Patent ID: 11966237
Assignee: CANON PRECISION INC.
Field: Mechanical elements (Mechanical engineering)
Classification: CPC G  F | IPC F  G

Claim 0:
1. A gimbal configured to stabilize a supported unit in a predetermined attitude, the gimbal comprising:
an acceleration sensor configured to detect an acceleration of the supported unit;
a first calculator configured to calculate attitude information of the supported unit;
a rotator including a rotor member rotatable relative to a stator member; an angle detecting sensor configured to detect a rotation angle of the rotator;
a second calculator configured to calculate angle information of the rotator using the rotation angle detected by the angle detecting sensor and to calculate a correction value for the angle information of the rotator using the calculated attitude information of the supported unit and the calculated angle information of the rotator; and
a gyro sensor configured to detect an angular acceleration of the supported unit,
wherein the first calculator is configured to calculate the attitude information of the supported unit using the acceleration of the supported unit detected by the acceleration sensor and the angular acceleration of the supported unit detected by the gyro sensor,
wherein the rotator includes a first rotator and a second rotator,
wherein the angle detecting sensor includes a first angle detecting sensor configured to detect a first rotation angle of the first rotator, and a second angle detecting sensor configured to detect a second rotation angle of the second rotator,
wherein the second calculator is configured to calculate first angle information of the first rotator using the first rotation angle detected by the first angle detecting sensor and to calculate second angle information of the second rotator using the second rotation angle detected by the second angle detecting sensor, and
wherein, in calculating correction values, the second calculator simultaneously calculates (i) a correction value for the first angle information using the calculated attitude information of the supported unit and the calculated first angle information of the first rotator, and (ii) a correction value for the second angle information using the calculated attitude information of the supported unit and the calculated second angle information of the second rotator.