JP2018138874A - Gimbal device, attitude detector, surveying device, surveying pole and flying mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gimbal device and an attitude capable of realizing highly reliable electrical connection between rotating bodies without hindering the rotation of the rotating body, improving the rotational response of the rotating body and reducing rotational resistance. To provide a detector, a surveying device, a surveying pole, and a flying vehicle. An attitude detection device 1 has a component support portion 11 that supports an inclination detection unit 10, an inner frame 12 that rotatably supports the component support portion 11 around a first axis A1, and an inner frame 12. An outer frame 13 that rotatably supports around the axis A2 of 2 is provided, and each rotating body is connected by an inner electrical connection portion 34 and an outer electrical connection portion 35 that allow non-contact electrical connection while allowing rotation. A gimbal device 2 in which wirings 50 to 54 are laid via the inner electrical connection portion 34 and the outer electrical connection portion 35 is provided. [Selection diagram] Fig. 1

Description

  The present invention relates to a gimbal device, an attitude detection device using the gimbal device, a surveying device, a surveying pole, and a flying vehicle.

  A gimbal mechanism is used in various devices as a mechanism to stabilize the posture, such as to suppress visual axis shake when shooting with a camera installed on a moving body, or to keep the surveying pole always in the vertical direction. ing.

  For example, in Patent Document 1, an inclination detection unit is supported via a biaxial gimbal mechanism, and the inclination is detected by detecting the rotation angle of each axis of the gimbal mechanism after detecting the horizontal by the inclination detection unit. A technique for detecting the attitude of an apparatus equipped with a detection unit is disclosed.

Japanese Patent Laid-Open No. 2006-151423

  Patent Document 1 describes that there is no restriction on the rotation of the outer frame, the inner frame, and the tilt detection unit constituting the gimbal mechanism, and that both the tilt detection unit and the inner frame can be rotated by 360 ° or more. However, in reality, it is necessary to provide wiring for supplying power to the tilt detection unit and the motor and for sending and receiving control signals.

  However, if the wires are provided between the outer frame, the inner frame, and the tilt detection unit that are the rotating bodies of the gimbal mechanism, the rotation of each rotating body may be hindered.

  On the other hand, as a mechanism capable of feeding and communicating while allowing rotation, a slip ring that realizes electrical connection by bringing a brush into sliding contact with a ring-shaped electrode is known. However, a slip ring with such a configuration may cause an electrical connection to be momentarily interrupted during a rotating operation, a contact to wear due to long-term use, a failure due to wear dust or a deterioration of the electrical connection status, The friction caused by the sliding contact becomes the resistance of the rotational operation, and has various problems such as a decrease in the responsiveness of the rotational operation and an increase in rotational load. Therefore, application of the slip ring to the gimbal mechanism is not always preferable.

  The present invention has been made to solve such problems. The object of the present invention is to realize a reliable electrical connection between the rotating bodies without obstructing the rotation of the rotating bodies, and to rotate the rotating bodies. An object of the present invention is to provide a gimbal device, an attitude detection device, a surveying device, a surveying pole, and a flying vehicle capable of improving the rotational response of the device and reducing the rotational resistance.

  In order to achieve the above-described object, the gimbal device according to the present invention is a gimbal device that rotatably supports a predetermined component on at least two axes, the component support portion supporting the component, and the component support portion. Between the component support portion and the inner frame, an inner frame that rotatably supports the first axis as a rotation axis, an outer frame that rotatably supports the inner frame as a rotation axis. And an inner electrical connecting portion that performs non-contact electrical connection while allowing rotation around the first axis, and rotation around the second axis between the inner frame and the outer frame. And an external electrical connection part that performs non-contact electrical connection while allowing the electrical connection, and wiring laid from the component to the external frame via the internal electrical connection part and the external electrical connection part.

  In addition, the inner electrical connection part and the outer electrical connection part of the gimbal device may include a wireless power feeding part using a mutual dielectric action.

  The inner electrical connection portion and the outer electrical connection portion of the gimbal apparatus may include a pair of optical fibers whose ends are opposed to each other on the same axis as the rotation axis.

  The gimbal device further includes: a first motor that rotates the component support portion around the first axis relative to the inner frame; and the inner frame around the second axis relative to the outer frame. A second motor that is driven to rotate, and wiring to the first motor and the second motor may be laid along the inner frame.

  Preferably, each of the first motor and the second motor is provided with a stator on the inner frame.

  In addition, a posture detection device according to the present invention includes the above-described gimbal device, and further includes a horizontal detection unit that is provided in the component support unit as the component and detects the level of the inner frame with respect to the component support unit. A first encoder that detects an angle around the first axis; a second encoder that detects an angle around the second axis of the outer frame relative to the inner frame; the first motor; The attitude of the outer frame with respect to the horizontal is detected by obtaining the angle detected by the first encoder and the second encoder as the level detected by the horizontal detector by driving the motor. An attitude detection unit.

  Further, a surveying device according to the present invention is detected by the above-described posture detection device, a lightwave distance meter that measures a distance using light waves, distance measurement information measured by the lightwave distance meter, and the posture detection device. A survey control unit that outputs a survey result from the posture information.

  Further, a surveying device according to the present invention is a surveying unit based on the above-described attitude detection device, a positioning unit that obtains position information by satellite signals, position information measured by the positioning unit, and attitude information detected by the attitude detection device. A surveying control unit for outputting the results.

  Further, a surveying pole according to the present invention includes the gimbal device described above, a collar member that is connected to a component support portion of the gimbal apparatus and hangs down in the vertical direction by its own weight, and a reflecting prism provided on the collar member; Is provided.

  Also, a flying vehicle according to the present invention includes the above-described gimbal device, a flight mechanism that is connected to the outer frame of the gimbal device and is capable of flying, and a photographing unit that performs photographing. And comprising.

  According to the present invention using the above means, in the gimbal device, the attitude detection device, the surveying device, the surveying pole, and the flying mobile body, reliable electrical connection between the rotating bodies can be achieved without hindering the rotation of the rotating bodies. It is possible to realize the improvement of the rotational response of the rotating body and the reduction of the rotational resistance.

It is a schematic block diagram which shows the gimbal apparatus of this invention, and the attitude | position detection apparatus using the same. It is a schematic block diagram of one disk unit of an inner side electrical connection part. It is explanatory drawing which shows an example of communication via an inner side electrical connection part. It is a block diagram of the surveying apparatus to which the attitude | position detection apparatus of this invention is applied. It is a schematic block diagram of the survey pole to which the gimbal apparatus of the present invention is applied. It is sectional drawing which follows the AA line of FIG. It is a schematic block diagram of the unmanned air vehicle to which the gimbal device of the present invention is applied. It is a schematic block diagram of the modification of an electrical connection part.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a gimbal device of the present invention and an attitude detection device using the gimbal device, FIG. 2 is a schematic configuration diagram of one disk unit of an inner electrical connection portion, and FIG. An explanatory diagram showing an example of the communication is shown, and the following description will be given based on these diagrams. In addition, the dimension of each part shown in figure is expanded partially for convenience of explanation, and may differ from an actual dimension.

  The posture detection device 1 shown in FIG. 1 is provided with an inclination detection unit 10 (horizontal detection unit) for detecting horizontal via a biaxial gimbal device 2.

  Specifically, the inclination detection unit 10 is supported by a component support portion 11, and the component support portion 11 is rotatably supported within a rectangular frame-shaped inner frame 12 with the first axis A1 as a rotation axis. The inner frame 12 is supported in a rectangular frame-shaped outer frame 13 so as to be rotatable about the second axis A2 as a rotation axis. The first axis A1 and the second axis A2 are orthogonal to each other, and are both horizontal when the attitude detection device 1 is installed on a horizontal plane. A pair of first thrust bearings 14, 14 are interposed between the component support portion 11 and the inner frame 12, and a pair of second thrust bearings 15, 15 are interposed between the inner frame 12 and the outer frame 13. Each intervenes.

  The tilt detection unit 10 includes a tilt sensor 20, an acceleration sensor 21, and a sensor control unit 22. The tilt sensor 20 detects the level with higher accuracy than the acceleration sensor 21. For example, the tilt sensor detects the level by changing the reflection angle of the reflected light by making the detection light incident on the horizontal liquid surface, or the enclosed bubble. It is a bubble tube that detects the inclination by the change in position. The acceleration sensor 21 is, for example, a six-axis acceleration sensor, and detects a change in tilt with higher responsiveness than the tilt sensor 20. The sensor control unit 22 includes a circuit that controls the tilt sensor 20 and the acceleration sensor 21, and processes information detected by the tilt sensor 20 and the acceleration sensor 21. The sensors in the tilt detection unit may be sensors that can detect tilt, and other inertial measurement sensors such as angular velocity sensors may be used.

  A first motor 30 having a first axis A1 as a rotation axis is provided on one side of the inner frame 12. In the first motor 30, a stator 30 a is provided on the inner frame 12, and the rotor side including the motor rotation shaft 30 b is connected to the component support portion 11.

  A first encoder 31 is provided on the same side of the inner frame 12. The first encoder 31 includes a read head 31a on the inner frame 12 side, a code wheel 31b that rotates in synchronization with the component support unit 11 on the component support unit 11 side, and the read head 31a is the code wheel. This is an absolute encoder that detects a rotation angle by receiving a signal at a position corresponding to the rotation angle of 31b. The form of the encoder is not limited to the absolute encoder, and may be an incremental encoder, for example.

  Further, the inner frame 12 has a second motor 32 and a second motor having a second axis A2 as a rotation axis on a side different from the side where the first motor 30 and the first encoder 31 are provided. An encoder 33 is provided.

  In the second motor 32, a stator 32 a is provided on the inner frame 12, and the rotor side including the motor rotation shaft 32 b is connected to the outer frame 13.

  Similar to the first encoder 31, the second encoder 33 is an absolute encoder, and a read head 33a is provided on the inner frame 12 side and a code wheel 33b is provided on the outer frame 13 side.

  Further, while allowing rotation around the first axis A <b> 1 between the side opposite to the side where the first motor 30 and the first encoder 31 are provided in the inner frame 12 and the component support portion 11. An inner electrical connection 34 is provided for making a non-contact electrical connection. Further, between the side opposite to the side where the second motor 32 and the second encoder 33 are provided in the inner frame 12 and the outer frame 13, while allowing rotation around the second axis A <b> 2, non-rotation is allowed. An outer electrical connection portion 35 is provided to make a contact electrical connection.

  The inner electrical connection portion 34 and the outer electrical connection portion 35 are composed of a pair of disk units 34a, 34b, 35a, and 35b arranged to face each other with a gap on the same axis.

  Specifically, FIG. 2 shows the opposing surface of one disk unit 34a. As shown in FIG. 2, the disk unit 34a is made of a magnetic material such as ferrite, and the opposing surface has a first axis A1. A power supply coil 40 (wireless power supply unit) is wound around in the radial direction, and an optical fiber 41 (wireless communication unit) is disposed coaxially with the first axis A1 in the axial center portion. The other disk units 34b, 35a, and 35b have the same configuration and will not be described.

  With such a configuration, when one feeding coil 40 of the pair of disk units 34a, 34b, 35a, 35b is energized, electric power is generated in the feeding coil 40 of the other disk units 34a, 34b, 35a, 35b by mutual induction. In addition, so-called wireless power feeding between the disk units is possible. Further, the optical fibers 41 of the pair of disk units 34a, 34b, 35a, and 35b are arranged coaxially with the tips facing each other, and the signal of one optical fiber 42 is guided to the other optical fiber 41, So-called wireless communication between the disk units is possible.

  In the inner electrical connection portion 34 and the outer electrical connection portion 35 formed of such a pair of disk units 34a, 34b, 35a, 35b, the feeding coil 40 is wound around the rotation axis, and the optical fiber 41 is on the rotation axis. Therefore, contactless electrical connection such as wireless power feeding and wireless communication can be realized without being affected by rotation.

  The optical fiber 41 is disposed so as to guide light to the optical axis of a photo IC 42 for an optical link that includes, for example, each optical semiconductor for receiving and emitting light and a resin mold lens, and a pair of disk units 34a, It is preferable to control communication between 34b, 35a and 35b.

  As FIG. 2 shows, since the optical fiber 41 provided in a disk unit is one, the communication via the inner side electrical connection part 34 and the outer side electrical connection part 35 becomes serial communication. Therefore, in the present embodiment, the optical communication control unit 43 including the multiplexer (MUX) 43a is connected to the photo IC 42.

  In the optical communication control unit 43, the reception signal RX is directly transmitted from the photo IC 42 to the CPU 43b, while the transmission signal TX is transmitted to the photo IC 42 through the MUX 43a. The CPU 43b can transmit a trigger signal Trig via the MUX 43a, and can transmit a MUX control signal for switching a signal transmitted from the MUX 43a to the photo IC 42 between the transmission signal TX and the trigger signal Trig. Such a photo IC 42 and an optical communication control unit 43 are provided corresponding to the respective disk units 34a, 34b, 35a, 35b.

  Referring now to FIG. 3, an example of communication between a pair of disk units 34a, 34b of the inner electrical connection 34 is shown. A communication method between a pair of disk units 34a, 34b using a MUX 43a based on the same figure. Will be described.

  As shown in FIG. 3, in the initial setting or the like, half-duplex communication is performed in which the transmission timing of transmission data is shifted on one disk unit 34a side and the other disk unit 34b side. Then, after the synchronization between the pair of disk units 34a and 34b is completed, the one disk unit 34a on the receiving side switches the MUX 43a to the trigger signal Trig side. Thus, thereafter, in response to the transmission of the trigger signal Trig from one disk unit 34a, the transmission data is transmitted from the other disk unit 34b, and the posture detection is performed at the timing synchronized with the trigger signal Trig. Therefore, it is possible to perform smooth data communication without sending a transmission completion command.

  Returning to FIG. 1, the posture detection device 1 is connected to an external device 3 outside the gimbal device 2. The external device 3 includes, for example, another control unit and a power source, and includes a sensor control unit 22, a first motor 30, a first encoder 31, a second motor 32, and a second power source in the gimbal device 2. It is possible to supply power to the second encoder 33 and to communicate with the sensor control unit 22.

  Specifically, an electrical conductor and a communication conductor (hereinafter collectively referred to as a wiring and illustrated as a single line) extending from the external device 3 are connected to the disk unit 35a on the outer frame 13 side of the outer electrical connection portion 35. .

  The inner frame 12 is provided with a motor control unit 36 for controlling the motors 30 and 32 and the encoders 31 and 33, and the motor control unit 36 from the disk unit 35 b on the inner frame 12 side of the outer electrical connection unit 35. Wiring 51 extends in the middle. Further, wirings 52 and 53 extend along the inner frame 12 from the motor control unit 36 to the first motor 30 and the first encoder 31, and the second motor 32 and the second encoder 33, respectively. . The motor control unit 36 is connected to the disk unit 34 a on the inner frame 12 side of the inner electrical connection unit 34, and the wiring 54 extends from the disk unit 34 b on the component support unit 11 side to the sensor control unit 22.

  The posture detection device 1 configured as described above is set so that the tilt sensor 20 and the acceleration sensor 21 detect the horizontal when the outer frame 13 is installed in advance, and further the first encoder 31 and the second encoder 31 are detected. The output of the encoder 33 is set so as to indicate the reference position (rotation angle 0 °).

  When the posture detection device 1 is installed in a place other than horizontal, the sensor control unit 22 of the tilt detection unit 10 detects the horizontal level by the tilt sensor 20 and the acceleration sensor 21, that is, the component support unit 11 is horizontal. Leveling is performed by the first motor 30 and the second motor 32 via the motor control unit 36 so as to maintain the posture. That is, the angle around the first axis A1 of the component support portion 11 is adjusted by the first motor 30, and the angle around the second axis A2 of the component support portion 11 is adjusted by the second motor 32.

  When the component support unit 11 is in the horizontal posture, the sensor control unit 22 detects the angle around the first axis A1 detected by the first encoder 31 and the second detected by the second encoder 33. By obtaining the respective angles around the axis A2, the posture of the outer frame 13 with respect to the horizontal, that is, the posture of the posture detecting device 1 with respect to the horizontal is detected. The sensor control unit 22 can output the detected posture information to the external device 3 (posture detection unit).

  As described above, the gimbal device 2 included in the posture detection device 1 has the electrical connections between the component support portion 11 and the inner frame 12 and between the inner frame 12 and the outer frame 13 while allowing rotation. Wires 50 to 54 are laid from the outer frame 13 to the component support portion 11 through the inner electrical connection portion 34 and the outer electrical connection portion 35 via the inner electrical connection portion 34 and the outer electrical connection portion 35. Yes.

  As a result, since the wirings 50 to 54 do not straddle between the component support portion 11, the inner frame 12, and the outer frame 13 that are rotating bodies, the rotating bodies 11, 12, and 13 are reliably 360 without being constrained. Can rotate more than °. And since the inner side electrical connection part 34 and the outer side electrical connection part 35 are non-contact electrical connection means, the problem resulting from friction and wear like a slip ring does not arise, but between reliable rotary bodies. In addition, it is possible to realize the electrical connection of the rotating body, and to improve the rotational response of the rotating body and reduce the rotational resistance.

  In particular, the inner electrical connection portion 34 and the outer electrical connection portion 35 perform wireless power feeding utilizing a mutual dielectric action with a simple configuration in which a feeding coil 40 is wound around the opposing surfaces of a pair of disk units 34a, 34b, 35a, 35b. In addition, wireless communication can be performed with a simple configuration in which the optical fiber 41 is disposed at the rotation axis. As described above, the inner electrical connection portion 34 and the outer electrical connection portion 35 achieve a non-contact electrical connection that achieves both wireless power feeding and wireless communication with a simple configuration using a pair of disk units 34a, 34b, 35a, and 35b. be able to.

  Further, both the first motor 30 and the second motor 32 have the stators 30a and 32a provided on the inner frame 12, and the wirings 52 and 53 to the first motor 30 and the second motor 32 are Since it is laid along the inner frame 12, the gimbal device 2 capable of controlling the rotation of the component support portion 11 and the inner frame 12 can also be laid without straddling the rotating bodies.

  Further, the gimbal device 2 is provided with the inclination detection unit 10 in the component support portion 11, and provided with the first encoder 31 and the second encoder 33 corresponding to the first motor 30 and the second motor 32 to detect the attitude. Is possible. Thereby, posture detection with high reliability and responsiveness can be realized.

  Such posture detection device 1 and gimbal device 2 can be applied to various devices.

  For example, FIG. 4 shows a surveying device 60 equipped with the posture detection device 1 of the above embodiment.

  As shown in FIG. 4, the surveying device 60 includes at least a light wave distance meter 61 that measures a distance using a light wave and a surveying control unit 62 that controls the surveying, together with the attitude detection device 1, and the respective units are mutually connected. Can communicate. The surveying device 60 measures the distance with the optical distance meter 61, and simultaneously detects the attitude of the surveying device 60 with the attitude detection device 1, and the surveying control unit 62 integrates the distance measurement information and the attitude information to measure the distance. Output the result.

  Thus, by applying the attitude detection device 1 to the surveying device 60, it is possible to realize surveying with high reliability and responsiveness by the surveying device 60 alone.

  Moreover, although the surveying apparatus of the present embodiment has been described as a surveying apparatus having a lightwave distance meter, it may be applied to a GNSS (Global Navigation Satellite System) apparatus such as a GPS (Global Positioning System) that obtains position information from satellite signals. .

  For example, a GPS (positioning unit) may be provided instead of the lightwave distance meter 61 of FIG. In this case, the surveying control unit 62 outputs a survey result from the position information measured by the GPS and the attitude information detected by the attitude detection device 1. Or it is good also as a structure which acquires a positional infomation and attitude | position information by providing the antenna part of GPS in the component support part of the gimbal apparatus of this invention.

  Next, FIG. 5 shows a surveying pole 70 on which the gimbal device 2 ′ of the present invention is mounted, and FIG. 6 shows a cross-sectional view along the line AA in FIG. 5.

  As shown in FIG. 5, the surveying pole 70 includes a gutter member 71, a reflecting prism 72, and a marking mechanism 73 together with the gimbal device 2 ′. As shown in FIG. 6, in the gimbal device 2 ′, the component support portion 11 ′ is integrated with the upper portion of the flange member 71, and the component support portion 11 ′ is in the first frame A1 in the inner frame 12 ′. The inner frame 12 'is supported rotatably around the second axis A2' within the outer frame 13 '. A pair of first thrust bearings 14 'and 14' are interposed between the component support portion 11 'and the inner frame 12', and a pair of second thrust bearings are interposed between the inner frame 12 'and the outer frame 13'. Thrust bearings 15 'and 15' are interposed respectively.

  Further, an inner electrical connection portion 34 ′ that performs non-contact electrical connection while allowing rotation around the first axis A1 ′ is provided between the component support portion 11 ′ and the inner frame 12 ′. Between the frame 12 ′ and the outer frame 13 ′, an outer electrical connection portion 35 ′ that performs non-contact electrical connection while allowing rotation around the second axis A2 ′ is provided.

  A gripping portion 74 is erected on the upper surface of the outer frame 13 ′, and a push button 75 is provided at the tip of the gripping portion 74. The wiring 76 extending from the push button 75 extends from the gripping portion 74 through the outer frame 13 ′, the outer electrical connection portion 35 ′, the inner frame 12 ′, the inner electrical connection portion 34 ′, the component support portion 11 ′, and the collar member 71. The marking mechanism 73 is laid.

  In the surveying pole 70 configured as described above, when the surveyor grips the gripping portion 74, the eaves member 71 supported by the gimbal device 2 'hangs down in the vertical direction by its own weight. Then, the reflecting prism 72 reflects measurement light from a surveying instrument (not shown), so that the position of the surveying pole is detected. Further, when the surveyor presses down the grip 74 and presses the push button 75 so as to press the tip of the scissors member 71 at the measuring point, the marking mechanism 73 is activated to mark the measuring point.

  Thus, by applying the gimbal device 2 ′ to the surveying pole 70, the collar member 71 of the surveying pole 70 can be reliably suspended even if it is lightweight, and a marking operation with high reliability and responsiveness can be performed. It can be carried out.

  Next, FIG. 7 shows an unmanned air vehicle (UAV) 80 equipped with the gimbal device 2 ″ of the present invention.

  As shown in FIG. 7, the UAV 80 includes a flight mechanism 81 and a camera 82 together with the gimbal device 2 ″. The gimbal device 2 ″ has the same basic configuration as the gimbal device 2 ″ applied to the surveying pole 70, and the flight mechanism 81 is connected to the upper surface of the outer frame 13 ″. '' Is provided with a camera 82 (photographing unit). Thereby, the gimbal device 2 ″ can always point the camera 82 downward regardless of the flight posture of the flight mechanism 81.

  The wiring 83 extending from the flight mechanism 81 includes an outer frame 13 ″, an outer electrical connection portion 35 ″ (not shown), an inner frame 12 ″, an inner electrical connection portion 34 ″ (not shown), and parts. The camera 82 is laid down through the support portion 11 ″.

  In this way, by applying the gimbal device 2 ″ to the UAV 80, it is possible to perform shooting with the camera 82 with high reliability and responsiveness regardless of the flight posture of the flight mechanism 81.

  This is the end of the description of the embodiment of the present invention, but the aspect of the present invention is not limited to this embodiment.

  In the attitude detection device 1 in the above embodiment, the sensor control unit 22 of the inclination detection unit 10 performs a combination of horizontal detection, motor drive instruction, angle detection information acquisition by the encoder, attitude detection, and the like. These controls are not limited to being performed only by the sensor control unit, and may be performed by, for example, a motor control unit or an external device, or may share the control.

  The gimbal devices 2, 2 'and 2 "in the above embodiment are two-axis gimbal devices, but may be three-axis or more gimbal devices.

  Further, in the gimbal device 2 in the above embodiment, the component support portion 11, the inner frame 12, and the outer frame 13 are all rectangular, but the shape is not limited to this shape. A shaped frame may be used.

  Moreover, the inner side electric connection part 34 and the outer side electric connection part 35 in the said embodiment use the radio | wireless power feeding by which the electric power feeding coil 40 was wound around a pair of disk units 34a, 34b, 35a, 35b, and the radio | wireless communication by the optical fiber 41. With a simple configuration, non-contact electrical connection that allows rotation is realized, but non-contact electrical connection by other methods such as electromagnetic induction, magnetic field resonance, electric field resonance, and capacitive coupling is realized. May be.

  For example, FIG. 8 shows a schematic configuration diagram of a first modified example (a) and a second modified example (b) of the inner electrical connection part and the outer electrical connection part.

  In the electrical connecting portion 90 of the first modification shown in FIG. 8A, a feeding coil 91 around the rotation axis is wound in the radial direction on the opposing surfaces of the pair of disk units 90a and 90b. Furthermore, an optical fiber 92 extends along the radial direction on the opposing surface of each disk unit 90a, 90b, and the tip is directed to the axial center. And the mirror 93 is provided in the axial center of each disk unit 90a, 90b.

  The mirror 93 and the optical fiber 92 are arranged so as not to be affected by the rotation of the disk units 90a and 90b, and the mirror 93 is inclined so as to reflect the light of the optical fiber 92 irradiated in the radial direction in the rotation axis direction. Yes.

  Further, in the electric connection portion 90 ′ of the second modification shown in FIG. 8B, the arrangement of the feeding coil 91 ′, the optical fiber 92 ′, and the mirror 93 ′ is the same as that of the first modification. The tip shape and the shape of the mirror 93 ′ are different.

  The optical fiber 92 'of the second modification is inclined so that the light beam is bent toward the disk unit side. On the other hand, the mirror 93 'has a shallower inclination angle with respect to the facing surface than the mirror 93 of the first modification, and the amount of protrusion with respect to the facing surface is reduced. Therefore, the electrical connection portion 90 ′ of the second modified example can further narrow the interval between the pair of disk units 90 a ′ and 90 b ′.

1 Attitude detection device 2 Gimbal device 3 External device 10 Tilt detection unit (horizontal detection unit)
DESCRIPTION OF SYMBOLS 11 Component support part 12 Inner frame 13 Outer frame 20 Tilt sensor 21 Acceleration sensor 22 Sensor control part (attitude detection part)
30 1st motor 31 1st encoder 32 2nd motor 33 2nd encoder 34 Inner electrical connection part 35 Outer electrical connection part 34a, 34b, 35a, 35b Disk unit 40 Feeding coil (wireless feeding part)
41 Optical fiber (wireless communication part)

Claims (10)

A gimbal device that rotatably supports a predetermined part in at least two axes,
A component support for supporting the component;
An inner frame that rotatably supports the component support portion about a first axis as a rotation axis;
An outer frame that rotatably supports the inner frame about a second axis as a rotation axis;
An inner electrical connection portion that performs non-contact electrical connection while allowing rotation around the first axis between the component support portion and the inner frame;
Between the inner frame and the outer frame, an outer electrical connection portion that performs non-contact electrical connection while allowing rotation around the second axis;
Via the inner electrical connection and the outer electrical connection, wiring laid from the component to the outer frame,
A gimbal device comprising:   The gimbal apparatus according to claim 1, wherein the inner electrical connection unit and the outer electrical connection unit include a wireless power feeding unit using a mutual dielectric action.   The gimbal apparatus according to claim 1, wherein the inner electrical connection portion and the outer electrical connection portion include a pair of optical fibers whose ends are opposed to each other on the same axis as the rotation axis. A first motor that rotationally drives the component support portion around the first axis with respect to the inner frame;
A second motor that rotationally drives the inner frame about the second axis with respect to the outer frame,
The gimbal apparatus according to any one of claims 1 to 3, wherein wiring to the first motor and the second motor is laid along the inner frame.   The first motor and the second motor both have a stator provided on the inner frame. The first motor and the second motor both have a stator provided on the inner frame. The gimbal device according to claim 4. The gimbal device according to any one of claims 1 to 5,
Furthermore, a horizontal detection unit that is provided in the component support unit as the component and detects the level,
A first encoder that detects an angle of the inner frame around the first axis with respect to the component support;
A second encoder for detecting an angle of the outer frame about the second axis with respect to the inner frame;
The outer frame is obtained by driving the first motor and the second motor and obtaining the angles detected by the first encoder and the second encoder as a state in which the horizontal detection unit detects the level. An attitude detection unit that detects an attitude relative to the horizontal direction of
An attitude detection device comprising: The posture detection device of claim 6;
A light wave rangefinder that measures light using light waves,
Ranging information measured by the lightwave distance meter, and a surveying controller that outputs a surveying result from attitude information detected by the attitude detection device,
Surveying device comprising. The posture detection device of claim 6;
A positioning unit that obtains position information from satellite signals;
A surveying control unit that outputs a survey result from the position information measured by the positioning unit and the posture information detected by the posture detection device;
Surveying device comprising. The gimbal device according to any one of claims 1 to 5,
A gutter member connected to the component support portion of the gimbal device and hanging vertically by its own weight;
A reflecting prism provided on the flange member;
Surveying pole with The gimbal device according to any one of claims 1 to 5,
A flying mechanism coupled to an outer frame of the gimbal device and capable of flying;
An imaging unit that is provided in a component support unit of the gimbal device and performs imaging;
A flying vehicle comprising:

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