Gimbal Rotation Range Control for Optical State Collision Prevention
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Solution Overview
Problem
In rotationally driving apparatuses with gimbal structures, the changing optical state causes the outer shape and center of gravity to shift, leading to collisions between the movable unit and the support unit due to disturbance vibrations, which existing technologies do not adequately address.
Innovation Solution
A control apparatus that determines a driving range based on a margin angle and rotation angle, adjusting the rotationally driving unit to prevent interference between the movable unit and the support unit by accounting for changes in the optical state, center of gravity, and moment of inertia.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the rotation control range is fixed, then the structure is simple, but the movable unit collides with the support unit when the optical state changes
Solution Approach 1:
The patent applies dynamics by making the rotation control range adjustable rather than fixed. The control range is dynamically changed according to the optical state (zoom position), allowing the system to adapt to changing moment of inertia and center of gravity position. This resolves the contradiction by enabling collision prevention through dynamic range adjustment while keeping the overall structure relatively simple.
Solution Approach 2:
The patent changes the parameter of rotation control range based on the optical state. Specifically, the control range is reduced when the zoom lens is at the telephoto end (where moment of inertia is larger) and increased when at the wide-angle end. This parameter change approach prevents collisions while maintaining operational flexibility.
2Reliability
If the margin angle is increased to prevent collision, then collision prevention is improved, but the rotation control range is reduced
Solution Approach 1:
The margin angle is dynamically adjusted based on the optical state rather than being fixed. When the zoom lens is at the telephoto end, a larger margin angle is applied to prevent collision. When at the wide-angle end, the margin angle is reduced to maximize the rotation control range. This dynamic adjustment resolves the contradiction between collision prevention and operational range.
Solution Approach 2:
The patent changes the margin angle parameter according to the zoom position. By varying this safety angle based on the moment of inertia at different optical states, the system achieves both collision prevention and maximized rotation range where possible.
3Reliability
If the rotation control range is reduced to prevent collision, then collision prevention is improved, but the usability is degraded
Solution Approach 1:
The rotation control range is dynamically adapted to the optical state. The system reduces the control range only when necessary (at telephoto end with larger moment of inertia) and maintains full range when safe (at wide-angle end). This dynamic adaptation preserves usability while ensuring collision prevention.
Solution Approach 2:
The control range parameter is adjusted based on the zoom position and corresponding moment of inertia. This parameter change strategy ensures the system maintains maximum flexibility when possible while guaranteeing collision prevention when physical constraints require it.
Data Source
AI summary
A control apparatus is configured to control a rotationally driving apparatus that includes a rotationally driving unit configured to rotate a movable unit including an optical system relative to a support unit. The control apparatus includes a memory storing instructions, and a processor configured to execute the instructions to acquire an optical state of the optical system, determine a driving range based on a margin angle and a rotation angle which is an angle from an initial position to a position where the movable unit interferes with the support unit, and control the rotationally driving unit using the driving range. The margin angle is changed according to the optical state.