Posture control device and posture control method

Abstract

To provide a control device that can perform stable attitude control even if a control dealing axis varies, can enhance accuracy of attitude information after being corrected, and can perform a correction with a few of communication information or time.SOLUTION: A control device has: a first estimation unit that estimates a first attitude angle of a holding part, using a first angular velocity of the holding part holding a control object and first acceleration thereof; a first drive unit that rotates the holding part around a first axis; a second drive unit that rotates the holding part around a second axis orthogonal to the first axis; and a second estimation unit that calculates first correction acceleration to be calculated by correcting the first acceleration using a first relative angle between the first drive unit and the holding part, a first correction angular velocity to be calculated by correcting the first angular velocity using the first relative angle and a second attitude angle of the holding part using an angular velocity of the first drive unit, in which the first drive unit is configured to perform attitude control using the first attitude angle, and the second drive unit is configured to perform attitude control using the second attitude angle.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to an attitude control device and an attitude control method for stabilizing the attitude of a controlled object.

Background Art

[0002] When changing the attitude of the holding part in the TILT direction while controlling the attitude of an electric gimbal having a plurality of drive shafts, the control axis of ROLL changes from the ROLL axis to the PAN axis, and the control axis of PAN changes from the PAN axis to the ROLL axis. Therefore, it is necessary to correct the attitude information. Patent Document 1 discloses a configuration for correcting attitude information using rotation information from magnetic rotary encoders of respective drive units. Patent Document 2 discloses a configuration for correcting attitude information by issuing control commands for respective drive shafts in consideration of angles to be offset.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration of Patent Document 1, since rotation information from magnetic rotary encoders of respective drive units is used, linearity errors of respective magnetic rotary encoders accumulate in the error of the correction value, which adversely affects the accuracy of the attitude information after correction. Further, since the controller requires information of respective magnetic rotary encoders, communication information increases and time is taken.

[0005] In addition, in the configuration of Patent Document 2, since control commands must always be issued in consideration of the offset, communication information increases and time is consumed.

[0006] An object of the present invention is to provide an attitude control device that can perform stable attitude control even when the controlled axis changes, can improve the accuracy of corrected attitude information, and can perform correction with less communication information and time.

Means for Solving the Problems

[0007] An attitude control device according to an aspect of the present invention is an attitude control device that controls the attitude of a controlled object, and includes a holding unit that holds the controlled object, a first detection unit that detects a first angular velocity and a first acceleration of the holding unit, a first attitude estimation unit that estimates a first attitude angle of the holding unit using the first angular velocity and the first acceleration, a first driving unit that rotates the holding unit around a first axis using a first motor, a second driving unit that rotates the holding unit around a second axis orthogonal to the first axis using a second motor, a first relative angle calculation unit that calculates a first relative angle between the first driving unit and the holding unit, a first acceleration correction unit that calculates a first corrected acceleration by correcting the first acceleration using the first relative angle, a first angular velocity correction unit that calculates a first corrected angular velocity by correcting the first angular velocity using the first relative angle, an angular velocity calculation unit that calculates the angular velocity of the first driving unit, and a second attitude estimation unit that calculates a second attitude angle of the holding unit using the first corrected acceleration, the first corrected angular velocity, and the angular velocity of the first driving unit. The first driving unit performs attitude control using the first attitude angle, and the second driving unit Connected to the first drive unit is characterized in that attitude control is performed using the second attitude angle.

[0008] Also, as another aspect of the present invention, a posture control method is a posture control method for controlling the posture of a control target, and includes steps of detecting a first angular velocity and a first acceleration of a holding unit that holds the control target; estimating a first posture angle of the holding unit using the first angular velocity and the first acceleration; calculating a first relative angle between a first driving unit that rotates the holding unit around a first axis using a first motor and the holding unit; calculating a first corrected acceleration by correcting the first acceleration using the first relative angle; calculating a first corrected angular velocity by correcting the first angular velocity using the first relative angle; calculating an angular velocity of the first driving unit; calculating a second posture angle of the holding unit using the first corrected acceleration, the first corrected angular velocity, and the angular velocity of the first driving unit; and performing posture control by the first driving unit using the first posture angle. Connected to the first drive unit And a step of performing posture control by a second driving unit that rotates the holding unit around a second axis orthogonal to the first axis using a second motor using the second posture angle.

Effects of the Invention

[0009] According to the present invention, it is possible to perform stable posture control even when the control corresponding axis changes, improve the accuracy of the corrected posture information, and provide a posture control device capable of performing correction with less communication information and time.

Brief Description of the Drawings

[0010]

Figure 1A

Figure 1B

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8A

Figure 8B

Figure 9

Figure 10

Figure 11

Figure 12A

Figure 12B

Figure 13

Figure 14A

Figure 14B

Figure 15A

Figure 15B

Figure 16A

Figure 16B

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each figure, the same members are denoted by the same reference numerals, and redundant descriptions are omitted.

[0012] The attitude control device in each embodiment is a device that performs attitude control of a control target, and may be, for example, an electric stabilizer or a device incorporated in an imaging device.

Embodiment

[0013] FIG. 1A is a block diagram of an attitude control device (attitude control apparatus) that performs two-axis attitude control in this embodiment. The attitude control device in this embodiment includes a first drive unit 100, a second drive unit 140, and a holding unit 300. The holding unit 300 holds a control target and is rotatably held in two axial directions by the first drive unit 100 and the second drive unit 140. The first drive unit 100 rotates the holding unit 300 around a first axis using a first motor 102, and the second drive unit 140 rotates it around a second axis orthogonal to the first axis using a second motor 142. The control target is, for example, an imaging means that images a subject image formed by an imaging optical system. The second drive unit 140 is arranged with respect to the first drive unit 100 as shown in FIGS. 2 to 4, for example.

[0014] The holding unit 300 has a first IMU sensor (first detection unit) 301 that detects the angular velocity (first angular velocity) and acceleration (first acceleration) of the holding unit 300. The first drive unit 100 includes a first drive circuit 101, a first motor 102, a first rotation angle sensor (rotation angle detection unit) 103, a first MPU 200, and a first memory 215. The second drive unit 140 includes a second drive circuit 141, a second motor 142, and a second rotation angle sensor 143.

[0015] The first MPU 200 includes a first drive signal processing unit 201, a first attitude estimation unit 203, a first relative angle calculation unit 204, a first acceleration correction unit 205, a first angular velocity correction unit 206, an angular velocity calculation unit 207, a second attitude estimation unit 208, and a second drive signal processing unit 241. The first MPU 200 controls each part of the attitude control device by executing a program stored in the first memory 215.

[0016] The first attitude estimation unit 203 estimates the attitude of the holding unit 300 using the angular velocity and acceleration from the first IMU sensor 301. Specifically, the first attitude estimation unit 203 calculates the first TILT angle, the first ROLL angle, and the first PAN angle, which are the first attitude angles of the holding unit 300, using the angular velocity and acceleration of each axis of the X, Y, and Z axes from the first IMU sensor 301.

[0017] The first drive signal processing unit 201 acquires the angle deviation between the first TILT angle from the first attitude estimation unit 203 and the target angle of the TILT axis, and the angular velocity deviation between the X-axis angular velocity ωx1 from the first IMU sensor 301 and the target angular velocity of the TILT axis. The first drive signal processing unit 201 transmits to the first drive circuit 101 the energization pattern to the first motor 102 based on the operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation and the rotation angle of the first motor 102 detected by the first rotation angle sensor 103.

[0018] The first drive circuit 101 drives the first motor 102 according to the signal from the first drive signal processing unit 201.

[0019] FIG. 5 is a block diagram of the first relative angle calculation unit 204. The first relative angle calculation unit 204 calculates the relative angle (first relative angle) between the first drive unit 100 and the holding unit 300 using the first posture angle and the rotation angle of the first motor 102 detected by the first rotation angle sensor 103. Specifically, the first relative angle calculation unit 204 calculates a first angle deviation θtdif1, which is the difference between the first TILT angle, the rotation angle of the first motor 102 detected by the first rotation angle sensor 103, and the first drive unit arrangement angle 216 recorded in the first memory 215. Note that the first drive unit arrangement angle 216 is the relative angle of the second drive unit 140 with respect to the first drive unit 100.

[0020] The first acceleration correction unit 205 calculates a first corrected acceleration by correcting the acceleration of the holding unit 300 based on the relative angle from the first relative angle calculation unit 204. FIG. 6 is a flowchart showing the acceleration correction process by the first acceleration correction unit 205.

[0021] In step S101, the first acceleration correction unit 205 acquires the first angle deviation θtdif1 from the first relative angle calculation unit 204.

[0022] In step S102, the first acceleration correction unit 205 acquires the first ROLL angle and the first PAN angle as the first posture angles of the holding unit 300 from the first posture estimation unit 203.

[0023] Note that the order of the processes in step S101 and step S102 may be swapped.

[0024] In step S103, the first acceleration correction unit 205 sets a reference acceleration vector αbase in which gravitational acceleration occurs only in the Z-axis direction, represented by the following equation (1), using the first angle deviation θtdif1, the first ROLL angle, and the first PAN angle.

[0025]

Equation

[0026] In step S104, the first acceleration correction unit 205 calculates a first deformation value α'base by three-dimensionally rotating a reference acceleration vector αbase by a first angle deviation using Equation (2).

[0027]

Number

[0028] In step S105, the first acceleration correction unit 205 calculates a second deformation value α”base by three-dimensionally rotating the first deformation value α'base by a first ROLL angle using Equation (3).

[0029]

Number

[0030] In step S106, the first acceleration correction unit 205 calculates a first acceleration correction value (first corrected acceleration) by three-dimensionally rotating the second deformation value α”base by a PAN angle using Equation (4).

[0031]

Number

[0032] The first angular velocity correction unit 206 calculates a first corrected angular velocity by correcting the angular velocity of the holding unit 300 based on the relative angle from the first relative angle calculation unit 204. FIG. 7 is a flowchart showing the angular velocity correction process by the first angular velocity correction unit 206.

[0033] In step S201, the first angular velocity correction unit 206 acquires a first angle deviation θtdif1 from the first relative angle calculation unit 204.

[0034] In step S202, the first angular velocity correction unit 206 acquires a Y-axis angular velocity ωy1 and a Z-axis angular velocity ωz1 of the holding unit 300 from the first IMU sensor 301.

[0035] Note that the order of the processes in step S101 and step S102 may be swapped.

[0036] In step S203, the first angular velocity correction unit 206 calculates a first Y-axis angular velocity correction value ωycrr1 and a first Z-axis angular velocity correction value ωzccr1 from the first angular deviation θtdif1 and the Y-axis angular velocity ωy1 using the following equations (5a) and (5b).

[0037]

Equation

[0038] In step S204, the first angular velocity correction unit 206 calculates a second Y-axis angular velocity correction value ωycrr2 and a second Z-axis angular velocity correction value ωzccr2 from the first angular deviation θtdif1 and the Z-axis angular velocity ωz1 using the following equations (6a) and (6b).

[0039]

Equation

[0040] In step S205, the first angular velocity correction unit 206 calculates a Y-axis angular velocity correction value (first corrected angular velocity), which is the difference value between the first Y-axis angular velocity correction value ωycrr1 and the second Y-axis angular velocity correction value ωycrr2.

[0041] In step S206, the first angular velocity correction unit 206 calculates a Z-axis angular velocity correction value (first corrected angular velocity), which is the difference value between the first Z-axis angular velocity correction value ωzcrr1 and the second Z-axis angular velocity correction value ωzcrr2.

[0042] The angular velocity calculation unit 207 calculates the angular velocity of the first drive unit 100 using the rotation angle of the first motor 102 detected by the first rotation angle sensor 103 and the sampling period or internal clock of the first MPU 200. Specifically, the angular velocity calculation unit 207 calculates the angular velocity of the first drive unit 100 by differentiating the rotation angle of the first motor 102 with respect to unit time.

[0043] The second posture estimation unit 208 estimates the posture of the holding unit 300 by using the first acceleration correction value from the first acceleration correction unit 205, the Y-axis and Z-axis angular velocity correction values from the first angular velocity correction unit 206, and the angular velocity of the first drive unit 100 from the angular velocity calculation unit 207. Specifically, the second posture estimation unit 208 calculates the second TILT angle, the second ROLL angle, and the second PAN angle, which are the second posture angles of the holding unit 300.

[0044] When the second drive unit 140 is arranged on the ROLL axis, the second drive signal processing unit 241 calculates the angular deviation between the second ROLL angle and the target angle of the ROLL axis, and the angular velocity deviation between the Y-axis angular velocity correction value and the target angular velocity of the ROLL axis. When the second drive unit 140 is arranged on the PAN axis, the second drive signal processing unit 241 calculates the angular deviation between the second PAN angle and the target angle of the PAN axis, and the angular velocity deviation between the Z-axis angular velocity correction value and the target angular velocity of the PAN axis. The second drive signal processing unit 241 transmits the operation amount obtained by PID control or the like using the acquired angular deviation and angular velocity deviation, and the energization pattern to the second motor 142 based on the rotation angle of the second motor 142 detected by the second rotation angle sensor 143, to the second drive circuit 141.

[0045] The second drive circuit 141 drives the second motor 142 according to the signal from the second drive signal processing unit 241.

[0046] As described above, in this embodiment, the first drive unit 100 performs posture control based on the first posture angle of the holding unit 300 from the first posture estimation unit 203, and the second drive unit 140 performs posture control based on the second posture angle of the holding unit 300 from the second posture estimation unit 208.

[0047] According to the configuration of this embodiment, the posture angle obtained by performing posture estimation using the acceleration correction value and the angular velocity correction value obtained by correcting the acceleration and the angular velocity, and the angular velocity correction value are used for feedback control other than the TILT axis. Thereby, it becomes possible to correspond to the posture of the handle, and stable posture control can be performed even when the control corresponding axis changes. In addition, it is possible to improve the accuracy of the corrected posture information, and it is possible to perform correction with less communication information and time.

[0048] Hereinafter, with reference to FIG. 1B, a modified example of the attitude control device of this embodiment will be described. FIG. 1B is a block diagram of a modified example of the attitude control device of this embodiment.

[0049] In addition to the configuration of this embodiment, the attitude control device of the modified example has a support portion 400 that supports the first drive portion 100, the second drive portion 140, and the holding portion 300. The support portion 400 has a second IMU sensor (second detection portion) 401 that detects the angular velocity (second angular velocity) and acceleration (second acceleration) of the support portion 400.

[0050] In addition to the configuration of this embodiment, the first drive portion 100 has a fourth attitude estimation portion (support portion attitude estimation portion) 214. The fourth attitude estimation portion 214 estimates the attitude of the support portion 400 using the angular velocity and acceleration from the second IMU sensor 401. Specifically, the fourth attitude estimation portion 214 calculates the fourth TILT angle, the fourth ROLL angle, and the fourth PAN angle, which are the attitude angles of the support portion 400, using the angular velocity and acceleration of each of the XYZ axes from the second IMU sensor 401. The first relative angle calculation portion 204 may calculate the angle deviation between the first TILT angle from the first attitude estimation portion 203 and the fourth TILT angle from the fourth attitude estimation portion 214 as the first angle deviation θtdif1. The angular velocity calculation portion 207 may detect the angular velocity of the first drive portion 100 using the data of the second IMU sensor 401.

Embodiment

[0051] FIG. 8A is a block diagram of an attitude control device that performs three-axis attitude control of this embodiment. FIG. 9 is a diagram showing the relationship between each drive portion and the corresponding axis. In this embodiment, the configuration different from that of Embodiment 1 will be described, and the same reference numerals will be given to the same configurations as those in Embodiment 1, and the detailed description will be omitted.

[0052] The posture control device of this embodiment has a third drive unit 170 in addition to the configuration of Embodiment 1. The holding unit 300 is held rotatable in three axial directions by the first drive unit 100, the second drive unit 140, and the third drive unit 170. The third drive unit 170 rotates the holding unit 300 around a third axis orthogonal to the first axis and the second axis. The second drive unit 140 and the third drive unit 170 are arranged with respect to the first drive unit 100 as shown in, for example, FIGS. 10 and 11. The third drive unit 170 has a third drive circuit 171, a third motor 172, and a third rotation angle sensor 173.

[0053] In addition to the configuration of Embodiment 1, the first MPU 200 has a third drive signal processing unit 271. The third drive signal processing unit 271 calculates the angle deviation between the second PAN angle and the PAN axis target angle, and the angular velocity deviation between the Z-axis angular velocity correction value and the PAN axis target angular velocity. The third drive signal processing unit 271 transmits an operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation, and an energization pattern to the third motor 172 based on the rotation angle of the third motor 172 detected by the third rotation angle sensor 173 to the third drive circuit 171.

[0054] The third drive circuit 171 drives the third motor 172 according to the signal from the third drive signal processing unit 271.

[0055] As described above, in this embodiment, the third drive unit 170 performs posture control based on the second posture angle of the holding unit 300 from the second posture estimation unit 208.

[0056] As described above, according to the configuration of this embodiment, the posture angle obtained by performing posture estimation using the acceleration correction value and the angular velocity correction value obtained by correcting the acceleration and the angular velocity, and the angular velocity correction value are used for feedback control other than the TILT axis. Thereby, it becomes possible to correspond to the posture of the handle, and stable posture control can be performed even when the control corresponding axis changes. In addition, it is possible to improve the accuracy of the corrected posture information, and it is possible to perform correction with less communication information and time.

[0057] Note that even when the second drive unit 140 is configured for the PAN axis and the third drive unit 170 is configured for the ROLL axis, it goes without saying that the configuration of this embodiment can be applied by changing the axis data input to the second drive signal processing unit 241 and the third drive signal processing unit 271.

[0058] Hereinafter, with reference to FIG. 8B, a modified example of the attitude control device of this embodiment will be described. FIG. 8B is a block diagram of a modified example of the attitude control device of this embodiment.

[0059] The attitude control device of the modified example has a support unit 400 that supports the first drive unit 100, the second drive unit 140, and the holding unit 300 in addition to the configuration of this embodiment. The support unit 400 has a second IMU sensor 401 that detects the angular velocity and acceleration of the support unit 400.

[0060] In addition to the configuration of this embodiment, the first drive unit 100 has a fourth attitude estimation unit 214. The fourth attitude estimation unit 214 estimates the attitude of the support unit 400 using the angular velocity and acceleration from the second IMU sensor 401. Specifically, the fourth attitude estimation unit 214 calculates the fourth TILT angle, the fourth ROLL angle, and the fourth PAN angle, which are the attitude angles of the support unit 400, using the angular velocity and acceleration of each axis of the XYZ axes from the second IMU sensor 401. The first relative angle calculation unit 204 may calculate the angle deviation between the first TILT angle from the first attitude estimation unit 203 and the fourth TILT angle from the fourth attitude estimation unit 214 as the first angle deviation θtdif1. The angular velocity calculation unit 207 may detect the angular velocity of the first drive unit 100 using the data of the second IMU sensor 401.

Embodiment

[0061] FIG. 12A is a block diagram of an attitude control device that performs three-axis attitude control according to this embodiment. In this embodiment, configurations different from those in Embodiment 1 will be described, and the same reference numerals will be given to the same configurations as those in Embodiment 1, and detailed descriptions thereof will be omitted.

[0062] The posture control device of this embodiment has a third drive unit 170 in addition to the configuration of Embodiment 1. The holding unit 300 is held rotatable in three axial directions by the first drive unit 100, the second drive unit 140, and the third drive unit 170. The third drive unit 170 rotates the holding unit 300 around a third axis orthogonal to the first axis and the second axis. The second drive unit 140 and the third drive unit 170 are arranged with respect to the first drive unit 100 as shown in, for example, FIGS. 10 and 11. The third drive unit 170 has a third drive circuit 171, a third motor 172, and a third rotation angle sensor 173.

[0063] In addition to the configuration of Embodiment 1, the first MPU 200 has a second relative angle calculation unit (First relative angle calculation unit) 209, a second acceleration correction unit 210, a second angular velocity correction unit 211, a third posture estimation unit 212, and a third drive signal processing unit 271.

[0064] FIG. 13 is a block diagram of the second relative angle calculation unit 209. The second relative angle calculation unit 209 calculates the relative angle (second relative angle (First relative angle) ) between the first drive unit 100 and the holding unit 300 using the first posture angle and the rotation angle of the first motor 102. Specifically, the second relative angle calculation unit 209 calculates a second angle deviation θtdif2, which is the difference between the first TILT angle, the rotation angle of the first motor 102, and the second drive unit arrangement angle 217 recorded in the first memory 215. The second drive unit arrangement angle 217 is the relative angle of the third drive unit 170 with respect to the first drive unit 100.

[0065] The second acceleration correction unit 210 calculates a second corrected acceleration by correcting the acceleration of the holding unit 300 based on the relative angle from the second relative angle calculation unit 209. Specifically, the second acceleration correction unit 210 first sets a reference acceleration vector αbase in which gravitational acceleration occurs only in the Z-axis direction, represented by Equation (1), using the second angle deviation θtdif2 from the second relative angle calculation unit 209, the first ROLL angle, and the first PAN angle. Next, the second acceleration correction unit 210 calculates a first deformed value α'base2 by three-dimensionally rotating the reference acceleration vector αbase by the second angle deviation θtdif2 using Equation (2). Next, the second acceleration correction unit 205 calculates a second deformed value α”base2 by three-dimensionally rotating the first deformed value α'base2 by the first ROLL angle using Equation (3). Finally, the second acceleration correction unit 205 calculates a second acceleration correction value by three-dimensionally rotating the second deformed value α”base2 by the PAN angle using Equation (4).

[0066] The second angular velocity correction unit 211 calculates a second corrected angular velocity by correcting the angular velocity of the holding unit 300 based on the relative angle from the second relative angle calculation unit 209. Specifically, the second angular velocity correction unit 211 first calculates a first Y-axis angular velocity correction value ωycrr3 and a first Z-axis angular velocity correction value ωzcrr3 from the second angle deviation θtdif2 and the Y-axis angular velocity ωy1 using the following Equations (7a) and (7b).

[0067]

Number

[0068] Next, the second angular velocity correction unit 211 calculates a second Y-axis angular velocity correction value ωycrr4 and a second Z-axis angular velocity correction value ωzccr4 from the second angle deviation θtdif2 and the Z-axis angular velocity ωz1 using the following Equations (8a) and (8b).

[0069]

Number

[0070] Finally, the second angular velocity correction unit 211 calculates a Y-axis angular velocity correction value (second correction angular velocity), which is the difference value between the first Y-axis angular velocity correction value ωycrr3 and the second Y-axis angular velocity correction value ωycrr4. Also, the second angular velocity correction unit 211 calculates a Z-axis angular velocity correction value (second correction angular velocity), which is the difference value between the first Z-axis angular velocity correction value ωzcrr3 and the second Z-axis angular velocity correction value ωzcrr4.

[0071] The third attitude estimation unit 212 estimates the attitude of the holding unit 300 by using the second acceleration correction value from the second acceleration correction unit 210, the Y-axis and Z-axis angular velocity correction values from the second angular velocity correction unit 211, and the angular velocity of the first drive unit 100 from the angular velocity calculation unit 207. Specifically, the third attitude estimation unit 212 calculates a third TILT angle, a third ROLL angle, and a third PAN angle, which are the third attitude angles of the holding unit 300.

[0072] The third drive signal processing unit 271 calculates an angle deviation between the second PAN angle and the PAN-axis target angle, and an angular velocity deviation between the Z-axis angular velocity correction value and the PAN-axis target angular velocity. The third drive signal processing unit 271 transmits an operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation, and an energization pattern to the third motor 172 based on the rotation angle of the third motor 172 detected by the third rotation angle sensor 173, to the third drive circuit 171.

[0073] The third drive circuit 171 drives the third motor 172 according to the signal from the third drive signal processing unit 271.

[0074] As described above, in this embodiment, the third drive unit 170 performs attitude control based on the third attitude angle of the holding unit 300 from the third attitude estimation unit 212.

[0075] According to the configuration of this embodiment, the attitude angle obtained by performing attitude estimation using the acceleration correction value and the angular velocity correction value obtained by correcting the acceleration and the angular velocity, and the angular velocity correction value are used for feedback control other than the TILT axis. As a result, it becomes possible to correspond to the attitude of the handle, and stable attitude control can be performed even when the control corresponding axis changes. In addition, it is possible to improve the accuracy of the corrected attitude information, and it is possible to perform correction with less communication information and time.

[0076] Note that even when the second drive unit 140 is configured for the PAN axis and the third drive unit 170 is configured for the ROLL axis, it goes without saying that the configuration of this embodiment can be applied by changing the axis data input to the second drive signal processing unit 241 and the third drive signal processing unit 271.

[0077] Hereinafter, with reference to FIG. 12B, a modified example of the attitude control device of this embodiment will be described. FIG. 12B is a block diagram of a modified example of the attitude control device of this embodiment.

[0078] The attitude control device of the modified example has a support unit 400 that supports the first drive unit 100, the second drive unit 140, and the holding unit 300 in addition to the configuration of this embodiment. The support unit 400 has a second IMU sensor 401 that detects the angular velocity and acceleration of the support unit 400.

[0079] In addition to the configuration of this embodiment, the first drive unit 100 has a fourth attitude estimation unit 214. The fourth attitude estimation unit 214 estimates the attitude of the support unit 400 using the angular velocity and acceleration from the second IMU sensor 401. Specifically, the fourth attitude estimation unit 214 calculates the fourth TILT angle, the fourth ROLL angle, and the fourth PAN angle, which are the attitude angles of the support unit 400, using the angular velocity and acceleration of each axis of the XYZ axis from the second IMU sensor 401. The first relative angle calculation unit 204 may calculate the angle deviation between the first TILT angle from the first attitude estimation unit 203 and the fourth TILT angle from the fourth attitude estimation unit 214 as the first angle deviation θtdif1. The angular velocity calculation unit 207 may detect the angular velocity of the first drive unit 100 using the data of the second IMU sensor 401.

Embodiment

[0080] Figure 14A is a block diagram of an attitude control device that performs two-axis attitude control in this embodiment. In this embodiment, configurations different from those in Embodiment 1 will be described, and the same reference numerals will be assigned to configurations similar to those in Embodiment 1, and detailed descriptions thereof will be omitted.

[0081] In addition to the configuration of Embodiment 1, the first MPU 200 has a first interface 213. Also, unlike the configuration of Embodiment 1, the first MPU 200 does not have a second drive signal processing unit 241.

[0082] In addition to the configuration of Embodiment 1, the second drive unit 140 has a second MPU 240 and a second memory 245. The second MPU 240 has a second drive signal processing unit 241 and a second interface 243, and controls each part of the attitude control device by executing a program stored in the second memory 245.

[0083] The first interface 213 stores the second ROLL angle and the second PAN angle from the second attitude estimation unit 208 and the Y-axis and Z-axis angular velocity correction values from the first angular velocity correction unit 206 in a packet, and communicates with the second interface 243. When the second drive unit 140 is arranged on the ROLL axis, only the second ROLL angle and the Y-axis angular velocity correction value may be stored in the packet. When the second drive unit 140 is arranged on the PAN axis, only the second PAN angle and the Z-axis angular velocity correction value may be stored in the packet. Also, the communication method between the first interface 213 and the second interface 243 may be any communication method and is not limited to serial communication or the like.

[0084] The second interface 243 acquires the attitude angle information and the angular velocity through communication with the first interface 213. When the second drive unit 140 is arranged on the ROLL axis, the second drive signal processing unit 241 acquires the second ROLL angle and the Y-axis angular velocity correction value from the first interface 213. Then, the second drive signal processing unit 241 calculates the angle deviation between the second ROLL angle and the ROLL axis target angle, and the angular velocity deviation between the Y-axis angular velocity correction value and the ROLL axis target angular velocity. Also, when the second drive unit 140 is arranged on the PAN axis, the second drive signal processing unit 241 acquires the second PAN angle and the Z-axis angular velocity correction value from the first interface 213. Then, the second drive signal processing unit 241 calculates the angle deviation between the second PAN angle and the PAN axis target angle, and the angular velocity deviation between the Z-axis angular velocity correction value and the PAN axis target angular velocity. The second drive signal processing unit 241 transmits to the second drive circuit 141 the operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation, and the energization pattern to the second motor 142 based on the rotation angle of the second motor 142 detected by the second rotation angle sensor 143.

[0085] The second drive circuit 141 drives the second motor 142 according to the signal from the second drive signal processing unit 241.

[0086] As described above, according to the configuration of this embodiment, the attitude angle obtained by performing attitude estimation using the acceleration correction value and the angular velocity correction value obtained by correcting the acceleration and the angular velocity, and the angular velocity correction value are used for feedback control other than the TILT axis. Thereby, it becomes possible to cope with the attitude of the handle, and stable attitude control can be performed even when the control corresponding axis changes. Also, it is possible to improve the accuracy of the corrected attitude information, and it is possible to perform correction with less communication information and time.

[0087] Hereinafter, a modified example of the attitude control device of this embodiment will be described with reference to FIG. 14B. FIG. 14B is a block diagram of a modified example of the attitude control device of this embodiment.

[0088] In addition to the configuration of the present embodiment, the posture control device of the modification example has a support portion 400 that supports the first drive portion 100, the second drive portion 140, and the holding portion 300. The support portion 400 has a second IMU sensor 401 that detects the angular velocity and acceleration of the support portion 400.

[0089] In addition to the configuration of the present embodiment, the first drive portion 100 has a fourth posture estimation portion 214. The fourth posture estimation portion 214 estimates the posture of the support portion 400 using the angular velocity and acceleration from the second IMU sensor 401. Specifically, the fourth posture estimation portion 214 calculates the fourth TILT angle, the fourth ROLL angle, and the fourth PAN angle, which are the posture angles of the support portion 400, using the angular velocity and acceleration of each of the XYZ axes from the second IMU sensor 401. The first relative angle calculation portion 204 may calculate the angle deviation between the first TILT angle from the first posture estimation portion 203 and the fourth TILT angle from the fourth posture estimation portion 214 as the first angle deviation θtdif1. The angular velocity calculation portion 207 may detect the angular velocity of the first drive portion 100 using the data of the second IMU sensor 401.

Embodiment

[0090] FIG. 15A is a block diagram of a posture control device that performs three-axis posture control according to the present embodiment. In the present embodiment, a configuration different from that of Embodiment 2 will be described, and the same reference numerals will be given to the same configurations as those in Embodiment 2, and detailed descriptions thereof will be omitted.

[0091] In addition to the configuration of Embodiment 2, the first MPU 200 has a first interface 213. Further, unlike the configuration of Embodiment 2, the first MPU 200 does not have a second drive signal processing portion 241 and a third drive signal processing portion 271.

[0092] In addition to the configuration of Embodiment 2, the second drive portion 140 has a second MPU 240 and a second memory 245. The second MPU 240 has a second drive signal processing portion 241 and a second interface 243, and controls each part of the posture control device by executing a program stored in the second memory 245.

[0093] In addition to the configuration of the second embodiment, the third driving unit 170 includes a third MPU 270 and a third memory 275. The third MPU 270 includes a third drive signal processing unit 271 and a third interface 273, and controls each part of the attitude control device by executing a program stored in the third memory 275.

[0094] The first interface 213 stores the second ROLL angle and the second PAN angle from the second attitude estimation unit 208 and the Y-axis and Z-axis angular velocity correction values from the first angular velocity correction unit 206 in a packet, and communicates with the second interface 243. Note that the communication method between the first interface 213 and the second interface 243 may be any communication method and is not limited to serial communication or the like.

[0095] The second interface 243 acquires the attitude angle and the angular velocity by communicating with the first interface 213, stores the second PAN angle and the Z-axis angular velocity correction value in a packet, and communicates with the third interface 273. Note that the communication method between the second interface 243 and the third interface 273 may be any communication method and is not limited to serial communication or the like.

[0096] The second drive signal processing unit 241 acquires the second ROLL angle and the Y-axis angular velocity correction value from the second interface 243. The second drive signal processing unit 241 calculates the angle deviation between the second ROLL angle and the ROLL-axis target angle, and the angular velocity deviation between the Y-axis angular velocity correction value and the ROLL-axis target angular velocity. The second drive signal processing unit 241 transmits an operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation, and an energization pattern to the second motor 142 based on the rotation angle of the second motor 142 detected by the second rotation angle sensor 143, to the second drive circuit 141.

[0097] The second drive circuit 141 drives the second motor 142 according to a signal from the second drive signal processing unit 241.

[0098] The third interface 273 acquires the attitude angle and the angular velocity by communicating with the second interface 243. Note that the third interface 273 may acquire the attitude angle and the angular velocity by communicating with the first interface 213.

[0099] The third drive signal processing unit 271 acquires the second PAN angle and the Z-axis angular velocity correction value from the third interface 273. The third drive signal processing unit 271 calculates the angle deviation between the second PAN angle and the PAN-axis target angle, and the angular velocity deviation between the Z-axis angular velocity correction value and the PAN-axis target angular velocity. The third drive signal processing unit 271 transmits to the third drive circuit 171 the operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation, and the energization pattern to the third motor 172 based on the rotation angle of the third motor 172 detected by the third rotation angle sensor 173.

[0100] The third drive circuit 171 drives the third motor 172 according to the signal from the third drive signal processing unit 271.

[0101] As described above, according to the configuration of this embodiment, the attitude angle obtained by performing attitude estimation using the acceleration correction value and the angular velocity correction value obtained by correcting the acceleration and the angular velocity, and the angular velocity correction value are used for feedback control other than the TILT axis. Thereby, it becomes possible to correspond to the attitude of the handle, and stable attitude control can be performed even when the control corresponding axis changes. In addition, it is possible to improve the accuracy of the corrected attitude information, and it is possible to perform correction with less communication information and time.

[0102] Needless to say, even when the second drive unit 140 is configured for the PAN axis and the third drive unit 170 is configured for the ROLL axis, the configuration of this embodiment can be applied by changing the axis data input to the second drive signal processing unit 241 and the third drive signal processing unit 271.

[0103] Hereinafter, with reference to FIG. 15B, a modified example of the attitude control device of this embodiment will be described. FIG. 15B is a block diagram of a modified example of the attitude control device of this embodiment.

[0104] In addition to the configuration of this embodiment, the posture control device of the modification example has a support portion 400 that supports the first drive portion 100, the second drive portion 140, and the holding portion 300. The support portion 400 has a second IMU sensor 401 that detects the angular velocity and acceleration of the support portion 400.

[0105] In addition to the configuration of this embodiment, the first drive portion 100 has a fourth posture estimation portion 214. The fourth posture estimation portion 214 estimates the posture of the support portion 400 using the angular velocity and acceleration from the second IMU sensor 401. Specifically, the fourth posture estimation portion 214 calculates a fourth TILT angle, a fourth ROLL angle, and a fourth PAN angle, which are the posture angles of the support portion 400, using the angular velocity and acceleration of each of the X, Y, and Z axes from the second IMU sensor 401. The first relative angle calculation portion 204 may calculate, as the first angle deviation θtdif1, the angle deviation between the first TILT angle from the first posture estimation portion 203 and the fourth TILT angle from the fourth posture estimation portion 214. The angular velocity calculation portion 207 may detect the angular velocity of the first drive portion 100 using the data of the second IMU sensor 401.

Embodiment

[0106] FIG. 16A is a block diagram of a posture control device that performs three-axis posture control according to this embodiment. In this embodiment, a configuration different from that of Embodiment 1 will be described, and the same reference numerals will be given to the same configurations as those of Embodiment 3, and detailed descriptions thereof will be omitted.

[0107] In addition to the configuration of Embodiment 3, the first MPU 200 has an interface 213. Further, unlike the configuration of Embodiment 1, the first MPU 200 does not have a second drive signal processing portion 241 and a third drive signal processing portion 271.

[0108] In addition to the configuration of Embodiment 3, the second drive portion 140 has a second MPU 240 and a second memory 245. The second MPU 240 has a second drive signal processing portion 241 and a second interface 243, and controls each part of the posture control device by executing a program stored in the second memory 245.

[0109] In addition to the configuration of the third embodiment, the third drive unit 170 includes a third MPU 270 and a third memory 275. The second MPU 270 includes a third drive signal processing unit 271 and a third interface 273, and controls each part of the attitude control device by executing a program stored in the third memory 275.

[0110] The first interface 213 stores the second ROLL angle from the second attitude estimation unit 208, the third PAN angle from the third attitude estimation unit 212, the Y-axis from the first angular velocity correction unit 206, and the Z-axis angular velocity correction value from the second angular velocity correction unit 211 in a packet. Also, the first interface 213 communicates with the second interface 243. Note that the communication method between the first interface 213 and the second interface 243 may be any communication method and is not limited to serial communication or the like.

[0111] The second interface 243 acquires the attitude angle and the angular velocity by communicating with the first interface 213, stores the second PAN angle and the Z-axis angular velocity correction value in a packet, and communicates with the third interface 273. Note that the communication method between the second interface 243 and the third interface 273 may be any communication method and is not limited to serial communication or the like.

[0112] The second drive signal processing unit 241 acquires the second ROLL angle and the Y-axis angular velocity correction value from the second interface 243. The second drive signal processing unit 241 calculates the angle deviation between the second ROLL angle and the ROLL-axis target angle, and the angular velocity deviation between the Y-axis angular velocity correction value and the ROLL-axis target angular velocity. The second drive signal processing unit 241 transmits an operation amount obtained by PID control or the like using the acquired angle deviation and angular velocity deviation, and an energization pattern to the second motor 142 based on the rotation angle of the second motor 142 detected by the second rotation angle sensor 143, to the second drive circuit 141.

[0113] The second drive circuit 141 drives the second motor 142 according to a signal from the second drive signal processing unit 241.

[0114] The third interface 273 acquires the attitude angle and the angular velocity by communicating with the second interface 243. Note that the third interface 273 may acquire the attitude angle and the angular velocity by communicating with the first interface 213.

[0115] The third drive signal processing unit 271 acquires the third PAN angle and the Z-axis angular velocity correction value from the third interface 273. The third drive signal processing unit 271 calculates the angular deviation between the third PAN angle and the PAN-axis target angle, and the angular velocity deviation between the Z-axis angular velocity correction value and the PAN-axis target angular velocity. The third drive signal processing unit 271 transmits to the third drive circuit 171 the operation amount obtained by PID control or the like using the acquired angular deviation and angular velocity deviation, and the energization pattern to the third motor 172 based on the rotation angle of the third motor 172 detected by the third rotation angle sensor 173.

[0116] The third drive circuit 171 drives the third motor 172 according to the signal from the third drive signal processing unit 271.

[0117] As described above, according to the configuration of this embodiment, the attitude angle obtained by performing attitude estimation using the acceleration correction value and the angular velocity correction value obtained by correcting the acceleration and the angular velocity, and the angular velocity correction value are used for feedback control other than the TILT axis. Thereby, it becomes possible to cope with the attitude of the handle, and stable attitude control can be performed even when the control corresponding axis changes. In addition, it is possible to improve the accuracy of the corrected attitude information, and it is possible to perform correction with less communication information and time.

[0118] Needless to say, even when the second drive unit 140 is configured for the PAN axis and the third drive unit 170 is configured for the ROLL axis, the configuration of this embodiment can be applied by changing the axis data input to the second drive signal processing unit 241 and the third drive signal processing unit 271.

[0119] Hereinafter, with reference to FIG. 16B, a modified example of the attitude control device of this embodiment will be described. FIG. 16B is a block diagram of a modified example of the attitude control device of this embodiment.

[0120] In addition to the configuration of the present embodiment, the posture control device of the modified example has a support portion 400 that supports the first drive portion 100, the second drive portion 140, and the holding portion 300. The support portion 400 has a second IMU sensor 401 that detects the angular velocity and acceleration of the support portion 400.

[0121] In addition to the configuration of the present embodiment, the first drive portion 100 has a fourth posture estimation portion 214. The fourth posture estimation portion 214 estimates the posture of the support portion 400 using the angular velocity and acceleration from the second IMU sensor 401. Specifically, the fourth posture estimation portion 214 calculates the fourth TILT angle, the fourth ROLL angle, and the fourth PAN angle, which are the posture angles of the support portion 400, using the angular velocity and acceleration of each axis of the XYZ axes from the second IMU sensor 401. The first relative angle calculation portion 204 may calculate, as the first angle deviation θtdif1, the angle deviation between the first TILT angle from the first posture estimation portion 203 and the fourth TILT angle from the fourth posture estimation portion 214. The angular velocity calculation portion 207 may detect the angular velocity of the first drive portion 100 using the data of the second IMU sensor 401.

[0122] As described above, the preferred embodiments of the present invention have been described. However, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist thereof.

[0123] Note that, in each embodiment, posture estimation is performed using a complementary filter, a Kalman filter, or the like, but the present invention is not limited thereto.

[0124] Also, in each embodiment, the target angle is determined by an arbitrary angle plan from a command value input by a signal from the outside, and the target angular velocity is determined by an arbitrary angular velocity plan from a command value input by a signal from the outside.

[0125] Also, in each embodiment, the IMU sensor may be composed of an angular velocity sensor and an acceleration sensor.

Explanation of Reference Numerals

[0126] 100 First drive portion 140 Second drive unit 203 First posture estimation unit 208 Second posture estimation unit 204 First relative angle calculation unit 205 First acceleration correction unit 206 First angular velocity correction unit 207 Angular velocity calculation unit 300 Holding unit 301 First IMU sensor (first detection unit)

Claims

1. An attitude control device for controlling the attitude of a controlled object, comprising: a holding unit for holding the controlled object; a first detection unit for detecting a first angular velocity and a first acceleration of the holding unit; a first attitude estimation unit for estimating a first attitude angle of the holding unit using the first angular velocity and the first acceleration; a first driving unit for rotating the holding unit around a first axis using a first motor; a second driving unit for rotating the holding unit around a second axis orthogonal to the first axis using a second motor; a first relative angle calculation unit for calculating a first relative angle between the first driving unit and the holding unit; a first acceleration correction unit for calculating a first corrected acceleration by correcting the first acceleration using the first relative angle; a first angular velocity correction unit for calculating a first corrected angular velocity by correcting the first angular velocity using the first relative angle; an angular velocity calculation unit for calculating the angular velocity of the first driving unit; a second attitude estimation unit for calculating a second attitude angle of the holding unit using the first corrected acceleration, the first corrected angular velocity, and the angular velocity of the first driving unit, wherein the first driving unit performs attitude control using the first attitude angle, and the second driving unit is connected to the first driving unit and performs attitude control using the second attitude angle. An attitude control device characterized by the above.

2. further comprising a first rotation angle detection unit for detecting the rotation angle of the first motor, wherein the first relative angle calculation unit calculates the first relative angle using the first attitude angle and the rotation angle of the first motor. The attitude control device according to claim 1.

3. The first relative angle calculation unit calculates the first relative angle using the first attitude angle, the rotation angle of the first motor, and the relative angle of the second driving unit with respect to the first driving unit. The attitude control device according to claim 2.

4. a support unit for supporting the holding unit, the first driving unit, and the second driving unit; a second detection unit for detecting a second angular velocity and a second acceleration of the support unit; a support unit attitude estimation unit for estimating the attitude angle of the support unit using the second angular velocity and the second acceleration, wherein the first relative angle calculation unit calculates the first relative angle using the first attitude angle and the attitude angle of the support unit. The attitude control device according to any one of claims 1 to 3.

5. The first relative angle calculation unit calculates the first relative angle by using the first attitude angle, the attitude angle of the support unit, and the relative angle of the second drive unit with respect to the first drive unit. The attitude control device according to claim 4, characterized in that.

6. further comprising a first rotation angle detection unit that detects the rotation angle of the first motor, The angular velocity calculation unit calculates the angular velocity of the first drive unit by differentiating the rotation angle of the first motor with respect to unit time. The attitude control device according to any one of claims 1 to 5, characterized in that.

7. a support unit that supports the holding unit, the first drive unit, and the second drive unit; further comprising a second detection unit that detects a second angular velocity and a second acceleration of the support unit, The angular velocity calculation unit calculates the angular velocity of the first drive unit by using the second angular velocity. The attitude control device according to any one of claims 1 to 3, characterized in that.

8. further comprising a third drive unit that rotates the holding unit around a third axis orthogonal to the first axis and the second axis by using a third motor, The third drive unit is connected to the second drive unit and performs attitude control by using the second attitude angle. The attitude control device according to any one of claims 1 to 7, characterized in that.

9. a third drive unit that rotates the holding unit around a third axis orthogonal to the first axis and the second axis by using a third motor; a second relative angle calculation unit that obtains a second relative angle between the first drive unit and the holding unit; a second acceleration correction unit that calculates a second corrected acceleration by correcting the first acceleration by using the second relative angle; a second angular velocity correction unit that calculates a second corrected angular velocity by correcting the first angular velocity by using the second relative angle; a third attitude estimation unit that calculates a third attitude angle of the holding unit by using the second corrected acceleration, the second corrected angular velocity, and the angular velocity of the first drive unit; further comprising a first rotation angle detection unit that detects the rotation angle of the first motor, The second relative angle calculation unit calculates the second relative angle by using the first attitude angle, the rotation angle of the first motor, and the relative angle of the third drive unit with respect to the first drive unit, The third drive unit is connected to the second drive unit and performs attitude control by using the third attitude angle. The attitude control device according to claim 3, characterized in that.

10. a support unit that supports the holding unit, the first drive unit, the second drive unit, and the third drive unit; a second detection unit that detects a second angular velocity and a second acceleration of the support unit; It further includes a support part attitude estimator that estimates the attitude angle of the support part using the second angular velocity and the second acceleration. The second relative angle calculation unit calculates the second relative angle using the first attitude angle, the attitude angle of the support part, and the relative angle of the third drive part with respect to the first drive part. The attitude control device according to claim 9, characterized in that.

11. The attitude control device according to any one of claims 1 to 10, characterized in that the attitude control device is a stabilizer.

12. As the control target, it further includes imaging means for imaging a subject image formed by an imaging optical system. The attitude control device according to any one of claims 1 to 10, characterized in that the attitude control device is an imaging device.

13. An attitude control method for performing attitude control of a control target, Detecting the first angular velocity and the first acceleration of a holding part that holds the control target; Estimating the first attitude angle of the holding part using the first angular velocity and the first acceleration; Calculating the first relative angle between a first drive part that rotates the holding part around a first axis using a first motor and the holding part; Calculating a first corrected acceleration by correcting the first acceleration using the first relative angle; Calculating a first corrected angular velocity by correcting the first angular velocity using the first relative angle; Calculating the angular velocity of the first drive part; Calculating the second attitude angle of the holding part using the first corrected acceleration, the first corrected angular velocity, and the angular velocity of the first drive part; Performing attitude control of the first drive part using the first attitude angle; Performing attitude control by a second drive part that is connected to the first drive part and rotates the holding part around a second axis orthogonal to the first axis using a second motor using the second attitude angle. An attitude control method characterized by having.

Images