JP3014063B2 - Attitude stabilizing device for imaging device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture stabilizing device for an image pickup device. Here, an example in which the attitude stabilizing device for an imaging device is mounted on a ship will be described below.

[0002]

2. Description of the Related Art FIG. 9 is a schematic view of a conventional attitude stabilizing device for an imaging device. The attitude stabilizing device 1 including the imaging device rotates in a predetermined direction around a rotation center 2, and is further connected to a support 3 at the rotation center 2, and the support 3 is fixed to an outer plate 4 of a ship. ing. An arrow 5 shown on the left side of the attitude stabilizing device 1 indicates a wind around the mounting position of the attitude stabilizing device 1, and an arrow 6 around the rotation center 2 indicates a rotational torque generated in the attitude stabilizing device 1 by the wind 5. Show.

FIG. 10 is a diagram for explaining the balance between the driving torque of the conventional attitude stabilizing device for an imaging device and the force generated by wind. The vertical axis is torque, and the horizontal axis is posture stabilizing device 1.
FIG. 2 shows a posture angle 7 which is an angle formed between the ship and the outer plate 4 of the ship. The dashed line in the figure indicates the limit value 8 of the driving torque of the driving device, and the solid line indicates the relationship between the rotation torque 6 applied to the driving device and the attitude angle 7.

FIG. 9 shows the vicinity of the mounting position of the attitude stabilizing device 1.
As shown in the figure, the wind 5
It is often observed that the wind is blowing up, and when the wind 5 blows up, a rotational torque 6 is generated in the attitude stabilizing device 1 in the direction indicated by the arrow. In general, as the angle between the object and the wind increases, the value added to the object increases, and the rotation center 2
Is behind the center of the aerodynamic force, when the attitude angle 7 of the apparatus increases, the rotational torque 6 also increases, and the relationship between the rotational torque 6 and the attitude angle 7 becomes upper right as shown in FIG. Therefore, the controllable range of the attitude stabilizing device 1 is from the range T1 where the rotational torque 6 is sandwiched between the drive torque limit values 8 from T1. Further, when the attitude angle 7 goes out of the controllable range due to the vibration of the hull, the rotation angle 6 exceeds the limit value 8 of the driving torque, and the attitude angle 7 is maintained until the attitude stabilizing device 1 reaches the mechanical limit. Diverge.

[0005]

In the conventional attitude stabilizing device for an image pickup device, since the rotational torque is applied to the attitude stabilizing device by blowing up the wind, the driving torque required for the driving device increases and the torque requirement is satisfied. If this is done, there has been a problem that the weight of the device increases and the size of the device increases. Also, as the size of the device increases, the force received by the wind increases,
There is a problem that the required driving torque further increases. Furthermore, since the rotational torque applied to the attitude stabilizing device due to the blowing of the wind changes with the change in the attitude angle, there is a problem that the range of the attitude angle that can be controlled is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and reduces the rotational torque applied to the attitude stabilizing device by blowing up the wind, expands the range of controllable attitude angles, and reduces the size of the apparatus. It is an object of the present invention to reduce the required driving torque.

[0007]

An attitude stabilizing device for an imaging device according to the present invention is provided with a stabilizing wing for generating torque in a direction to cancel the torque received by the device due to wind, and the mounting angle and mounting position of the stabilizing wing. , Means for changing the area.

[0008]

In the present invention, the direction of the rotational torque received by the attitude stabilizing device for an image pickup device and the direction of the rotational torque generated by the stabilizing wings due to the blowing of wind around the mounting position of the position stabilizing device for the image pickup device are reversed. Stabilizing wings are placed to reduce the rotational torque applied to the drive and increase the range of controllable attitude angles. Further, the setting of the stabilizing wing is changed in accordance with the rotational torque caused by the blowing of the wind which changes depending on the running state of the ship, and the range of the controllable attitude angle is further increased.

[0009]

FIG. 1 is an overall structural view of a posture stabilizing device for an image pickup device according to the present invention, wherein 1 is a posture stabilizing device, 2 is a rotation center, 3 is a support portion, and 9 is a rear portion of the posture stabilizing device 1. It is a stable wing attached. The posture stabilizing device 1 is connected to the support 3 at the center of rotation 2,
Is controlled around the rotation center 2 by the driving device.

FIG. 2 is a diagram for explaining the driving torque and the force generated by wind of the attitude stabilizing device for an imaging device according to the present invention.
Is a support, 4 is an outer plate, 5 is a wind, 6 is a rotational torque, 9 is a stable wing, 10 is a force generated on the stable wing 9 by the wind 5, 11
Denotes the torque generated by the force 10. The direction of the rotational torque 6 applied to the attitude stabilizing device 1 by the wind 5 is opposite to the direction of the torque 11 generated around the rotation center 2 by the force 10 generated in the stabilizing wing 9, and the rotational torque applied to the drive device is reduced.

FIG. 3 is a diagram for explaining the effect of the reduction of the rotational torque described in FIG. 2 on the controllable posture angle range. The vertical axis indicates the torque, and the horizontal axis indicates the posture angle 7. Further, 6 is a rotational torque, 8 is a limit value of a driving torque, 11 is a torque generated around the rotation center 2 by the stable blade 9, 1 is
Reference numeral 2 denotes a difference between the rotation torque 6 and the rotation torque 11, which is a rotation torque applied to the driving device. The controllable range in the case where the stable wing 9 is not provided is from T1 to T2 in which the rotation torque 6 is sandwiched between the limit values 8 of the driving torque.
If there is, the rotational torque 12 changes from T3, which is a range sandwiched by the drive torque limit value 8, to T4, and the range of the controllable attitude angle 7 increases.

As described above, according to the embodiment shown in FIGS. 1 to 3, a constant controllable posture angle range can always be obtained when the relationship between the posture angle 7 and the rotational torque 6 does not change. I can do it. However, if the ship is actually running,
The flow on the outer plate 4 changes depending on the traveling direction and the speed, and it is difficult to set the stable wing 9 in an optimum state. In order to solve this problem, the setting of the stable wing 9 is made variable, and the stable wing 9 is set so as to correspond to the relationship between the attitude angle 7 and the rotational torque 6.
Must be set. The setting conditions of the stable wing 9 that affect the rotational torque 11 include an installation angle, an installation position,
Area. The respective embodiments will be described below.

FIG. 4 is an overall configuration diagram of the attitude stabilizing device for an imaging device when the mounting angle of the stabilizing wing is variable.
Is a posture stabilizer, 2 is a rotation center, 3 is a support part, 6 is a rotation torque applied around the rotation center 2, 9 is a stabilizer wing attached to the rear part of the posture stabilizer 1, and 13 is an attachment angle changed. The stable wing in the case, 14 is the rotation axis of the stable wing 9,
Reference numeral 15 denotes the rotation direction of the stabilizer 9. When the flow on the outer skin 4 of the vessel changes and the rotational torque 6 increases, the stabilizer 9 is rotated about the rotation axis 14 in the direction of rotation 15.

FIG. 5 is a diagram for explaining the effect of the embodiment described with reference to FIG. 4 on the range of controllable attitude angles. The vertical axis indicates torque, and the horizontal axis indicates attitude angle 7. FIG. 6 is a rotational torque, 8 is a limit value of a driving torque, 11 is a stable wing 9
, The torque generated around the rotation center 2, 12 is the difference between the rotation torque 6 and the rotation torque 11, the rotation torque applied to the drive unit when the mounting angle is not changed, and 16 is the mounting angle of the stabilizer 9. Rotation torque, 1
Reference numeral 7 denotes a difference between the rotational torque 6 and the rotational torque 16, which is a rotational torque applied to the drive device when the mounting angle is changed. The controllable range when the mounting angle of the stabilizer 9 was not changed was from T3 to T4. However, when the mounting angle of the stabilizer 9 was changed, the rotational torque 11 generated by the stabilizer 9 was reduced by the amount of change in the mounting angle. The parallel movement is performed in response to the rotation torque 16. Therefore, the controllable range when the mounting angle of the stabilizer 9 is changed is from T5 to T
6, and the range of the controllable posture angle increases.

FIG. 6 is an overall configuration diagram of the attitude stabilizing device for an image pickup device when the mounting position of the stabilizing wing is variable.
Is a posture stabilizer, 2 is a rotation center, 3 is a support part, 6 is a rotation torque applied around the rotation center 2, 9 is a stabilizer wing attached to the rear of the posture stabilizer 1, and 18 is an attachment position. The stable wing 19 when changed is the moving direction of the stable wing 9. When the flow on the outer skin 4 of the marine vessel changes and the rotational torque 6 increases, the stable wing 9 is moved in the moving direction 19.

FIG. 7 is a diagram for explaining the effect of the embodiment described with reference to FIG. 6 on the range of controllable attitude angles. The vertical axis indicates torque, and the horizontal axis indicates attitude angle 7. FIG. 6 is a rotational torque, 8 is a limit value of a driving torque, 11 is a stable wing 9
, The difference between the rotation torque 6 and the rotation torque 11 is the rotation torque applied to the drive device, 20 is the rotation torque when the mounting position of the stabilizer 9 is changed, and 21 is the rotation. Torque 6 and rotational torque 2
This is the difference between 0 and the rotational torque applied to the drive device when the mounting position is changed. The controllable range when the mounting position of the stabilizer 9 was not changed was from T3 to T4.
As a result, the rotation torque 11 changes its inclination according to the amount of change in the mounting position, and becomes a rotation torque 20. Therefore, the controllable range when the mounting position of the stabilizer 9 is changed from T7 to T8, and the range of the controllable attitude angle increases.

FIG. 8 is an overall configuration diagram of an attitude stabilizing device for an image pickup device when the wing area of the stabilizing wing is variable, wherein 1 is an attitude stabilizing device, 2 is a rotation center, 3 is a support, and 6 is a rotation center. 2
, 9 denotes a stabilizer blade attached to the attitude stabilizing device 1, and 22 denotes a stabilizer blade 9 when the blade area is changed. When the flow on the outer skin 4 of the ship changes and the rotational torque 6 increases, the area of the stabilizer 9 increases. The effect when the blade area of the stable blade 9 is changed is the same as that when the mounting position is changed.

Here, the case where the driving torque of the driving device is reduced by the stabilizing blade has been described. However, the mounting angle of the stabilizing blade is variable without using the driving device, and the torque generated around the axis by aerodynamic force. The same applies to the case where the attitude stabilizing device is directed in a predetermined direction only by using only the same.

[0019]

As described above, according to the present invention, the stabilizing wing is provided in the attitude stabilizing device, and the head-up torque generated by the blowing wind hitting the attitude stabilizing device is reduced by the head-down torque generated by the stable wing. In addition, the load applied to the driving device is reduced, and the controllable operating range is expanded. Further, a means for changing the setting of the stabilizer is provided, and the load applied to the driving device is further reduced by changing the setting of the stabilizer in response to the wind on the outer panel which changes according to the operating condition of the ship. This has the effect.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an attitude stabilizing device for an imaging device according to the present invention.

FIG. 2 is a diagram for explaining a driving torque and a force generated by wind.

FIG. 3 is a diagram for explaining an effect of reducing a rotation torque on a controllable posture angle range.

FIG. 4 is an overall configuration diagram of an attitude stabilizing device for an imaging device when a mounting angle of a stabilizer wing is variable.

FIG. 5 is a diagram for explaining an effect of the embodiment described in FIG. 4 on a controllable posture angle range.

FIG. 6 is an overall configuration diagram of an attitude stabilizing device for an imaging device when a mounting position of a stabilizing wing is variable.

FIG. 7 is a view for explaining an effect of the embodiment described in FIG. 6 on a controllable posture angle range.

FIG. 8 is an overall configuration diagram of the attitude stabilizing device for an imaging device when the wing area of the stabilizing wing is variable.

FIG. 9 is a schematic view of a conventional attitude stabilizing device for an imaging device.

FIG. 10 is a view for explaining a balance between a driving torque of a conventional attitude stabilizing device for an imaging device and a force generated by wind.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Attitude stabilizing device 2 Center of rotation 3 Support part 4 Outer plate of ship 5 Wind around mounting position 6 Rotation torque generated in attitude stabilizing device by wind 7 Attitude angle 8 Limit value of driving torque 9 Stability wing 10 Stability wing Force 11 Torque 12 Rotational torque 13 Stabilizing wing 14 Rotating axis of stable wing 15 Rotating direction of stable wing 16 Rotating torque 17 Rotating torque 18 Stable wing 19 Moving direction of stable wing 20 Rotating torque 21 Rotating torque 22 Stable wing

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Eiichi Nakano 325 Kamimachiya, Kamakura-shi Kamakura Works, Mitsubishi Electric Corporation (56) References JP-A-4-330871 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H04N 5/222-5/257 G03B 17/56 G05D 3/12 305

Claims (4)

(57) [Claims] 1. A rotating shaft for rotating an imaging device in a predetermined direction around an axis, and a stabilizing wing for generating torque in a direction to cancel the torque received by the imaging device by wind is provided. Posture stabilization device for imaging devices. 2. The attitude stabilizing device for an image pickup device according to claim 1, further comprising means for changing an angle at which the stabilizer wing is mounted. 3. The attitude stabilizing device for an imaging device according to claim 1, further comprising means for changing a mounting position of the stabilizer. 4. The attitude stabilizing device for an image pickup device according to claim 1, further comprising means for changing an area of the stabilizing wing.