Patent ID: 8984757
Filing Date: 2015-03-24
Classification: F41G,G01S,G02B

Abstract:
1. A tracking apparatus comprising: a spherical body; a first gimbal supported by a bottom of the spherical body and configured to rotate about a first gimbal axis extending vertical; a second gimbal supported by the first gimbal and configured to rotate about a second gimbal axis perpendicular to the first gimbal axis; a third gimbal supported by the second gimbal and configured to rotate about a third gimbal axis perpendicular to the second gimbal axis at an intersection between the first gimbal axis and the second gimbal axis; a movable body supported by the third gimbal and configured to rotate about a fourth gimbal axis perpendicular to the third gimbal axis; three or more spherical driving units connected to the movable body and kept in contact with portions of the spherical body to move the movable body in a desired direction; a hold unit connecting the third gimbal to the movable body, and holding the spherical driving units pressed against the spherical body; an identifying unit supported by the movable body and configured to output position data of a target; a first angle sensor configured to detect a first rotation angle of the first gimbal relative to the bottom; a second angle sensor configured to detect a second rotation angle of the second gimbal relative to the first gimbal; a third angle sensor configured to detect a third rotation angle of the third gimbal relative to the second gimbal; a fourth angle sensor configured to detect a fourth rotation angle of the movable body relative to the third gimbal; a rotation spring driving unit configured to return the third gimbal to a center of a rotation range of the third gimbal; and a control unit configured to control the spherical driving units to track the target, using the first to fourth rotation angles.