JP7264931B2 - ジンバル及びそれを有するシステム - Google Patents
ジンバル及びそれを有するシステム Download PDFInfo
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- JP7264931B2 JP7264931B2 JP2021051616A JP2021051616A JP7264931B2 JP 7264931 B2 JP7264931 B2 JP 7264931B2 JP 2021051616 A JP2021051616 A JP 2021051616A JP 2021051616 A JP2021051616 A JP 2021051616A JP 7264931 B2 JP7264931 B2 JP 7264931B2
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- 238000012937 correction Methods 0.000 claims description 55
- 230000001133 acceleration Effects 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 38
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 49
- 230000036544 posture Effects 0.000 description 47
- 238000000034 method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
- F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
- F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/563—Camera grips, handles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
- F16M2200/042—Balancing means for balancing rotational movement of the head for panning movement
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Description
110 第1加速度センサ(加速度センサ)
111 第2加速度センサ(加速度センサ)
112 第3加速度センサ(加速度センサ)
114 姿勢推定部(第1算出部)
116 信号処理部(第2算出部)
118 第1モータ(回転部)
119 第1角度検出センサ(角度検出センサ)
121 第2モータ(回転部)
122 第2角度検出センサ(角度検出センサ)
124 第3モータ(回転部)
125 第3角度検出センサ(角度検出センサ)
127 ステータ部材
128 ロータ部材
302 第1信号処理部(第2算出部)
304 第2信号処理部(第2算出部)
306 第3信号処理部(第2算出部)
Claims (11)
- 被支持部を所定の姿勢で安定させるジンバルであって、
前記被支持部の加速度を検出する加速度センサと、
前記加速度を用いて前記被支持部の姿勢情報を算出する第1算出部と、
ステータ部材に対して回転可能なロータ部材を備える回転部と、
前記回転部の回転角度を検出する角度検出センサと、
前記姿勢情報と前記回転角度に基づく前記回転部の角度情報とを用いて前記角度情報の補正値を算出する第2算出部とを有することを特徴とするジンバル。 - 前記姿勢情報は、前記被支持部の前記回転部の回転軸周りの角度に関する情報であることを特徴とする請求項1に記載のジンバル。
- 前記補正値を用いて前記角度情報を補正する補正部を更に有することを特徴とする請求項1又は2に記載のジンバル。
- 前記補正値を記憶する記憶部を更に有する請求項1乃至3の何れか一項に記載のジンバル。
- 前記被支持部の角加速度を検出するジャイロセンサを更に有し、
前記第1算出部は、前記加速度と前記角加速度とを用いて前記姿勢情報を算出することを特徴とする請求項1乃至4の何れか一項に記載のジンバル。 - 前記回転部は、第1回転部及び第2回転部を含み、
前記角度検出センサは、前記第1回転部の第1回転角度を検出する第1角度検出センサ、及び前記第2回転部の第2回転角度を検出する第2角度検出センサを含み、
前記第2算出部は、前記姿勢情報と前記第1回転角度に基づく前記第1回転部の第1角度情報とを用いて算出される前記第1角度情報の補正値と、前記姿勢情報と前記第2回転角度に基づく前記第2回転部の第2角度情報とを用いて算出される前記第2角度情報の補正値とを同時に算出することを特徴とする請求項1乃至5の何れか一項に記載のジンバル。 - 前記角度検出センサは、前記ロータ部材に固定されるマグネットを備える磁気式エンコーダであることを特徴とする請求項1乃至6の何れか一項に記載のジンバル。
- 前記角度検出センサは、前記回転部の回転軸に直交する方向において前記マグネットと対向する位置に配置される磁気センサを備えることを特徴とする請求項7に記載のジンバル。
- 前記被支持部を支持する支持部を更に有することを特徴とする請求項1乃至8の何れか一項に記載のジンバル。
- 請求項1乃至9の何れか一項に記載のジンバルと、
前記ジンバルによって支持される被支持部とを有することを特徴とするシステム。 - 前記被支持部は、撮像装置であることを特徴とする請求項10に記載のシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021051616A JP7264931B2 (ja) | 2021-03-25 | 2021-03-25 | ジンバル及びそれを有するシステム |
US17/565,799 US11966237B2 (en) | 2021-03-25 | 2021-12-30 | Gimbal and system having the same |
CN202210170249.1A CN115126992A (zh) | 2021-03-25 | 2022-02-24 | 万向架和具有万向架的*** |
Applications Claiming Priority (1)
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JP2021051616A JP7264931B2 (ja) | 2021-03-25 | 2021-03-25 | ジンバル及びそれを有するシステム |
Publications (2)
Publication Number | Publication Date |
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JP2022149448A JP2022149448A (ja) | 2022-10-06 |
JP7264931B2 true JP7264931B2 (ja) | 2023-04-25 |
Family
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Family Applications (1)
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JP2021051616A Active JP7264931B2 (ja) | 2021-03-25 | 2021-03-25 | ジンバル及びそれを有するシステム |
Country Status (3)
Country | Link |
---|---|
US (1) | US11966237B2 (ja) |
JP (1) | JP7264931B2 (ja) |
CN (1) | CN115126992A (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018093463A (ja) | 2016-11-30 | 2018-06-14 | 株式会社リコー | 振動抑制装置および電子機器 |
JP2020020878A (ja) | 2018-07-30 | 2020-02-06 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 移動体、合焦制御方法、プログラム、及び記録媒体 |
Family Cites Families (9)
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CN103825408A (zh) | 2014-02-28 | 2014-05-28 | 深圳市大疆创新科技有限公司 | 电机、应用电机的云台和应用云台的拍摄装置 |
CN108496300B (zh) * | 2016-02-22 | 2022-05-27 | 深圳市大疆灵眸科技有限公司 | 电机位置感测 |
WO2018107330A1 (en) * | 2016-12-12 | 2018-06-21 | SZ DJI Technology Co., Ltd. | Method and system for stabilizing a payload |
CN110312913A (zh) * | 2017-03-24 | 2019-10-08 | 深圳市大疆灵眸科技有限公司 | 用于自适应云台的方法和*** |
WO2019056381A1 (zh) * | 2017-09-25 | 2019-03-28 | 深圳市大疆灵眸科技有限公司 | 云台的控制方法、云台控制器及云台 |
KR102387819B1 (ko) * | 2017-12-27 | 2022-04-15 | 에스지 디제이아이 테크놀러지 코., 엘티디 | 짐벌 작동 모드 전환 방법, 컨트롤러 및 이미지 안정화 장치 |
CN110300941A (zh) * | 2018-08-31 | 2019-10-01 | 深圳市大疆创新科技有限公司 | 一种云台的转动控制方法、装置及控制设备、移动平台 |
CN110809689B (zh) * | 2018-10-31 | 2021-07-09 | 深圳市大疆创新科技有限公司 | 云台、手持云台和手持拍摄装置 |
CN111279113B (zh) * | 2019-01-04 | 2022-01-25 | 深圳市大疆创新科技有限公司 | 手持云台控制方法和手持云台 |
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2021
- 2021-03-25 JP JP2021051616A patent/JP7264931B2/ja active Active
- 2021-12-30 US US17/565,799 patent/US11966237B2/en active Active
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2022
- 2022-02-24 CN CN202210170249.1A patent/CN115126992A/zh active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018093463A (ja) | 2016-11-30 | 2018-06-14 | 株式会社リコー | 振動抑制装置および電子機器 |
JP2020020878A (ja) | 2018-07-30 | 2020-02-06 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 移動体、合焦制御方法、プログラム、及び記録媒体 |
Also Published As
Publication number | Publication date |
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CN115126992A (zh) | 2022-09-30 |
JP2022149448A (ja) | 2022-10-06 |
US11966237B2 (en) | 2024-04-23 |
US20220308601A1 (en) | 2022-09-29 |
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