 around the yaw axis, and the attitude of the imaging unit 100 is maintained around the pitch axis and roll axis. The pitch follow mode is a follow mode in which the attitude of the imaging unit 100 follows the attitude of the base unit 204 around the pitch axis, and the attitude of the imaging unit 100 is maintained around the yaw axis and roll axis. The all-follow mode is a follow mode in which the attitude of the imaging unit 100 follows the attitude of the base unit 204 around all axes. The fixed mode and encoder control mode are as described above.

[0056] The fixed mode, yaw-pitch follow mode, yaw follow mode, and pitch follow mode correspond to angular velocity-based control methods that use the angular velocity detected through the angular velocity sensor 105 to control the gimbal 200. The all-follow mode and encoder control mode correspond to angular velocity-free methods that do not use the angular velocity detected through the angular velocity sensor 105. Furthermore, among the angular velocity-based methods, the pitch follow mode and fixed mode correspond to the first method, which uses the angular velocity around the yaw axis (first axis) as a specific axis. The yaw-pitch follow mode and yaw follow mode correspond to the second method, which uses the acceleration around at least one of the pitch axis and roll axis (second axis), respectively, as specific axes.

[0057] As can be seen from this figure, the influence of angular velocity offset is greatest in pitch follow mode and fixed mode, where the angular velocity detected by the angular velocity sensor 105 around the yaw axis is used to control the yaw axis drive mechanism 202. On the other hand, the influence of angular velocity offset is small in yaw-pitch follow mode, yaw-pitch follow mode, and all-follow mode, where the angular velocity detected by the angular velocity sensor around the yaw axis is not used to control the yaw axis drive mechanism 202. Furthermore, in encoder control mode, the angular velocity detected by the angular velocity sensor 105 is not used, so there is no influence of angular velocity offset.

[0058] Next, in step S409, the vibration isolation unit 404 calculates the target posture by adding the target angle set in step S402 and the swing angle calculated in step S408, and calculates the amount of vibration isolation for each drive mechanism to obtain the target posture.

[0059] Next, in step S410, the vibration isolation unit 404 determines whether calibration is necessary. Then, this process is terminated.

[0060] The flowchart in Figure 7 shows the process of determining whether calibration is necessary, which is performed in step S410.

[0061] In step S701, the vibration isolation unit 404 reads the angular velocity-temperature compensation table stored in memory 103.

[0062] Next, in step S702, the vibration isolation unit 404 determines whether the gimbal mode is encoder control mode or not. If it is encoder control mode, this process ends; otherwise, the process in step S703 is performed.

[0063] In step S703, the vibration isolation unit 404 determines whether the gimbal mode is pitch follow mode or fixed mode. If it is neither pitch follow mode nor fixed mode (i.e., it is yaw-pitch follow mode, yaw-pitch follow mode, or all follow mode), it performs the process in step S705. If it is pitch follow mode or fixed mode, it performs the process in step S704.

[0064] In step S704, the vibration isolation unit 404 sets a calibration-free temperature range ΔA, which is a predetermined range that does not require calibration. In step S705, the vibration isolation unit 404 sets a calibration-free temperature range ΔB.

[0065] Here, the calibration-free temperature range will be explained using Figure 8. Figure 8 shows the calibration-free temperature ranges ΔA and ΔB added to the angular velocity-temperature correction table. The black circles in the figure each represent the angular velocity offset values ​​obtained from temperature-specific calibrations performed in the past. Here, temperature T5 is assumed to be the temperature that is used most frequently, and it is assumed that a good accuracy of angular velocity offset has been obtained for the calibrated temperature range T3 to T7. The calibration-free temperature ranges ΔA and ΔB are set at the upper and lower limits of the calibrated temperature range.

[0066] The calibration-free temperature range ΔA is between T3 and T2 (which is ΔA lower than T3) and between T7 and T8 (which is ΔA higher than T7). Calibration is required at temperatures below T2 and above T8. Calibration is not required when the temperature detected by the angular velocity sensor 105 is within the calibration-free temperature range ΔA.

[0067] The temperature range ΔB in which calibration is not required is between T3 and T1 (which is ΔB lower than T3) and between T7 and T9 (which is ΔB higher than T7). Calibration is required at temperatures below T1 and above T9. Calibration is not required when the temperature detected by the angular velocity sensor 105 is within the calibration required temperature range ΔB.

[0068] Note that setting a no-calibration temperature range is done to distinguish between temperature ranges where calibration is not required and those where it is required; therefore, setting a no-calibration temperature range is equivalent to setting a temperature range where calibration is required. For example, instead of setting a no-calibration temperature range ΔA between T2 and T3, one could set a no-calibration temperature range ΔA′ at a temperature lower than T2.

[0069] Thus, in this embodiment, the temperature range where calibration is not required is changed depending on the gimbal mode (first method and second method). In other words, the temperature range where calibration is required is changed depending on the gimbal mode (first method and second method). Specifically, in pitch-follow and fixed modes, calibration is required at a temperature closer to the calibrated temperature range compared to other modes.

[0070] Furthermore, since calibration has already been completed for the calibrated temperature range T3 to T7, it is not necessary to perform a new calibration when the temperature detected by the angular velocity sensor 105 falls within this range, or it may be done. When performing a new calibration within the calibrated temperature range, the temperature range obtained by excluding the non-calibration temperature range (second temperature range) ΔA or ΔB from the calibrated temperature range (first temperature range) may be designated as the required calibration temperature range.

[0071] Furthermore, the upper and lower limits of the calibration-free temperature range may be different from each other. Alternatively, a calibration-free temperature range may be set for only one of the upper or lower limits of the calibration-free temperature range. For example, when using an angular velocity sensor that has the characteristic that the amount of change in angular velocity offset increases with temperature, the calibration-free temperature range on the upper limit of the calibration-free temperature range may be omitted or made narrower than the lower limit.

[0072] After steps S704 and S705, in step S706, the vibration isolation processing unit 404 determines whether the temperature detected by the temperature sensor 110 is within the calibration required temperature range (a predetermined range). If the detected temperature is outside the usable temperature range, the process in step S707 is performed. If it is within the usable temperature range, calibration is deemed unnecessary and this process is terminated.

[0073] In step S707, the vibration isolation processing unit 404 instructs the imaging control unit 101 to issue a calibration recommendation notification. Upon receiving this instruction, the imaging control unit 101 displays a message on the display unit 301 as a calibration recommendation notification prompting the user to perform calibration. This message may also be output audibly from a speaker used as a notification means.

[0074] Users who see this message will perform a new calibration by following the instructions displayed on the display unit 301. In other words, users only need to perform a calibration each time a calibration recommendation message is displayed. This reduces the frequency of calibrations.

[0075] In the above embodiment, the determination of whether calibration is necessary in an imaging device having an imaging unit as a support was described, but the same determination of whether calibration is necessary can be performed in various devices having supports other than an imaging unit.

[0076] The above embodiments include the following configuration.

[0077] (Composition 1) A device having a support and a support means for rotating the support around multiple axes, An angular velocity sensor for detecting the angular velocity of the supported object around the plurality of axes, Control means for controlling the support means using a control method selected from a plurality of control methods, The system includes a temperature sensor that detects the temperature of the angular velocity sensor, The plurality of control methods include, as angular velocity usage methods that control the support means using the angular velocity around a specific axis among the plurality of axes and correction data relating to the offset value of the angular velocity sensor according to the temperature, a first method in which the specific axis is the first axis and a second method in which the specific axis is different from the first axis, The control means is When the temperature is within a predetermined range, a notification is issued prompting calibration to update the correction data. The apparatus is characterized by changing the predetermined range depending on whether the first method or the second method is selected. (Configuration 2) The first method is a control method that controls the support means such that the angular velocity at least around the first axis approaches zero, The apparatus according to configuration 1, characterized in that the second method is a control method that controls the support means so that the angular velocity around an axis different from the first axis approaches zero. (Composition 3) When the orientation of the apparatus is such that the direction in which the first axis extends is closer to the direction of gravity than the direction in which an axis other than the first axis extends, The apparatus according to configuration 1 or 2, characterized in that the control means makes the predetermined range in the first method wider than the predetermined range in the second method. (Composition 4) The apparatus according to any one of configurations 1 to 3, characterized in that the control means sets the predetermined range to at least one of the upper and lower limits of the temperature range from which the offset value was obtained by the calibration already performed. (Composition 5) The control means sets the predetermined range to include a first temperature range from which the offset value was obtained by the calibration already performed, and a range that excludes a second temperature range set to at least one of the upper and lower limits of the first temperature range. The apparatus according to any one of configurations 1 to 3, characterized in that the second temperature range is changed depending on whether the first method or the second method is selected. (Composition 6) The plurality of control methods include an angular velocity-using method including the first method and the second method, and an angular velocity-non-using method that controls the support means without using the angular velocity, The apparatus according to any one of configurations 1 to 5, characterized in that the control means does not issue a notification prompting calibration when the angular velocity non-use method is selected, and issues a notification prompting calibration when the angular velocity use method is selected and the temperature falls within the predetermined range. (Composition 7) The apparatus according to any one of configurations 1 to 6, characterized in that it has a notification means for displaying or outputting the aforementioned notification by sound. (Composition 8) The apparatus according to any one of configurations 1 to 7, characterized in that the support is an imaging unit including an image sensor. (Composition 9) A device having a support and a support means for rotating the support around multiple axes, An angular velocity sensor for detecting the angular velocity of the supported object around the plurality of axes, Control means for controlling the support means using a control method selected from a plurality of control methods, The system includes a temperature sensor that detects the temperature of the angular velocity sensor, The plurality of control methods include an angular velocity-using method that controls the support means using the angular velocity and correction data relating to the offset value of the angular velocity sensor corresponding to the temperature, and an angular velocity-non-using method that controls the support means without using the angular velocity. The control means is characterized in that, when the angular velocity non-use method is selected, it does not issue a notification prompting calibration to update the correction data, and when the angular velocity use method is selected and the temperature falls within a predetermined range, it issues a notification prompting calibration.

[0078] (Other examples) The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions.

[0079] The embodiments described above are merely representative examples, and various modifications and changes can be made to each embodiment when implementing the present invention. [Explanation of Symbols]

[0080] 100 imaging units 105 Angular velocity sensor 106 Accelerometer 110 Temperature Sensor 200 Gimbal 201 Pitch axis drive mechanism 202 Yaw axis drive mechanism 203 Roll axis drive mechanism 300 Gripping part

Claims

1. A device having a support and a support means for rotating the support around multiple axes, An angular velocity sensor for detecting the angular velocity of the supported object around the plurality of axes, Control means for controlling the support means using a control method selected from a plurality of control methods, The system includes a temperature sensor that detects the temperature of the angular velocity sensor, The plurality of control methods include, as angular velocity usage methods for controlling the support means using the angular velocity around a specific axis among the plurality of axes and correction data relating to the offset value of the angular velocity sensor according to the temperature, a first method in which the specific axis is a first axis and a second method in which the specific axis is different from the first axis, The control means is When the temperature is within a predetermined range, a notification is issued prompting calibration to update the correction data. The apparatus is characterized by changing the predetermined range depending on whether the first method or the second method is selected.

2. The first method is a control method that controls the support means such that the angular velocity at least around the first axis approaches zero, The apparatus according to claim 1, characterized in that the second method is a control method that controls the support means so that the angular velocity around an axis different from the first axis approaches zero.

3. When the orientation of the apparatus is such that the direction in which the first axis extends is closer to the direction of gravity than the direction in which an axis other than the first axis extends, The apparatus according to claim 1, characterized in that the control means makes the predetermined range in the first method wider than the predetermined range in the second method.

4. The apparatus according to claim 1, wherein the control means sets the predetermined range to at least one of the upper and lower limits of the temperature range from which the offset value was obtained by the calibration already performed.

5. The control means sets the predetermined range to include a first temperature range from which the offset value was obtained by the calibration already performed, and a range that excludes a second temperature range set to at least one of the upper and lower limits of the first temperature range. The apparatus according to claim 1, characterized in that the second temperature range is changed depending on whether the first method or the second method is selected.

6. The plurality of control methods include an angular velocity-using method including the first method and the second method, and an angular velocity-non-using method that controls the support means without using the angular velocity, The apparatus according to claim 1, wherein the control means does not issue a notification prompting calibration when the angular velocity non-use method is selected, and issues a notification prompting calibration when the angular velocity use method is selected and the temperature falls within the predetermined range.

7. The apparatus according to claim 1, characterized in that it has a notification means for displaying or outputting the aforementioned notification by sound.

8. The apparatus according to claim 1, characterized in that the support is an imaging unit including an image sensor.

9. A device having a support and a support means for rotating the support around multiple axes, An angular velocity sensor for detecting the angular velocity of the supported object around the plurality of axes, Control means for controlling the support means using a control method selected from a plurality of control methods, The system includes a temperature sensor that detects the temperature of the angular velocity sensor, The plurality of control methods include an angular velocity-using method that controls the support means using the angular velocity and correction data relating to the offset value of the angular velocity sensor corresponding to the temperature, and an angular velocity-non-using method that controls the support means without using the angular velocity. The control means is characterized in that, when the angular velocity non-use method is selected, it does not issue a notification prompting calibration to update the correction data, and when the angular velocity use method is selected and the temperature falls within a predetermined range, it issues a notification prompting calibration.

10. A control method for an apparatus comprising a support, a support means for rotating the support around multiple axes, an angular velocity sensor for detecting the angular velocity of the support around the multiple axes, and a temperature sensor for detecting the temperature of the angular velocity sensor, wherein the support means is controlled by a control method selected from a plurality of control methods, The plurality of control methods include, as angular velocity usage methods for controlling the support means using the angular velocity around a specific axis among the plurality of axes and correction data relating to the offset value of the angular velocity sensor according to the temperature, a first method in which the specific axis is a first axis and a second method in which the specific axis is different from the first axis, A step of prompting calibration to update the correction data when the temperature is within a predetermined range, A control method characterized by having a step of changing the predetermined range depending on whether the first method or the second method is selected.

11. A control method for an apparatus comprising a support, a support means for rotating the support around multiple axes, an angular velocity sensor for detecting the angular velocity of the support around the multiple axes, and a temperature sensor for detecting the temperature of the angular velocity sensor, wherein the support means is controlled by a control method selected from a plurality of control methods, The plurality of control methods include an angular velocity-using method that controls the support means using the angular velocity and correction data relating to the offset value of the angular velocity sensor corresponding to the temperature, and an angular velocity-non-using method that controls the support means without using the angular velocity. A step to prevent notification prompting calibration to update the correction data when the aforementioned angular velocity non-use method is selected, A control method characterized by comprising the step of providing a notification prompting calibration when the angular velocity usage method is selected and the temperature falls within a predetermined range.

12. A program characterized by causing a computer to perform a process according to the control method described in claim 10 or 11.

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