JPH08234842A - Steering device - Google Patents

Abstract

PURPOSE: To provide the steering device with which the burden of an operator can be reduced in the case of an operation for changing the attitude or direction of the main body of equipment such as spot light. CONSTITUTION: A light 1 is provided with a manipulator for operating external force for the operation to change the attitude or the direction. The external force to be exerted upon the manipulator is detected by a force detector 5 and a controller 6 controls the output of a motor 3a for vertical rotation or a motor 3b for horizontal rotation as a driving device so that the force detected by the force detector 5 is enlarged or reduced. Therefore, the auxiliary force caused by the driving device is operated in addition to manual operation force and the light 1 can be easily operated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for changing the posture and direction of a device body.

[0002]

2. Description of the Related Art Generally, in a lighting device used for stage lighting or a TV camera for business use, a device body is movably attached to a fixed base installed at a fixed position.
Since this type of equipment body is large and heavy, it is difficult to direct it in a desired direction (to move it to a desired position) only by manpower when changing the direction or posture. The mainstream is to move the main body.

[0003]

By the way, in order to drive the drive unit, it is necessary to operate a switch for giving an instruction as to ON / OFF of the drive unit and a drive direction. On the other hand, when moving the device body with the drive device, there is a time delay from the operation of the switch until the device body moves to the desired position. There will be a time delay before moving or stopping. In other words, the operation of moving the device body of this type requires the operation of the switch in consideration of the time delay, which is a heavy burden on the operator.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the need for operating switches when changing the posture and direction of the main body of an apparatus, thereby reducing the burden on the operator. To provide a steering device.

[0005]

According to a first aspect of the present invention, a movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, and the device body are moved. The drive device, a force detector that detects the magnitude and direction of the external force that acts on the operator, and the drive device that is driven manually while the external force acts on the operator based on the output of the force detector. And a control device that determines an operation amount for the drive device so as to move the device main body by a combined force of an external force and a force generated by the drive device.

According to the invention of claim 2, a movable device body, an operator provided on the device body to manually apply an external force for moving the device body, a drive device for moving the device body, and the device body. The position detector that detects the position of the actuator, the external force estimator that estimates the magnitude and direction of the external force acting on the operator based on the operation amount to the drive device and the output of the position detector, And a control device that determines the operation amount to the drive device so that the device body is moved based on the combined force of the external force by the manual operation and the force by the drive device while driving the drive device while the external force is applied to the operator. It is characterized by including.

According to a third aspect of the present invention, a movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, a drive device for moving the device body, and the device body. Position detector that detects the position of the
Differentiator for obtaining the second and second differentials, and a driver that drives the drive device while an external force is acting on the operator based on the differential value obtained by the differentiator and the position of the device body obtained by the position detector. A control device for determining an operation amount to the drive device by a predetermined arithmetic expression so as to move the main body of the device by a combined force of an external force by an operation and a force by the drive device.

According to a fourth aspect of the present invention, a movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, a drive device for moving the device body, and the device body. Position detector that detects the position of the actuator, a force detector that detects the magnitude and direction of the external force acting on the operator, and the target position is calculated based on the output of the force detector and the equation of motion of the preset system. A target position calculation device; and a control device that determines an operation amount to the drive device so as to reduce a difference between the target position obtained by the target position calculation device and the position detected by the position detector. To do.

According to a fifth aspect of the present invention, a movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, a drive device for moving the device body, and the device body. Position detector for detecting the position of the actuator, an external force estimator for estimating the magnitude and direction of the external force acting on the operator based on the operation amount to the drive device and the output of the position detector, and the output of the external force estimator and The target position calculation device that calculates the target position based on the equation of motion of the preset system, and the drive device that reduces the difference between the target position obtained by the target position calculation device and the position detected by the position detector And a control device that determines an operation amount.

The invention of claim 6 is characterized in that, in the invention of claim 3, the control device changes an arithmetic expression for determining the operation amount to the drive device according to the position detected by the position detector. According to a seventh aspect of the invention, in the fourth or fifth aspect of the invention, the target position calculation device changes the equation of motion according to the position detected by the position detector.

According to an eighth aspect of the present invention, in the second to seventh aspects of the present invention, the device body is movable in the vertical direction and acts on the device body based on the position obtained by the position detector. It is characterized in that a gravity calculation device for obtaining a gravity component and a manipulation amount correction device for correcting the manipulation amount by adding the gravity component obtained by the gravity calculation device to the manipulation amount obtained by the control device are added.

According to a ninth aspect of the present invention, in the first to seventh aspects of the present invention, the device body is configured such that the built-in components can be moved, and the center of gravity moves with the movement of the components. The center of gravity calculation device that detects the position of the center of gravity of the device body by detecting the movement of the components in the main body, and the change in the position of the center of gravity calculated by the center of gravity calculation device is added to the operation amount calculated by the control device to determine the operation amount. The operation amount correcting device for correcting is added.

According to a tenth aspect of the present invention, in the second to seventh aspects of the present invention, the operating element is that the position of the device body obtained by the position detector is within a predetermined range with respect to the limit of the movable range of the device body. The limit control device that outputs the operation amount that brakes the drive device regardless of the external force that acts on the device, and the position of the device body determined by the position detector are outside the above specified range with respect to the limit of the movable range of the device body. For example, it is characterized in that a selecting device for giving an operating amount from the control device to the driving device and giving an operating amount from the limit control device to the driving device within the predetermined range is added.

According to an eleventh aspect of the present invention, in the first to fifth aspects of the present invention, a camera shake detection device for detecting camera shake of the main body of the device based on a time change of an external force acting on the operator, and a shake detection device for detecting the camera shake. The camera shake calculation device that determines the correction amount so as to suppress the camera shake, and the operation amount correction device that corrects the operation amount by adding the correction amount output from the camera shake detection device to the operation amount output from the control device. It is characterized by being added.

According to a twelfth aspect of the present invention, in the eleventh aspect of the present invention, the camera shake detection device has a fluctuation range of at least one of the external force acting on the operator and the moving speed of the device body within a predetermined minute range. Moreover, it is characterized in that it is judged that there is camera shake if it fluctuates over time. According to a thirteenth aspect of the present invention, in the eleventh aspect of the present invention, the camera shake calculation device determines the correction amount so that the driving of the drive device is stopped during a period in which the camera shake detection device detects the camera shake.

According to a fourteenth aspect of the present invention, in the twelfth aspect of the present invention, when the camera shake detection device detects a camera shake, the camera shake calculation device shifts the device body from the stop position of the device body at the center of the minute range. It is characterized in that the force by the drive device is applied to the main body of the device in the direction of blocking.
According to a fifteenth aspect of the present invention, in the twelfth aspect of the present invention, the camera shake calculation device is configured so that when the camera shake detection device detects the camera shake, the apparent viscous force acting on the device main body by the drive device is within the minute range. It is characterized in that the correction amount is determined so as to be larger than that outside the range.

According to a sixteenth aspect of the present invention, in the invention of the twelfth aspect, the camera shake calculation device has an apparent inertial force acting on the device main body by the drive device within the minute range when the camera shake detection device detects the camera shake. It is characterized in that the correction amount is determined so as to be larger than outside the minute range. According to the invention of claim 17, in the inventions of claims 2 to 5, a camera shake for determining that the device body is stopped when a period during which the moving speed of the device body is within a specified minute range continuously reaches a specified time. After the detection device and the camera shake detection device determine that the device body has stopped, the camera shake calculation device that determines the correction amount so as to cancel the external force until the external force acting on the operator exceeds a predetermined range, and the camera shake detection device. It is characterized in that an operation amount correcting device for correcting the operation amount by adding the correction amount output from the control device to the operation amount output from the control device is added.

According to an eighteenth aspect of the present invention, in the invention of the first aspect, a position detector for detecting the position of the device body, a trajectory determining device that predefines a movable range of the device body, and a device detected by the position detector. Determines whether the position of the main unit is within the movable range set by the trajectory determination device, and if the position of the device main body deviates from the movable range, generates a correction amount that controls the drive unit to drive it into the movable range. The trajectory determining device is added, and the control device determines the operation amount to the drive device in consideration of the correction amount output from the trajectory determining device.

According to a nineteenth aspect of the invention, in the first aspect of the invention, the control device is characterized in that the ratio of the force generated by the drive device to the external force acting on the operator is variable.

[0020]

According to the configuration of the invention of claim 1, an operator provided on the device body for manually applying an external force for operating the device body to change the posture and direction, and a drive for moving the device body. The force detector detects the magnitude and direction of the external force acting on the operating element, and drives the drive device while the external force is acting on the operating element, and the external force by the manual operation and the driving device The amount of operation to the drive device is determined so that the device body is moved by the resultant force, and if the operator tries to move the device body to a desired position by hand, the drive device Operates so as to assist human power, and a person can easily move the device body without requiring a large force when moving the device body. Moreover, if a force is applied to the operator provided on the device body to move the device body to a desired position, the drive device automatically operates without manipulating the switch to assist human power, so that the operator Therefore, the load of the switch operation for driving the drive device is not involved, and the movement operation of the device body is facilitated.

According to the invention of claim 2, the structure of claim 1 is
The present invention is different from the above invention only in the configuration for detecting the external force acting on the operator and has the same function. According to the configuration of the third aspect of the present invention, in the control device, the operation amount of the drive device is determined by an arithmetic expression using the differential value of the position of the device body, so that the operation amount can be obtained by a relatively simple calculation. it can. Moreover, since the operation amount is generated by folding the position, speed, and acceleration of the device body, not only the assisting force is applied but also a smooth operation feeling as if the device body is lightened can be obtained.

According to the invention of claims 4 to 5, the equation of motion of the system is described, and the target position of the device body is obtained by applying this equation of motion to the external force to determine the target position of the device body. By obtaining the operation amount to the drive device so that the difference from the position becomes small, it is possible to obtain the operation feeling according to the impedance model of the system described as the equation of motion. That is, it is possible not only to give an assisting force to the manual operation by the drive device, but also to obtain a desired operational feeling according to the setting of the equation of motion.

According to the inventions of claims 6 to 7, since the arithmetic expression and the equation of motion for setting the manipulated variable are changed according to the position of the device body, for example, the movable range of the device body is specified. In the vicinity of the limit of the movable range, move the device body to the limit of the movable range by generating an operation amount in which the auxiliary force by the drive device acts in the opposite direction to the external force acting on the operator. It is possible to prevent damage to the main body of the device and the drive unit due to.

According to the eighth aspect of the invention, since the operation amount is corrected in consideration of the gravity acting on the device body, for example, when the device body is moved upward, the assisting force by the drive device is increased. Then, it becomes possible to perform control such that the assisting force is reduced when moving downward, and the device body can be operated with a substantially constant force regardless of the position.

According to the configuration of the ninth aspect of the present invention, when the device main body is configured to move the center of gravity, the operation amount can be output in consideration of the change in the position of the center of gravity. Even if it moves, the device body can be operated with a substantially constant force. According to the structure of the tenth aspect of the invention, since the operation amount to the drive device is set in the vicinity of the limit of the movable range of the device body regardless of the external force acting on the operator, the device body moves to the limit of the movable range. By doing so, it is possible to prevent damage to the device body and the drive device.

According to the eleventh aspect of the present invention, the amount of operation is determined so as to detect the camera shake of the device body and suppress the movement of the device body due to the camera shake. Therefore, the minute movement of the device body due to the camera shake is suppressed. can do. Claim 12
According to the configuration of the invention described above, the fluctuation range of the external force acting on the operator or the fluctuation range of the moving speed of the device body can be obtained as the range of camera shake, so that the stop position of the device body can be virtually obtained. .

According to the structure of the thirteenth aspect of the present invention, since the assisting force by the driving device does not act during the period when the camera shake occurs, the influence of the camera shake can be suppressed by the weight of the apparatus body itself. it can. The fourteenth to sixteenth aspects of the present invention are preferred embodiments of the twelfth aspect of the invention, and can provide an operation amount such that the device body can suppress the influence of camera shake only within the range of camera shake. is there. That is, the influence of camera shake is suppressed near the position where the device body is about to be stopped, and when the device body is being moved, the assisting force of the drive device acts to easily move the device body.

According to the configuration of the seventeenth aspect of the invention, when the device body is almost stopped, the operation amount to the drive device is generated so as to cancel the external force applied to the device body until it exceeds a predetermined range. In the stopped state of the device body, the influence of camera shake can be suppressed, and if an external force is applied to some extent from that position, the auxiliary force from the drive device will act and the device body can be easily moved. is there. This corresponds to increasing the static frictional force near the stop position of the device body.

According to the structure of the eighteenth aspect of the invention, the movable range (trajectory) of the device body is registered in advance, and when the device body moves out of the set movable range when the device body moves, the drive device causes Since it is driven into the movable range, the device body can be moved without deviating from the desired movable range without providing a mechanical guide.

According to the structure of the nineteenth aspect of the invention, since the ratio of the force generated by the drive device to the external force acting on the operator is variable, the degree of the arm force of the person who operates the device body and the device body. The operation amount can be set according to the speed at which the is moved, etc., and an operation feeling according to the purpose can be obtained.

[0031]

EXAMPLES In the following description, a large spotlight used in stage lighting or the like will be taken as an example of the apparatus main body, and an operation for changing the attitude and direction of the spotlight using the steering device of the present invention will be described. The technical idea can be applied even if the device body is a commercial TV camera used in a studio or a large telescope.

(Embodiment 1) As shown in FIGS. 2 to 4, a spotlight (hereinafter abbreviated as a light) 1 as a device main body for changing the posture and direction is a tripod installed at a fixed position. It is attached to such a fixed base 2 and is rotatable in the horizontal and vertical directions with respect to the fixed base 2. That is, the light 1 has a substantially horizontal vertical rotation axis 22.
2 supports a portion near the center in the light projecting direction on the U-shaped holding table 21 that opens upward in FIG. 2, and can rotate in the vertical direction (vertical direction). Further, the holding table 21 is axially attached to the fixed table 2 by a substantially vertical horizontal rotation shaft 23,
It is possible to rotate in the horizontal direction. Therefore, the light 1 can be rotated in the horizontal direction and the vertical direction. Rotational forces from a vertical rotation motor 3a and a horizontal rotation motor 3b, which are drive devices, are transmitted to the vertical rotation shaft 22 and the horizontal rotation shaft 23, respectively.

A handle-like operator 4 is attached to one end surface of the light 1 in the light projecting direction (the surface opposite to the light projecting side), and the magnitude and direction of the force acting on the operator 4 is detected. A force detector 5 is provided. The operator 4 can apply an external force by a manual operation to rotate the light 1 about the vertical rotation shaft 22 and the horizontal rotation shaft 23. On the other hand, the force detector 5 basically needs to be able to detect the force in the direction of rotation about the vertical rotation axis 22 and the force in the direction of rotation about the horizontal rotation axis 23. Actually, when the light 1 is rotated vertically or horizontally, a force in a direction orthogonal to the vertical direction and a horizontal direction also acts, so that the force in this direction is also detected. Further, the force detector 5 also detects the rotational force around each of the above directions. That is, the forces in the three directions orthogonal to each other in the vertical direction, the horizontal direction, and the directions orthogonal to both directions, and the coordinate axes of the three directions (the origin may be, for example, the intersection of the vertical rotation axis 22 and the horizontal rotation axis 23). It is possible to detect the force of rotation centered on (possible). As the simplest configuration of this type of force detector 5, it is conceivable that six force sensors are used and two are arranged on each coordinate axis across the origin, but any other configuration is possible. You may employ the thing of.

By the way, when the force detector 5 detects an external force acting on the operator 4 by a manual operation for changing the attitude and direction of the light 1, the controller 6 causes the vertical direction based on the output of the force detector 5. The operation amounts for the rotation motor 3a and the horizontal rotation motor 3b are determined. That is, FIG. 1 (a)
As shown in FIG. 5, a force detector 5 for detecting an external force by a human manual operation, and a control device for deciding an operation amount to the vertical rotation motor 3a and the horizontal rotation motor 3b according to the magnitude and direction of the external force. 6 and the control device 6
The vertical rotation motor 3a and the horizontal rotation motor 3b rotate according to the operation amount determined in step 1, so that a force acts on the light 1 so as to increase (enlarge) or decrease (reduce) the external force. In other words, the light 1 is acted on by the combined force of the external force of a manual operation of the person and the rotational force of the vertical rotation motor 3a and the horizontal rotation motor 3b. The rotating force of the motor 3b for use assists human power. Here, whether to increase or decrease the external force due to the human manual operation is determined by the change with time of the force acting on the operator 4 (that is, the force detected by the force detector 5). In other words, generally speaking, if the external force due to the manual operation of a person tends to increase, the acceleration is acceleration, so the vertical rotation motor 3
It is only necessary to increase the rotational force of a or the horizontal rotation motor 3b, and conversely, if the external force tends to decrease, deceleration is performed, so the rotational force may also be reduced.

The above-described processing is performed according to the procedure shown in FIG. 1 (b). First, a person applies an external force to the operator 4 (S
1) The force detector 5 detects the magnitude and direction of the force acting on the light 1 (S2), and the control device 6 determines the operation amount so as to enlarge or reduce the external force acting on the operator 4. S3). The vertical rotation motor 3a or the horizontal rotation motor 3b gives a rotating force to the light 1 according to the operation amount determined by the control device 6 (S4), and the light 1 manually operates the operation force and the vertical rotation motor 3a or 3a. It moves by the resultant force with the rotational force of the horizontal rotation motor 3b (S
5). As described above, the vertical rotation motor 3a or the horizontal rotation motor 3b is rotated by applying an external force to the operating element 4. Therefore, the light 1 is applied to the light 1 only while the operating element 4 is externally applied by a manual operation. Rotational force acts, and the operator can move the light 1 as if the light 1 was lightly operated. Moreover, since the light 1 does not move unless an external force acts on the operating element 4, the vertical rotation motor 3a and the horizontal rotation motor 3b do not rotate due to external vibration or the like.

(Embodiment 2) This embodiment will be described with reference to FIGS.
As shown in FIG. 3, rotary encoders 7a and 7b as position detectors for detecting the rotation amounts of the vertical rotary shaft 22 and the horizontal rotary shaft 23 are provided without providing the force detector 5, and the operator is manually operated. The external force acting on 4 is estimated by the external force estimator 8. The external force estimator 8 calculates the operation amount of the vertical rotation motor 3 a and the horizontal rotation motor 3 b output from the control device 6, and the rotary encoder 7.
The external force acting on the manipulator 4 is estimated based on the position of the light 1 detected by a and 7b, and the external force is estimated using the equation of motion as shown in Formula 1.
That is, when the direction of the light 1 detected by the rotary encoders 7a and 7b is θ, the torque of the vertical rotation motor 3a and the horizontal rotation motor 3b is T, and the external force acting on the operator 4 is F,

[0037]

[Equation 1]

The relationship can be expressed as However,
M, D, K, and f are the moment of inertia, viscosity coefficient, spring constant, and friction force of the light 1, respectively. Since the light 1 is allowed to rotate about the vertical rotation axis 22 and the horizontal rotation axis 23, different equations of motion are required for the vertical direction and the horizontal direction. In the actual calculation in the external force estimator 8, if the equation of motion is represented by a matrix, the calculation becomes easy. In the equation of motion of Equation 1, the moment of inertia M, the viscosity coefficient D, the spring constant K, and the frictional force f are known because they are values unique to the light 1, and the direction θ of the light 1 and its differential value with respect to time are rotary. It can be obtained from the outputs of the encoders 7a and 7b. The torques of the vertical rotation motor 3a and the horizontal rotation motor 3b are determined by the operation amount output from the control device 6. The external force F that acts can be obtained.

As is apparent from the above description, in this embodiment, the rotary encoders 7a and 7b and the external force estimator 8 are provided in place of the force detector 5 of the first embodiment, and as shown in FIG. , The vertical rotation shaft 22 or the vertical rotation shaft 2 when an external force is applied to the operator 4 by a manual operation of a person.
Rotary encoders 7a and 7b, which are position detectors, are provided in order to detect the rotation angle of the light 1 around the center 3. A vertical rotation motor 3a and a horizontal rotation motor 3b as driving devices are coupled to the vertical rotation shaft 22 and the horizontal rotation shaft 23, respectively.
The operation amounts of a and the horizontal rotation motor 3b are determined by the control device 6. Here, the control device 6 determines the operation amount based on the external force acting on the operator 1 as in the first embodiment, and the external force acting on the operator 1 is determined by the controller 6
Operation amount output from the rotary encoders 7a and 7b
It is estimated by the external force estimator 8 that performs the calculation based on the above-mentioned number 1 based on the rotation angle detected in step 1. In this way, the vertical rotation motor 3a and the horizontal rotation motor 3b rotate according to the operation amount determined by the control device 6, so that the external force is increased (enlarged) or decreased (reduced) so that the force applied to the light 1 is increased. It works. That is,
Similar to the first embodiment, the light 1 is acted on by the combined force of the external force by the manual operation of the person and the rotational force by the vertical rotation motor 3a and the horizontal rotation motor 3b, and the vertical rotation motor 3a and the horizontal rotation motor 3a, which are drive devices. The rotation force of the rotation motor 3b assists human power.

The above-described processing has a procedure as shown in FIG. 9. First, when a person applies an external force to the operator 4 (S1), the external force estimator 8 applies the equation of motion of Equation 1 to the operator of the light 1. The external force acting on 4 is estimated (S2). The control device 6 determines the operation amount so as to enlarge or reduce the external force estimated by the external force estimator 8 (S3). The vertical rotation motor 3a or the horizontal rotation motor 3b applies a rotational force to the light 1 according to the operation amount determined by the control device 6 (S
4), the light 1 moves by the combined force of the manual operation force and the rotational force of the vertical rotation motor 3a or the horizontal rotation motor 3b (S5). The movement of the light 1 is detected by the rotary encoders 7a and 7b (S6), and is again used by the external force estimator 8 for estimating the external force.

Other configurations and operations are similar to those of the first embodiment. Here, in the configuration of the present embodiment, as compared with the configuration of the first embodiment, it is not necessary to provide the force detector 5 on the light 1, and the structure of the light 1 is simple. (Embodiment 3) In this embodiment, as shown in FIGS. 10 and 11, in the same manner as in Embodiment 2, the rotary encoders 7a and 7b as position detectors are used instead of the force detectors to control the light 1. Although the direction is detected, only the outputs of the rotary encoders 7a and 7b are used without using the differentiator 9 instead of the external force estimator 8 in the second embodiment and without using the operation amount from the drive device 6. The difference is that the operation amount of the control device 6 is determined by using it.

The differentiator 9 includes a rotary encoder 7a,
The rotation angle of the light 1 about the vertical rotation axis 22 and the horizontal rotation axis 23 obtained in 7b is differentiated to obtain the angular velocity and the angular acceleration. That is, the differentiating device 9 obtains the first-order differential and the second-order differential with respect to the angles detected by the rotary encoders 7a and 7b, and inputs them to the control device 6, and also the rotary encoders 7a and 7b.
The angle obtained in step 1 is also given to the control device 6. In the control device 6 in this embodiment, the operation amount T ₀ for the vertical rotation motor 3a and the horizontal rotation motor 3b is determined by performing a calculation such as Equation 2. That is, in the present embodiment, the model of the light 1 is simplified and only the moment of inertia M is taken into consideration, and a motion equation such as the equation (1) of Equation 2 is assumed. The equation of motion is based on the vertical rotation axis 22 and the horizontal rotation axis 2
Rotation about 3 and 3 is set individually.

[0043]

[Equation 2]

Here, θ is the angle of the light 1 determined by the rotary encoder, F is an external force acting on the operator 4 by a manual operation of a person, T is the torque of the vertical rotation motor 3a or the horizontal rotation motor 3b, and T ₀ Is an operation amount output from the control device 6, and K _m , K _d , and K _k are an acceleration gain (coefficient), a velocity gain (coefficient), and a position gain (coefficient), respectively, which are set as values unique to the light 1. ing. Also,
Since the torque T of the vertical rotation motor 3a and the horizontal rotation motor 3b corresponds to the operation amount T ₀ from the control device 6,
When the control device 6 determines the control amount T ₀ by the equation (2) of the equation 2, it means that the external force acting on the operator 4 is obtained by assuming the equation (1) of the equation 2. That is, assuming that the coefficients K _m , K _d , and K _k are appropriately set to set the manipulated variable T ₀ to match the torque T to simplify the description, the external force F acting on the manipulator 4 is It can be expressed as Equation 3.

[0045]

(Equation 3)

The operation is basically the same as that of the second embodiment. As shown in FIG. 12, when a person first applies an external force to the operator 4 (S1), the rotary encoder 7a as the position detector is operated. , 7b detects the direction of the light 1 (S2), and the differentiator 9 obtains the angular velocity and the angular acceleration of the light 1 (S3). In the control device 6, the number 2
The operation amount is determined using the equation (2) (S4), and the vertical rotation motor 3a or the horizontal rotation motor 3b is controlled by the control device 6
The light 1 is given a rotational force corresponding to the operation amount determined in step S5, and the light 1 moves by the resultant force of the manual operation force and the rotational force of the vertical rotation motor 3a or the horizontal rotation motor 3b ( S6).

As described above, in this embodiment, the operation amount output from the control device 6 is obtained using only the outputs of the rotary encoders 7a and 7b as position detectors. By comparison, the calculation becomes easier and the circuit configuration becomes simpler. In addition, since a model considering only the moment of inertia of the light 1 is assumed, the operator 4
The operator who is exerting an external force feels that the moment of inertia of the light 1 has decreased, and it becomes easy to change the direction of the light 1 by hand. Other configurations and operations are similar to those of the second embodiment.

(Embodiment 4) In this embodiment, as shown in FIGS. 13 and 14, a force detector 5 for detecting an external force acting on the operator 4 is used, and the light 1 and the vertical rotation motor 3a, The target position of the light 1 (based on the equation of motion set by Equation 4 based on the impedance model virtually set for the system including the horizontal rotation motor 3b) and the force F detected by the force detector 5 ( That is, the target position calculation device 10 for determining the target value of the rotation angle about the vertical rotation axis 22 and the horizontal rotation axis 23 is provided.

[0049]

[Equation 4]

However, M ₀ , D ₀ , and K ₀ are masses of the system virtually set in the impedance model,
Dampers and springs. Since the position (angle) θ can be obtained by solving the above equation, this is input to the control device 6 as the target position. Further, in the control device 6, the vertical rotation motor 3a, which is a drive device, reduces the difference between the target position obtained by the target position calculation device 10 and the positions obtained by the rotary encoders 7a, 7b as position detectors. And the operation amount to the horizontal rotation motor 3b is determined.

The other structure is the same as that of the first embodiment.
5, a person first applies an external force to the operating element 4 (S1), and the force detector 5 detects the magnitude and direction of the force acting on the light 1 (S2). In 10, the angle (position) about the vertical rotation axis 22 and the horizontal rotation axis 23 is based on the rotational force due to the external force about the vertical rotation axis 22 and the horizontal rotation axis 23 and the preset impedance model. A target position of θ is obtained (S3). The control device 6 determines the operation amount so that the target position obtained by the target position calculation device 10 is reached (S
4), controlling the vertical rotation motor 3a and the horizontal rotation motor 3b as a drive device (S5), and the resultant force of the external force acting on the operator 4 and the rotational force of the vertical rotation motor 3a and the horizontal rotation motor 3b. The light 1 is displaced by (S6). The position (angle) of the light 1 displaced as described above is used as the rotary encoders 7a, 7 as position detectors.
The control device 6 controls so as to reduce the difference between the position obtained by b (S7) and the position obtained by the target position calculation device.

In the present embodiment, since the impedance model can be set appropriately in the target position calculation device 10, for example, by increasing the virtually set spring near the limit of the movable range of the light 1. , By making you feel that it is near the limit, or by increasing the virtually set damper and decreasing the virtually set mass,
It is lightweight and enables high-speed movement, yet it is easy to stop at a desired position due to sufficient braking force, or in order to reduce camera shake, a virtually set mass and damper are set. It is easy to make adjustments such as increasing. That is, various changes can be made in order to obtain the desired operation feeling of the light 1.

Other configurations and operations are similar to those of the first embodiment. (Embodiment 5) As shown in FIGS. 16 and 17, this embodiment uses a target position calculation device 10 for giving a target position to the control device 6 as in the fourth embodiment. The difference is that the target position is set not by using the output of the force detector 5 but by using the external force estimated by the external force estimator 8 described in the second embodiment. That is, based on the outputs of the rotary encoders 7a and 7b as position detectors and the operation amounts given from the control device 6 to the vertical rotation motor 3a and the horizontal rotation motor 3b as drive devices, the external force acting on the operator 4 is applied. The target position is obtained by estimating the magnitude and the direction and applying the equation 4 to the external force F estimated in this way, as in the fourth embodiment.

To explain the operation in detail, as shown in FIG. 18, a person first applies an external force to the operating element 4 (S1) so that the external force estimator 8 causes the rotary encoders 7a and 7 to operate.
The magnitude and direction of the external force acting on the light 1 is estimated based on the position of the light 1 detected in b and the operation amount output from the control device 6 (S2). Target position calculation device 10
Then, based on the rotational force centered on the vertical rotation axis 22 and the horizontal rotation axis 23 estimated by the external force estimator 8 and the preset impedance model, the vertical rotation axis 2
2 and a target position of an angle (position) θ about the horizontal rotation axis 23 are obtained (S3). The control device 6 determines the operation amount so as to reach the target position obtained by the target position calculation device 10 (S4), controls the vertical rotation motor 3a and the horizontal rotation motor 3b as a drive device (S5), and operates. Child 4
The light 1 is displaced by the combined force of the external force that acts on the vertical rotation motor 3a and the horizontal rotation motor 3b (S6). The position (angle) of the light 1 thus displaced is used as a rotary encoder 7 as a position detector.
The control device 6 controls so as to reduce the difference between the position obtained by a and 7b (S7) and the position obtained by the target position calculation device 10. Other configurations and operations are similar to those of the fourth embodiment.

(Embodiment 6) In this embodiment, as shown in FIGS. 19 and 20, the equation 2 used in the control device 6 of the embodiment 3 is used.
The acceleration gain K _m , the velocity gain K _d , and the position gain K _k in the equation (2) are variable. That is, in order to operate the light 1 with a small external force within the movable range of the light 1, the gains K _m , K _d , and
K _k is set, and the gains K _m , K _d , and K _k are set so that the light 1 becomes hard to move near the limit of the movable range. Even if the light 1 is rapidly operated, the light 1 is decelerated near the limit of its movable range and the resistance to movement of the light 1 increases, so damage to the light 1 can be prevented.
That is, the operability is high and the operation can be performed safely.

The basic operation is the same as that of the third embodiment,
In this embodiment, as shown in FIG. 21, while the external force is being applied to the manipulator 4 (S1), the angle detected by the rotary encoders 7a and 7b as position detectors in the control device 6 is (S2). It is judged whether or not it is the limit (movement limit) of the movable range (S3), and if it is not near the limit of the movable range, the manipulated variables are determined by the gains K _m , K _d and K _k similar to those in the third embodiment (S4). . Also, near the limit of the movable range, the gain K
By changing _m , K _d , and K _k , the light 1 becomes difficult to move (S5). The subsequent processing is the same as that in the third embodiment, and the angular velocity and the angular acceleration are calculated by the differentiator 9 (S
6), angular velocity and angular acceleration, and rotary encoder 7
The control device 6 determines the manipulated variable based on the angles obtained in a and 7b (S7). Further, the vertical rotation motor 3a and the horizontal rotation motor 3b, which are drive devices, are controlled by the operation amount output from the control device 6 (S8), and the light 1 is moved (S9). Other configurations and operations are similar to those of the third embodiment.

(Embodiment 7) In this embodiment, as shown in FIGS. 22 and 23, in the configuration of Embodiment 5, the position (angle) of the light 1 detected by the rotary encoders 7a and 7b which are position detectors. The impedance model of the system is changed according to. In other words, the target position calculation device 10 determines whether or not the position of the light 1 is near the limit of the movable range, sets an impedance model that allows the light 1 to easily move if it is not near the limit, and when it is near the limit. The impedance model is set so that the light 1 becomes hard to move. Thus, by changing the impedance model according to the position of the light 1, the light 1 can be operated with a small force unless it is near the limit of the movable range, and the light 1 is operated near the limit of the movable range. It is possible to prevent damage caused by forcibly moving the light 1 by increasing the force required for the operation.

The basic operation is the same as that of the fifth embodiment,
In this embodiment, as shown in FIG. 24, while the external force is being applied to the manipulator 4 (S1), the angle detected by the rotary encoders 7a and 7b as position detectors in the controller 6 is (S2). It is judged whether or not it is the limit (movement limit) of the movable range (S3), and if it is not near the limit of the movable range, an impedance model similar to that of the fifth embodiment is set (S).
4). Further, the impedance model is changed near the limit of the movable range so that the light 1 becomes hard to move (S5). The subsequent processing is the same as that of the fifth embodiment, and the magnitude and direction of the external force are measured by the force measuring device 5 (S6),
The target position calculation device 10 obtains a target position based on the measured external force and the impedance model (S7). Further, the control device 6 determines the operation amount so as to position at the target position (S8), and controls the vertical rotation motor 3a and the horizontal rotation motor 3b, which are drive devices, by the operation amount output from the control device 6. (S9) The light 1 is moved (S10). Other configurations and operations are similar to those of the fifth embodiment.

(Embodiment 8) In this embodiment, the light 1 moves up and down about the horizontal rotary shaft 23, so that the light 1 moves when the center of gravity is not on the horizontal rotary shaft 23.
This is due to the fact that gravity is affected when moving up and down. Basically, the same configuration as that of the first embodiment is adopted, and as shown in FIGS. 25 and 26, the force detector 5 for detecting an external force acting on the operator 4 and the force detector 5 detect the force. It has the same configuration as that of the first embodiment including the control device 6 that outputs the operation amount to the vertical rotation motor 3a and the horizontal rotation motor 3b as the drive device by the external force. Further, as a configuration for compensating for the gravity component, a rotary encoder 7 as a position detector that detects a rotation angle of the light 1 around the vertical rotation axis 22 and the horizontal rotation axis 23.
a, 7b, a gravity calculation device 11 for obtaining a gravity component based on the outputs of the rotary encoders 7a, 7b, and an operation for adding and correcting the operation amount obtained by the control device 6 with the correction amount obtained by the gravity calculation device 11. And an adder 12 as a quantity correction device. Since the gravity component does not change even if the light 1 rotates in the horizontal direction, the position detector basically needs only the rotary encoder 7a for detecting rotation in the vertical direction about the horizontal rotation axis 23. Now, let L be the distance from the horizontal rotation axis 23 to the center of gravity of the light 1, the inclination angle of the light 1 with respect to the horizontal plane (that is, the detection angle by the rotary encoder 7a is θ _V , the mass of the light 1 is m, and the gravitational acceleration is g. At this time, the gravity component can be expressed as mgL cos θ _V. Therefore, the torque corresponding to this gravity component mgL cos θ _V is added to the operation amount for driving the vertical rotation motor 3a.

In short, as shown in FIG. 27, when a person operates the operator 4 (S1), the angle of the light 1 is detected by the rotary encoders 7a and 7b as position detectors (S1).
2) Further, the force detector 5 detects the external force acting on the operator 4 (S3). Further, the control device 6 determines the operation amount to the vertical rotation motor 3a and the horizontal rotation motor 3b so as to expand or reduce the external force based on the output of the force detector 5 (S4). Light 1 in step S2
Therefore, the correction amount due to the gravity component is obtained as described above (S5), and the adder 12 adds the correction amount output from the gravity computing device 11 to the operation amount output from the operating device 6. By doing so, the operation amount is corrected and given to the vertical rotation motor 3a (S6). Here, for the horizontal rotation motor 3b, the operation amount output from the control device 6 may be used as it is. In this way, the light 1 is driven by the vertical rotation motor 3a and the horizontal rotation motor 3b (S7), and the light 1 is displaced (S8). Other configurations and operations are the same as those of the first embodiment.

(Embodiment 9) In this embodiment, the lens 1a incorporated in the light 1 is movable so as to change the distance to the light source inside the light 1 by an external signal, and changes the size of the spot. Here's an example of what you can do. In such a configuration, the important position of the light 1 changes with the movement of the lens 1a. As a result, even if the light 1 is moved between the same positions, the operation is performed according to the position of the lens 1a. The external force required to act on the child 4 is different. Therefore, in this embodiment, even if the lens 1a moves, the external force required to act on the operator 4 does not change.

Specifically, in the structure of the first embodiment, when the lens 1a inside the light 1 is moved (actually, the lens 1a is driven by a motor and a control signal is externally applied. The lens center 1a is moved), and a signal corresponding to the position of the lens 1a (using a control signal for controlling the position of the lens 1a) is sent to the center of gravity calculation device 13
Is input to the vertical rotary shaft 22 and the horizontal rotary shaft 23.
Is used together with the outputs of the rotary encoders 7a and 7b as position detectors for obtaining the rotation angle of the light 1 centered on the center of gravity. Now, for the sake of simplicity, if the center of gravity of the light 1 excluding the lens 1a is on the horizontal rotation axis 23, the distance from the center of gravity to the lens 1a is X, and the lamp 1 around the horizontal rotation axis 23 is The rotation angle is θ _V , the mass of the lens 1a is _mL , and the gravitational acceleration is g.
And the moment of inertia of the lamp 1 is m _L gX c
It can be obtained by osθ _V. By setting the operation amount to the horizontal rotation motor 3b corresponding to the value thus obtained as the correction amount, and adding the correction amount to the operation amount obtained by the control device 6 by the adder 12 as the operation amount correction device. The corrected operation amount is given to the horizontal rotation motor 3b. In short, the moment of inertia associated with the movement of the center of gravity of the light 1 can be corrected, and the external force acting on the operator 4 can be kept constant even if the lens 1a moves. Here, it is desirable to correct the gravity component as in the case of the eighth embodiment.

The operation of this embodiment is as shown in FIG. That is, when a person operates the operator 4 (S1), the lens 1
The position of a is detected (S2), and the force detector 5 detects the external force acting on the operator 4 (S3). Also,
The control device 6 determines the operation amount to the vertical rotation motor 3a and the horizontal rotation motor 3b so as to expand or reduce the external force based on the output of the force detector 5 (S4). Since the position of the lens 1a of the light 1 is detected in step S2, the correction amount of the moment of inertia and the gravity component associated with the movement of the center of gravity is calculated by the center of gravity calculation device 13 as described above (S
5) In the adder 12, the operation amount is corrected by adding the correction amount output from the center-of-gravity computing device 13 to the operation amount output from the operating device 6 and is given to the vertical rotation motor 3a (S6). . Here, the horizontal rotation motor 3b
For, the operation amount output from the control device 6 may be used as it is. In this way, the vertical rotation motor 3a
And the light 1 is driven by the horizontal rotation motor 3b (S7), and the light 1 is displaced (S8). Other configurations and operations are the same as those of the first embodiment.

(Embodiment 10) This embodiment has the same gist as Embodiment 4 in which the easiness of movement of the light 1 is changed depending on whether or not the movable range of the light 1 is near the limit. As shown in FIG. 31 and FIG. 32, the light 1 is moved from the limit of the movable range to a predetermined range based on the rotation angle about the vertical rotation axis 22 and the horizontal rotation axis 23 obtained by the rotary encoders 7a and 7b as position detectors. There is provided a limit control device 14 for generating an operation amount to the vertical rotation motor 3a and the horizontal rotation motor 3b as a drive device so as to decelerate (brake) the rotation of the light 1 when inside. Further, the operation amount from the control device 6 and the limit control device 14
Selection device 1 for selecting whether to control the vertical rotation motor 3a or the horizontal rotation motor 3b by the operation amount from
5 is provided. In the selection device 15, when the lamp 1a is not near the limit of the movable range but outside the predetermined range based on the outputs of the rotary encoders 7a and 7b, the operation amount from the control device 6 is used for the vertical rotation motor 3a or the horizontal rotation. The motor 3b is supplied with the operation amount from the limit control device 14 within the predetermined range to the vertical rotation motor 3a or the horizontal rotation motor 3b.

The operation of this embodiment is similar to that of the fourth embodiment. As shown in FIG. 33, when a person operates the operator 4 (S1), the rotary encoder 7 as a position detector is operated.
The angles of the light 1 are detected by a and 7b (S2), and the external force acting on the operator 4 is detected by the force detector 5 (S3). Further, the selection device 15 determines whether or not the light 1 is near the limit of the movable range based on the outputs of the rotary encoders 7a and 7b (S4). If it is not near the limit of the movable range, the operation amount determined by the control device 6 to increase or decrease the external force based on the output of the force detector 5 is adopted (S5). On the other hand, in the vicinity of the limit of the movable range, the manipulated variable determined by the limit control unit 14 regardless of the force detector 5 is adopted (S6). After that, the light 1 is driven by the vertical rotation motor 3a and the horizontal rotation motor 3b using the adopted operation amount (S7), and the light 1 is displaced (S8). Other configurations and operations are the same as those of the first embodiment.

(Embodiment 11) In each of the above embodiments, since an external force is applied to the operating element 4 by a human hand, the irradiation direction of the light 1 may not be determined by the hand. Therefore, in the present embodiment, as shown in FIG. 34 and FIG. 35, in the configuration of the first embodiment, the hand shake detection device 16 uses the light 1 based on the time change of the external force acting on the operator 4.
The camera shake calculation device 17 determines the correction amount so as to suppress the camera shake detected by the camera shake detection device 16, and the correction amount is added to the operation amount output from the control device 6 by the adder 12. Thus, the operation amount is corrected, and the hand shake of the light 1 is suppressed. That is, the adder 12 functions as a manipulated variable correction device. In short, the camera shake detection device 16 and the camera shake calculation device 17 determine whether the external force detected by the force detector 5 is stable or causes a slight fluctuation, and when the minute fluctuation occurs, the influence of the camera shake is suppressed. The correction amount is determined as follows. put it here,
The vertical rotation motor 3a and the horizontal rotation motor 3b are individually controlled to suppress camera shake. A method for detecting a shake by the shake detecting device 16 and a method for calculating a correction amount by the shake calculating device 17 will be described later.

Then, as shown in FIG.
When (S1) is operated (S1), the force detector 5 detects the external force acting on the operator 4 of the light 1 (S2). The correction amount by the arithmetic unit 17 is set to 0.
As a result, the operation amount from the control device 6 is given to the vertical rotation motor 3a and the horizontal rotation motor 3b, which are drive devices, to enlarge or reduce the external force acting on the operating element 4 (S).
4). On the other hand, when it is determined that there is camera shake, the camera shake calculation device 17 generates a correction amount for suppressing the camera shake, and the adder 12 adds the correction amount to the operation amount output from the control device 6. The operation amount is corrected by (S
5). When the operation amount is determined as described above, the light 1 is driven by the vertical rotation motor 3a and the horizontal rotation motor 3b using the operation amount (S6).
Is displaced (S7). Other configurations and operations are the same as those of the first embodiment.

By the way, the following concept is adopted for the processing for determining whether or not there is camera shake by the camera shake detection device 16 based on the external force detected by the force detector 5. As shown in FIG. 37, while the light 1 moves while being accelerated or decelerated, the external force (or angular velocity) changes with the passage of time, and the light 1 may be stopped at a constant angular velocity or during a period of time. During this period, the external force (or angular velocity) becomes almost zero. Therefore, the time change of the external force (or the angular velocity) in the period in which the external force (or the angular velocity) is within the predetermined range (that is, within the range between −δ and + δ in FIG. 37) is detected, and the value of the light 1 of the light 1 is sufficiently close to 0. If it is stable to the extent that it does not affect the irradiation direction, it is determined to be in a stopped state, and if it is fluctuating within the range of −δ and + δ, it is determined that there is camera shake. By such processing, it is possible to detect the presence or absence of camera shake.

On the other hand, the camera shake calculation device 17 determines the correction amount by using one of the following methods. Any of the following methods may be adopted, or they may be used in combination. The first method is a method of stopping the driving of the vertical rotation motor 3a or the horizontal rotation motor 3b, which is the drive device, while the camera shake detection device 16 is detecting camera shake. That is, when the camera shake is not detected, the vertical rotation motor 3a or the horizontal rotation motor 3b is operated to drive the light 1 even during a period when the external force (or the angular velocity) is small as shown in FIG. Although a force is applied, in this method, if the external force (or the angular velocity) is within the range for determining the shaking motion (the range between −δ and + δ in FIG. 37) as shown in FIG. The vertical rotation motor 3a or the horizontal rotation motor 3b does not apply a driving force to the light 1. Here, since the driving force is not required even when the light 1 is stopped and is moved at a constant angular velocity, even when the external force (or angular velocity) is stable near 0, it can be processed in the same manner as camera shake. That is, the camera shake calculation device 17 may generate the correction amount so as to cancel the operation amount output from the control device 6. Of course, if there is no touch and no external force is applied (or if the angular velocity is 0), the correction amount is 0.
become. Alternatively, the adder 12 can be replaced with a switch inserted between the control device 6 and the vertical rotation motor 3a or the horizontal rotation motor 3b. In that case, if the camera shake calculation device 17 has a camera shake. It only has to function to turn off the switch.

The second method is the period during which the camera shake detection device 16 detects the camera shake (that is, the external force or the angular velocity is as shown in FIG. 3).
In a period between −δ and + δ in 7), the absolute value of the driving force of the vertical rotation motor 3a or the horizontal rotation motor 3b becomes constant in the direction in which the external force due to camera shake is canceled as shown in FIG. How to set. That is, except when the external force (or angular velocity) is 0 (or almost 0), the operation amount output from the camera shake calculation device 17 is output from the control device 6 so as to keep the absolute value of the output of the adder 12 constant. It is adjusted accordingly. If such control is performed, the frictional force acts in a pseudo manner, and the movement of the light 1 is suppressed.

(Embodiment 12) As shown in FIG. 40, this embodiment is the same as that of Embodiment 11 except that the same camera-shake suppressing mechanism as in Embodiment 11 is added. Since the external force estimator 8 is used instead of the force detector, the camera shake detection device 16 uses the output of the external force estimator 8 to determine the presence or absence of camera shake. The other configuration is the eleventh embodiment.
When the camera shake detection device 16 detects the camera shake, the camera shake calculation device 17 outputs a correction amount for the camera shake as in the eleventh embodiment, and the adder 12 is added to the operation amount output from the control device 6. By adding the correction amount at, the driving force of the vertical rotation motor 3a or the horizontal rotation motor 3b as a drive device is controlled so as to suppress the influence of camera shake. Other configurations and operations are similar to those of the eleventh embodiment.

(Embodiment 13) In this embodiment, as shown in FIG. 41, in addition to the construction of Embodiment 3, a construction for suppressing camera shake similar to that of Embodiment 11 is added. Rotary encoders 7a, 7 as position detectors
Since the control device 6 determines the operation amount by using the angle output from b and the angular velocity and the angular acceleration obtained by the differentiating device 9, in the present embodiment, by using the angular velocity obtained by the differentiating device 9, the presence or absence of camera shake is detected. Is detected and the correction amount is determined. That is, instead of the determination of the presence or absence of camera shake based on the external force and the determination of the correction amount in the eleventh embodiment, the processing based on the angular velocity is performed.

More specifically, the camera shake detection device 16 determines the presence or absence of camera shake using the angular velocity output from the differentiator 9, and the camera shake calculator 17 also differentiates the device 9.
The correction amount is determined based on the angular velocity output from the. Other configurations are the same as in the eleventh embodiment, and when the handshake detecting device 16 detects the handshake, the handshake calculation device 17 outputs the correction amount for the handshake similarly to the eleventh embodiment, and is output from the control device 6. By adding the correction amount to the operation amount by the adder 12, the driving force of the vertical rotation motor 3a or the horizontal rotation motor 3b as the drive device is controlled so as to suppress the influence of camera shake. Other configurations and operations are similar to those of the eleventh embodiment.

(Embodiment 14) As shown in FIG. 42, this embodiment is the same as Embodiment 11 except that the same camera-shake suppressing arrangement as Embodiment 11 is added. Similarly, the camera shake is detected based on the external force applied to the operator 4 detected by the force detector 5, and the correction amount is determined. Therefore, the configuration and operation for correcting camera shake are similar to those of the eleventh embodiment, and other configurations and operations are similar to those of the fourth embodiment.

(Embodiment 15) In this embodiment, as shown in FIG. 43, the same structure as that of the embodiment 11 is added to the structure of the embodiment 5 for suppressing camera shake. Since the external force acting on the manipulator 4 is estimated using the external force estimator 8, the presence or absence of camera shake is also detected in this embodiment based on the external force estimated by the external force estimator 8. Other configurations and operations regarding the configuration for suppressing the influence of camera shake are the same as those of the eleventh embodiment, and configurations and operations other than the configuration for suppressing the influence of camera shake are the same as those of the fifth embodiment.

(Embodiment 16) In the present embodiment, as shown in FIG. 44, with respect to the configuration of the embodiment 4, a camera shake detection device 16 and a camera shake calculation device 17 are provided as in the embodiment 11, and the force detector 5 detects the same. Shake detection device 16 based on the applied external force
Then, the presence or absence of camera shake is detected, and if there is camera shake, the camera shake calculation device 17 outputs a correction amount that suppresses the influence of camera shake. However, without using an adder as a manipulated variable correction device, the mass M ₀ , damper D ₀ , and spring K _{0 of the} impedance model (represented by the equation of motion of Equation 4) set in the target position calculation device 10 are used. By changing at least one of the above, the operation amount output from the control device 6 is changed.

For example, in Example 4, the actual mass of the light 1 (the mass shown by the broken line in FIG. 45 (b)) was reduced in terms of operational feeling (the mass shown by the solid line in FIG. 45 (b)). However, its mass is kept constant regardless of external force (or angular velocity). On the other hand, in this embodiment, as shown by the solid line in FIG. 45A, when the external force falls within the range between −δ and + δ described in the eleventh embodiment, the target position calculation device 110 sets the external force. actual mass by changing the mass M ₀ in the equation of motion are (Fig. 45
(Shown by a broken line in (a)). This makes it difficult for the light 1 to move and suppresses camera shake.

If the damper D ₀ is controlled to suppress the influence of camera shake, the external force falls within the range between −δ and + δ described in the eleventh embodiment, as shown in FIG. Then, the equation of motion set in the target position calculation device 10 is changed so that the damper D ₀ becomes larger (in the fourth embodiment, the damper D ₀ does not change depending on the external force as shown in FIG. 46B). .

In this embodiment, however, as shown in FIG. 47, when a person operates the operator 4 (S1), the force detector 5
The external force acting on the operator 4 of the light 1 is detected by (S2), and when the camera shake detection device 16 determines that there is no camera shake due to the time change of the external force (S3), the correction amount by the camera shake calculation device 17 is set to 0 and the target position If the motion equation set in the arithmetic unit 10 is not changed and it is determined that there is camera shake, the motion equation is changed as described above (S
4). The subsequent processing is the same as that in the fourth embodiment, and the target position calculation device 10 obtains the target position (S5). The operation amount to the vertical rotation motor 3a or the horizontal rotation motor 3b is adjusted so that the difference between the target position and the positions obtained by the rotary encoders 7a and 7b becomes small (S6). Further, the light 1 is driven by the vertical rotation motor 3a and the horizontal rotation motor 3b using the operation amount output from the control device 6 (S7), and the light 1 is displaced (S8).
The displacement of the light 1 is detected by the rotary encoders 7a and 7b (S9) and used for feedback control of the position of the light 1.

(Embodiment 17) In this embodiment, as shown in FIG. 48, with respect to the configuration of the embodiment 5, a camera shake detection device 16 and a camera shake calculation device 17 are provided as in the embodiment 11, and the external force estimator 8 finds them. The camera shake detection device 16 detects the presence or absence of camera shake based on the estimated value of the external force acting on the operator 4. If there is camera shake, as in the sixteenth embodiment, a correction amount for suppressing the influence of camera shake is output from the camera shake calculation device 17, and the impedance model set by the target position calculation device 10 (equation 4 Is represented by)
By changing at least one of the mass M ₀ , the damper D ₀ , and the spring K ₀ , the operation amount output from the control device 6 is changed. In short, the only difference is whether it is based on the estimated value of the external force obtained by the external force estimator 8 or the actual force obtained by the force detector 5, and other configurations and operations are the same as those of the first embodiment.
It is similar to 6.

The third embodiment in which control is performed using the equation of motion
In the apparatus of the fifth to fifth embodiments, the thirteenth to first embodiments are described.
Instead of adopting the configuration of FIG.
When the external force (or the angular velocity) detected by the force detector 5 or the external force estimator 8 is within a predetermined range where it is almost 0 (within the range between −δ and + δ shown in FIG. 37), With respect to the displacement within the predetermined range s with respect to the position at that time, an operation amount for generating a driving force as shown in FIG. 49 may be given to the vertical rotation motor 3a or the horizontal rotation motor 3b. Since this control is such that the driving force increases in the opposite direction when the displacement increases,
Since the elastic force is virtually applied and a stable point is generated at the position where the elastic force is about to be stopped, the camera shake can be further suppressed.

Further, as described in the sixteenth embodiment, changing the damper D ₀ means that the viscous force (= D ₀ · d
Since it is equivalent to changing (θ / dt),
In addition, in the configuration of Example 17
And the camera shake calculation device 17 includes a rotary encoder 7a,
The output of 7b is also used, and the angular velocity dθ / dt
Is a minute range (range between −δ ′ and + δ ′), the equation of motion may be changed so that the absolute value of the viscous force increases as the angular velocity increases.

(Embodiment 18) In the present embodiment, when the light 1 is stopped at a fixed position, the position is maintained, and the stop position is controlled to be a stable point. Suppresses the effects of camera shake. That is, as in the second to fifth embodiments, the rotary encoder 7a,
It is applicable to a configuration for detecting the position of the light 1 by 7b, and when the rotary encoders 7a and 7b are not provided as in the first embodiment, it can be applied by adding the rotary encoders 7a and 7b. Become.

The rotary encoder 7 has the same structure as the eleventh embodiment.
If the description is made assuming that a and 7b are added, the shake detection device 16 obtains the angular velocity of the light 1 based on the outputs of the rotary encoders 7a and 7b, and as shown in FIG. When it is determined that the time within the minute range of the time reaches the specified time Δt, the camera shake calculation device 17 determines the correction amount, and the vertical rotation motor 3
a or the driving force by the horizontal rotation motor 3b is shown in FIG.
The control amount is determined so as to change as shown in (b). That is, the external force is within a predetermined range (-Δf and + Δf
In the range between and), the driving force that cancels the external force is generated so that the light 1 maintains the stationary state. In this control, a pseudo static friction force is applied, and the external force corresponds to the maximum static friction force -Δf or Δ
If f is not exceeded, the light 1 is kept stationary.

For example, assuming that the shake detection device 16, the shake calculation device 17, and the adder 12 are added to the configuration of the second embodiment, the control shown in FIG. It becomes a processing procedure. First, when a person operates the manipulator 4 (S1), the external force estimator 8 uses the light 1
The external force acting on the operator 4 is estimated (S2), and in the camera shake detection device 16, the angular velocity detected based on the outputs of the rotary encoders 7a and 7b falls within the specified minute range (S2).
3) When the duration exceeds the specified time Δt (S
4), the absolute value of the external force is in the above range (-Δf <external force <Δf)
While (S5), the camera shake calculation device 17 determines the correction amount so that an operation amount that generates a driving force that cancels the external force is obtained as the output of the adder 12 (S5).
6). Further, if the angular velocity is not within the above-mentioned minute range, the time within the minute range does not continue for the time Δt, or the external force exceeds the above range, the processing is usually performed without suppressing the influence of camera shake. The operation amount is determined so as to perform the processing of (S7). When the operation amount is determined in step S6 or step S7, the light 1 is driven by the vertical rotation motor 3a and the horizontal rotation motor 3b by using the operation amount (S8), and the light 1 is displaced (S).
9). The displacement of the light 1 is determined by the rotary encoders 7a and 7b.
Is detected (S10) and used for feedback control of the position of the light 1.

(Embodiment 19) This embodiment is used when the change in the irradiation direction of the light 1 is known in advance, and as shown in FIG. 53, the locus in which the movable range of the light 1 is registered in advance. The determining device 18 is provided.
On the other hand, the position of the light 1 at each time point is detected by the rotary encoders 7a and 7b as position detectors, and the locus determination device 19 compares the movable range stored in the locus determination device 18 with the position of the light 1. . Here, when the position of the light 1 is within a predetermined minute range with respect to the movable range, the operation amount from the control device 6 to the vertical rotation motor 3a or the horizontal rotation motor 3b acts on the operator 4 as usual. It is given to expand or contract external force. on the other hand,
When the position of the light 1 deviates from the movable range by a predetermined minute range, the control device 6 corrects the operation amount and controls the light 1 to be driven within the movable range. Other configurations are similar to those of the first embodiment.

The operation will be briefly described. As shown in FIG. 54, when a person operates the operator 4 (S1), the force detector 4
Then, the external force acting on the operator 4 of the light 1 is detected (S
2) At this time, the rotary encoders 7a and 7b detect the current position of the light 1 (S3). Trajectory determination device 19
Then, the movable range registered in the trajectory determining device 18 is compared with the current position of the light 1 obtained from the rotary encoders 7a and 7b (S4), and if the difference between the current position and the movable range is within a predetermined minute range. The control device 6 is configured to perform normal control for enlarging or reducing the external force acting on the operator 4.
The operation amount from is determined (S5). Further, when the difference between the detected current position and the movable range deviates from the minute range, the operation amount is determined so as to be driven into the movable range (S6). Using the operation amount determined as described above, the vertical rotation motor 3a and the horizontal rotation motor 3b
Thus, the light 1 is driven (S7), and the light 1 is displaced (S8).

For example, when the light 1 is used for stage illumination and the spot P is to be moved in a substantially straight line on the stage as shown by the broken line in FIG. Only the rotation around the center is performed, and the spot P is often moved within the range shown by the solid line in FIG. Therefore, it is conceivable to provide a mechanical guide that regulates the rotation of the vertical rotary shaft 22 and the horizontal rotary shaft 23, but it is difficult to determine the shape of the guide, and it is easy to change the shape. It has the problem of not being able to. On the other hand, if the control of this embodiment is adopted, even if the operator is not an expert,
The light 1 can be moved within a predetermined range, and the possibility of projecting light in the wrong direction can be reduced. Further, since the vertical rotation motor 3a or the horizontal rotation motor 3b is used as a means for limiting the direction of the light 1, the structure is simple without adding any mechanical parts.

In this embodiment, the light 1 is added to the structure of the first embodiment.
However, the technical idea of this embodiment can be applied to other embodiments. (Embodiment 20) In this embodiment, as shown in FIG. 56, the controller 6 controls the magnitude of the operation amount with respect to the external force detected by the force detector 5 in the configuration of Embodiment 1. The gain of the device 6 is variable. That is, the gain of the control device 6 can be arbitrarily adjusted by a person,
If the gain is adjusted, as shown in FIG. 57, the driving force output from the vertical rotation motor 3a or the horizontal rotation motor 3b with respect to the external force (operation force) applied to the operator 4 by the person is expanded or reduced. The magnification of changes. Now
If the normal setting state is as shown in FIG. 57 and the operating force and the driving force are 1: 1, a relatively large operating force is required to move the light 1 if the magnification is lowered as in When the magnification is increased as described above, the light 1 can be moved with a relatively small operating force. In other words, is a setting that is effective when operated by a person with a relatively strong force or when the moving speed of the light 1 is slow, and is used when operated by a person with a relatively weak power or when moving the light 1 quickly. It is valid.

Other configurations and operations are similar to those of the first embodiment, and the technical idea of the present application can be applied to other embodiments.

[0091]

According to the first and second aspects of the present invention, the operator provided on the device body and the device body are moved so as to manually apply an external force for operating the device body to change the posture and direction. And a driving device for driving the driving device while detecting the magnitude and direction of the external force acting on the operating element, and driving the driving device while the external force is acting on the operating element. Since the amount of operation to the drive unit is determined so that the device main body is moved by the combined force of, the drive unit will not be operated manually if the operator tries to move the device main body to a desired position by hand. Since it operates as an aid, it has an advantage that a person can easily move the device body without requiring a large force when moving the device body. In addition, if an operator is provided with a force on the device body to move the device body to a desired position, the drive device automatically operates without manipulating the switch to assist human power. Has the advantage that the operation of moving the device body is facilitated without the burden of the switch operation for driving the drive device.

According to the third aspect of the present invention, in the control device, since the operation amount of the drive device is determined by an arithmetic expression using the differential value of the position of the device body, the operation amount can be obtained by a relatively simple operation. . Moreover, since the operation amount is generated by folding the position, speed, and acceleration of the device body, there is an advantage that not only the assisting force is given but also a smooth operation feeling as if the device body is lightened can be obtained. .

In the inventions of claims 4 to 5, the equation of motion of the system is described, and the target position of the device body is obtained by applying this equation of motion to the external force, and the difference from the position of the device body is obtained. Since the amount of operation to the drive device is calculated so that becomes smaller, it is possible to obtain a feeling of operation that follows the impedance model of the system described as the equation of motion. That is, it is possible to give an assisting force to the manual operation by the drive device, and it is possible to obtain a desired operational feeling according to the setting of the equation of motion.

In the inventions of claims 6 to 7, since the arithmetic expression and the equation of motion for setting the manipulated variable are changed according to the position of the device body, for example, the movable range of the device body is defined and the movable range is set. In the vicinity of the limit of the range, if the amount of operation is generated so that the assisting force from the drive device acts in the opposite direction to the external force acting on the operator, There is an advantage that the drive device can be prevented from being damaged.

According to the eighth aspect of the present invention, since the operation amount is corrected in consideration of the gravity acting on the device body, for example, when the device body is moved upward, the assisting force by the drive device is increased and the auxiliary force is lowered. It is possible to perform control such that the assisting force is reduced when the device is moved, and there is an advantage that the device body can be operated with a substantially constant force regardless of the position. .

According to the ninth aspect of the present invention, when the device main body is configured to move the center of gravity, the operation amount can be output in consideration of the change in the position of the center of gravity. Therefore, even if the center of gravity of the device main body moves. This has the advantage that the device body can be operated with a substantially constant force. According to the tenth aspect of the present invention, since the operation amount to the drive device is set in the vicinity of the limit of the movable range of the device body regardless of the external force acting on the operator, the device body is moved to the limit of the movable range. There is an advantage that the main body and the drive device can be prevented from being damaged.

In the eleventh aspect of the present invention, since the amount of operation is determined so as to detect the camera shake of the device body and suppress the movement of the device body due to the camera shake, it is possible to suppress the minute movement of the device body due to the camera shake. There is an advantage. According to the twelfth aspect of the invention, since the fluctuation range of the external force acting on the operator or the fluctuation range of the moving speed of the device body can be obtained as the range of camera shake, the stop position of the device body can be virtually obtained. There are advantages.

According to the thirteenth aspect of the present invention, since the assisting force by the drive device does not act during the period when the camera shake occurs, there is an advantage that the influence of the camera shake can be suppressed by the weight of the apparatus body itself. is there. The inventions of claims 14 to 16 are preferred embodiments of the invention of claim 12, and it is possible to provide an operation amount such that the device main body can suppress the influence of camera shake only within the range of camera shake. There are advantages. In other words, the effect of camera shake is suppressed near the position where the device body is about to be stopped, and when the device body is being moved, the assisting force of the drive device acts to easily move the device body. Produce an effect. According to the seventeenth aspect of the present invention, when the device body is almost stopped, the operation amount to the drive device is generated so as to cancel the external force applied to the device body until it exceeds a predetermined range. There is an effect that the influence of camera shake can be suppressed, and further, if an external force is applied to some extent from that position, an assisting force by the drive device will act and the device body can be easily moved.

In the eighteenth aspect of the present invention, the movable range (trajectory) of the device body is registered in advance, and when the device body attempts to deviate from the set movable range when the device body moves, it is driven into the movable range by the drive device. Therefore, there is an advantage that the device body can be moved without deviating from a desired movable range without providing a mechanical guide.

According to the nineteenth aspect of the invention, since the ratio of the force generated by the drive device to the external force acting on the operator is variable, the degree of arm force of the person operating the device body and the speed at which the device body is moved. The operation amount can be set in accordance with the above, and the operation feeling according to the purpose can be obtained.

[Brief description of drawings]

1A and 1B show a first embodiment, FIG. 1A is a block diagram, and FIG.
Is an operation explanatory diagram.

FIG. 2 is a schematic configuration diagram of a first embodiment.

FIG. 3 is a side view in which a main part of the first embodiment is partially cut away.

FIG. 4 is a partially cutaway front view of a main part of the first embodiment.

FIG. 5 is a block diagram of a second embodiment.

FIG. 6 is a schematic configuration diagram of a second embodiment.

FIG. 7 is a side view of a main part of the second embodiment.

FIG. 8 is a partially cutaway front view of a main part of the second embodiment.

FIG. 9 is an operation explanatory diagram of the second embodiment.

FIG. 10 is a block diagram of a third embodiment.

FIG. 11 is a schematic configuration diagram of a third embodiment.

FIG. 12 is an operation explanatory diagram of the third embodiment.

FIG. 13 is a block diagram of a fourth embodiment.

FIG. 14 is a schematic configuration diagram of a fourth embodiment.

FIG. 15 is an operation explanatory diagram of the fourth embodiment.

FIG. 16 is a block diagram of a fifth embodiment.

FIG. 17 is a schematic configuration diagram of a fifth embodiment.

FIG. 18 is an operation explanatory diagram of the fifth embodiment.

FIG. 19 is a block diagram of a sixth embodiment.

FIG. 20 is a schematic configuration diagram of a sixth embodiment.

FIG. 21 is an explanatory diagram of the operation of the sixth embodiment.

FIG. 22 is a block diagram of a seventh embodiment.

FIG. 23 is a schematic configuration diagram of a seventh embodiment.

FIG. 24 is an explanatory diagram of the operation of the seventh embodiment.

FIG. 25 is a block diagram of an eighth embodiment.

FIG. 26 is a schematic configuration diagram of an eighth embodiment.

FIG. 27 is an explanatory diagram of the operation of the eighth embodiment.

FIG. 28 is a block diagram of a ninth embodiment.

FIG. 29 is a schematic configuration diagram of Example 9.

FIG. 30 is an explanatory diagram of the operation of the ninth embodiment.

FIG. 31 is a block diagram of a tenth embodiment.

32 is a schematic configuration diagram of Example 10. FIG.

FIG. 33 is an explanatory diagram of the operation of the tenth embodiment.

FIG. 34 is a block diagram of an eleventh embodiment.

FIG. 35 is a schematic configuration diagram of Example 11.

FIG. 36 is an explanatory diagram of the operation of the eleventh embodiment.

FIG. 37 is an explanatory diagram of the operation of the eleventh embodiment.

FIG. 38 is an explanatory diagram of the operation of the eleventh embodiment.

FIG. 39 is an explanatory diagram of the operation of the eleventh embodiment.

FIG. 40 is a block diagram showing a twelfth embodiment.

FIG. 41 is a block diagram showing a thirteenth embodiment.

FIG. 42 is a block diagram showing an example 14;

FIG. 43 is a block diagram showing a fifteenth embodiment.

FIG. 44 is a block diagram showing an example 16;

FIG. 45 is an explanatory diagram of the operation of the sixteenth embodiment.

FIG. 46 is an explanatory diagram of the operation of the sixteenth embodiment.

FIG. 47 is a diagram for explaining the operation of the sixteenth embodiment.

FIG. 48 is a block diagram showing an example 17;

FIG. 49 is an operation explanatory view showing the seventeenth embodiment.

FIG. 50 is an operation explanatory view of the seventeenth embodiment.

51 is an operation explanatory view showing the eighteenth embodiment. FIG.

52 is an operation explanatory view showing Embodiment 18. FIG.

FIG. 53 is a block diagram showing an example 19;

FIG. 54 is an operation explanatory diagram showing Embodiment 19;

FIG. 55 is an operation explanatory view showing Embodiment 19;

FIG. 56 is a block diagram showing a twentieth embodiment.

FIG. 57 is an operation explanatory view showing the twentieth embodiment.

[Explanation of symbols]

 1 Light 3a Motor for Vertical Rotation 3b Motor for Horizontal Rotation 4 Operator 5 Force Detector 6 Controller 7a Rotary Encoder 7b Rotary Encoder 8 External Force Estimator 9 Differentiator 10 Target Position Calculator 11 Gravity Calculator 12 Adder 13 Centroid Calculation Device 14 Limit control device 15 Selection device 16 Hand shake detection device 17 Hand shake calculation device 18 Trajectory determination device 19 Trajectory determination device

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] August 21, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0036

[Correction method] Change

[Correction content]

(Embodiment 2) This embodiment will be described with reference to FIGS.
As shown in FIG. 7, rotary encoders 7a and 7b as position detectors for detecting the rotation amounts of the vertical rotary shaft 22 and the horizontal rotary shaft 23 are provided without providing the force detector 5, and the operator is manually operated. To the rotation axis by the external force acting on 4.
The applied torque is estimated by the external force estimator 8. The external force estimator 8 is based on the operation amount of the vertical rotation motor 3a and the horizontal rotation motor 3b output from the control device 6 and the position of the light 1 detected by the rotary encoders 7a and 7b. The external force acting on is estimated, and the external force is estimated using the equation of motion as shown in Equation 1. That is, when the direction of the light 1 detected by the rotary encoders 7a and 7b is θ, the torque of the vertical rotation motor 3a and the horizontal rotation motor 3b is T, and the external force acting on the operator 4 is F,

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0038

[Correction method] Change

[Correction content]

The relationship can be expressed as However,
M, D, K, and f are the moment of inertia, viscosity coefficient, spring constant, and friction force of the light 1, respectively. Since the light 1 is allowed to rotate about the vertical rotation axis 22 and the horizontal rotation axis 23, different equations of motion are required for the vertical direction and the horizontal direction. In the actual calculation in the external force estimator 8, if the equation of motion is represented by a matrix, the calculation becomes easy. In the equation of motion of Equation 1, the moment of inertia M, the viscosity coefficient D, the spring constant K, and the frictional force f are known because they are values unique to the light 1, and the direction θ of the light 1 and its differential value with respect to time are rotary. It can be obtained from the outputs of the encoders 7a and 7b. The torques of the vertical rotation motor 3a and the horizontal rotation motor 3b are determined by the operation amount output from the control device 6. Rotation by external force
The torque F applied to the shaft can be obtained.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0044

[Correction method] Change

[Correction content]

Here, θ is the angle of the light 1 obtained by the rotary encoder, F is the torque applied to the rotary shaft by the external force acting on the operator 4 by the manual operation of a person, and T is the vertical rotation motor 3a or horizontal rotation. Torque of the motor 3b, T ₀ is an operation amount output from the control device 6, K _m , K
_d, K _k are each angular acceleration gain (coefficient), the angular velocity gain (coefficient), the angle gain (coefficient), is set as a unique value to write 1. Further, since the torque T of the vertical rotation motor 3a and the horizontal rotation motor 3b corresponds to the operation amount T ₀ from the control device 6, the control device 6 determines the control amount T ₀ by the expression (2) of the equation 2. it is, depending on the external force acting on the operating element 4 assumes number 2 (1)
Therefore, the torque applied to the rotating shaft is required.
That is, in order to simplify the explanation, the coefficients K _m , K _d , and K _k
Is set appropriately so that the operation amount T ₀ matches the torque T, the external force acting on the operator 4 causes
The torque F applied to the rotating shaft can be expressed as in Equation 3.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0048

[Correction method] Change

[Correction content]

(Embodiment 4) In this embodiment, as shown in FIGS. 13 and 14, a force detector 5 for detecting an external force acting on the operator 4 is used, and the light 1 and the vertical rotation motor 3a, Detected by the force detector 5 and the equation of motion set by Equation 4 based on the impedance model virtually set for the system including the horizontal rotation motor 3b and the like.
A target position calculation device 10 for determining a target position of the light 1 (that is, a target value of a rotation angle about the vertical rotation axis 22 and the horizontal rotation axis 23) based on the force is provided.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0053

[Correction method] Change

[Correction content]

Other configurations and operations are similar to those of the first embodiment. (Embodiment 5) As shown in FIGS. 16 and 17, this embodiment uses a target position calculation device 10 for giving a target position to the control device 6 as in the fourth embodiment. The difference is that the target position is set not by using the output of the force detector 5 but by using the external force estimated by the external force estimator 8 described in the second embodiment. That is, based on the outputs of the rotary encoders 7a and 7b as position detectors and the operation amounts given from the control device 6 to the vertical rotation motor 3a and the horizontal rotation motor 3b as drive devices, the external force acting on the operator 4 is applied. of estimating the magnitude and direction, the number in the same manner as in example 4 against the outer forces estimated in this manner 4
Is applied to obtain the target position.

[Procedure correction 6]

[Document name to be amended] Statement

[Correction target item name] 0055

[Correction method] Change

[Correction content]

(Embodiment 6) In this embodiment, as shown in FIGS. 19 and 20, the equation 2 used in the control device 6 of the embodiment 3 is used.
Angular acceleration gain K _m in the equation (2), the angular speed gain K _d, the angle gain K _k is made variable. That is, in order to operate the light 1 with a small external force within the movable range of the light 1, the gains K _m , K _d , and
K _k is set, and the gains K _m , K _d , and K _k are set so that the light 1 becomes hard to move near the limit of the movable range. Even if the light 1 is rapidly operated, the light 1 is decelerated near the limit of its movable range and the resistance to movement of the light 1 increases, so damage to the light 1 can be prevented.
That is, the operability is high and the operation can be performed safely.

[Procedure Amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0088

[Correction method] Change

[Correction content]

For example, when the light 1 is used for stage illumination and the spot P is to be moved in a substantially straight line on the stage as shown by the broken line in FIG. , which makes it rotate only around, often moving the spot P in a range as shown by the solid line in FIG. 55. Therefore, it is conceivable to provide a mechanical guide that regulates the rotation of the vertical rotary shaft 22 and the horizontal rotary shaft 23, but it is difficult to determine the shape of the guide, and it is easy to change the shape. It has the problem of not being able to. On the other hand, if the control of this embodiment is adopted, even if the operator is not an expert,
The light 1 can be moved within a predetermined range, and the possibility of projecting light in the wrong direction can be reduced. Further, since the vertical rotation motor 3a or the horizontal rotation motor 3b is used as a means for limiting the direction of the light 1, the structure is simple without adding any mechanical parts.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05D 3/00 G05D 3/00 S H01H 25/04 H01H 25/04 L // A63J 1/00 A63J 1/00 F21P 5/00 F21P 5/00 A (72) Inventor Hirohiko Togeyama 1048 Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Works Co., Ltd. (72) Shinji Tsutsui, 1048 Kadoma, Kadoma, Osaka Matsushita Electric Works Stock company

Claims (19)

[Claims] 1. A movable device body, an operator provided on the device body to manually apply an external force for moving the device body, a drive device for moving the device body, and an external force acting on the operator. A force detector for detecting size and orientation,
The amount of operation to the drive unit so that the drive unit is driven based on the output of the force detector while the external force is acting on the operator, and the device body is moved by the combined force of the external force by the manual operation and the force by the drive unit. And a control device for determining. 2. A movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, a drive device for moving the device body, and a position of the device body is detected. A position detector, an external force estimator that estimates the magnitude and direction of the external force acting on the operator based on the operation amount to the drive device and the output of the position detector, and an operator based on the output of the external force estimator. And a controller for determining an operation amount for the drive device so that the device body is moved by driving the drive device while the external force is acting and moving the device body by the combined force of the external force by the manual operation and the force by the drive device. Characteristic steering device. 3. A movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, a drive device for moving the device body, and a position of the device body is detected. The position detector, the differentiating device that obtains the first-order differential and the second-order differential with respect to the position of the device body obtained by the position detector, and the differential value obtained by the differentiating device and the position of the device body obtained by the position detector. Based on this, the drive device is driven while an external force is applied to the operator, and the operation amount to the drive device is calculated by a predetermined arithmetic expression so that the device body is moved by the combined force of the external force by the manual operation and the force by the drive device. A steering device comprising: a control device for determining. 4. A movable device body, an operator provided on the device body to manually apply an external force for moving the device body, a drive device for moving the device body, and a position of the device body is detected. A position detector, a force detector that detects the magnitude and direction of the external force acting on the operator, and a target position calculation device that calculates the target position based on the output of the force detector and a preset system equation of motion. A steering device, comprising: a control device that determines an operation amount to a drive device so as to reduce a difference between a target position obtained by the target position calculation device and a position detected by a position detector. 5. A movable device body, an operator provided on the device body so as to manually apply an external force for moving the device body, a drive device for moving the device body, and a position of the device body is detected. A position detector, an external force estimator that estimates the magnitude and direction of the external force acting on the operator based on the operation amount to the drive device and the output of the position detector, and the output of the external force estimator and the preset system A target position calculation device that calculates the target position based on the equation of motion, and the operation amount to the drive device is determined so as to reduce the difference between the target position obtained by the target position calculation device and the position detected by the position detector. A steering device comprising: a control device. 6. The steering apparatus according to claim 3, wherein the control device changes an arithmetic expression that determines an operation amount to the drive device according to the position detected by the position detector. 7. The steering apparatus according to claim 4, wherein the target position calculation device changes the equation of motion according to the position detected by the position detector. 8. The gravity calculation device, which is capable of moving the device body in the vertical direction, and which calculates the gravity component acting on the device body based on the position calculated by the position detector, and the gravity calculated by the gravity calculation device. 8. The steering apparatus according to claim 2, further comprising an operation amount correction device that corrects the operation amount by adding the component to the operation amount obtained by the control device. 9. The device main body is configured such that the constituent elements contained therein are movable and the center of gravity of the device main body moves along with the movement of the component, and the movement of the component in the device main body is detected to detect the center of gravity of the device main body. A barycenter calculating device for determining a position, and an operation amount correcting device for correcting the operation amount by adding a change in the position of the center of gravity obtained by the center of gravity calculating device to the operation amount obtained by the control device. The steering apparatus according to any one of claims 1 to 7. 10. If the position of the device body determined by the position detector is within a predetermined range with respect to the limit of the movable range of the device body, an operation amount for braking the drive device regardless of an external force acting on the operator is set. If the output of the limit control device and the position of the device body determined by the position detector are outside the above specified range with respect to the limit of the movable range of the device body, the operation amount from the control device is given to the drive device, 8. The steering system according to claim 2, further comprising a selection device for providing the drive device with an operation amount from the limit control device. 11. A camera shake detection device for detecting camera shake of a device body based on a time change of an external force acting on an operator.
A camera shake calculation device that determines a correction amount so as to suppress the camera shake detected by the camera shake detection device, and an operation that corrects the operation amount by adding the correction amount output from the camera shake detection device to the operation amount output from the control device. The steering system according to claim 1, further comprising a quantity correction device. 12. The camera shake detection device has camera shake if the fluctuation width of at least one of the external force acting on the operator and the moving speed of the device body is within a predetermined minute range and fluctuates over time. The steering apparatus according to claim 11, wherein the steering apparatus is determined as follows. 13. The steering apparatus according to claim 11, wherein the camera shake calculation device determines the correction amount so that the driving of the driving device is stopped during a period in which the camera shake detection device detects a camera shake. 14. The camera shake calculation device, when the camera shake is detected by the camera shake detection device, applies a force by the drive device to the device body in a direction to prevent displacement of the device body from the stop position of the device body at the center of the minute range. The steering device according to claim 12, wherein the steering device operates. 15. The camera shake calculation device corrects when the camera shake is detected by the camera shake detection device, the apparent viscous force acting on the device main body by the drive device is increased within the minute range above the outside of the minute range. The steering system according to claim 12, wherein the steering amount is determined. 16. The camera shake calculation device corrects when a camera shake is detected by the camera shake detection device, the apparent inertial force acting on the device main body by the drive device is increased within the above-described minute range beyond the outside of the minute range. The steering system according to claim 12, wherein the steering amount is determined. 17. A camera shake detection device that determines that the device body has stopped when a period during which the moving speed of the device body is within a specified minute range continuously reaches a specified time, and the device body is stopped by the camera shake detection device. After it is determined that the external force acting on the operator exceeds the predetermined range, the camera shake calculation device determines the correction amount so as to cancel the external force, and the correction amount output from the camera shake detection device is output from the control device. The steering apparatus according to claim 2, further comprising an operation amount correcting device that corrects the operation amount in consideration of the operation amount. 18. A position detector for detecting the position of the device body, a trajectory determining device that predefines a movable range of the device body, and a position of the device body detected by the position detector are set by the trajectory determining device. A locus determination device that determines whether or not the position of the device body is out of the movable range and generates a correction amount that controls the drive device so as to drive it into the movable range is added. The steering apparatus according to claim 1, wherein the operation amount to the drive device is determined in consideration of the correction amount output from the trajectory determination device. 19. The steering device according to claim 1, wherein the control device is capable of varying the ratio of the force generated by the drive device to the external force acting on the operating element.