JP2006091177A - Stereo camera and stay for stereo camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately adjust the positions of two imaging parts with simple constitution in a stereo camera. <P>SOLUTION: The stay 21 of the stereo camera 2 is constituted of a fixing part 21a where a 1st imaging part 12a is fixed, an adjusting part 21b to which a 2nd imaging part 12b is attached and which is provided with an adjusting mechanism for adjusting the rotating position around the pitch, the yaw and the roll axes of the 2nd imaging part 12b, and a basic part 21c which integrally couples the fixing part 21a and the adjusting part 21b while leaving predetermined space in between. The adjusting mechanism is equipped with a holding plate 45 where the 2nd imaging part 12b is stuck, a stud 46 pivotally supporting a part of the holding plate 45 as the center of rotation around the pitch, the yaw and the roll axes of the 2nd imaging part 12b, coil springs 48b and 48c and a leaf spring 49 giving rotational force in directions around the pitch, the yaw and the roll axes of the 2nd imaging part 12b to the holding plate 45, and screws 53a, 53b and 56 adjusting displacement amount around the pitch, the yaw and the roll axes of the 2nd imaging part 12b. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a stereo camera and a stereo camera stay in which a stay in which first and second imaging units having an imaging lens and an imaging element are arranged with a predetermined interval is covered with a cover.

  There is known a stereo camera that obtains two images having parallax using two imaging units each including a solid-state imaging device such as a CCD. Since such a stereo camera requires a distance to a subject based on the principle of triangulation based on two obtained images, application as a distance measuring device of a car collision prevention system is considered.

  In the stereo camera as described above, how to accurately match the three-dimensional positions of the CCD imaging surfaces of the two imaging units is an important issue. To solve this problem, the position of one video camera is adjusted so that the pixel alignment of the image sensor of one video camera is parallel to that of the other, and the optical axis of the optical system of one video camera is aligned with that of the other. Adjust the stay with two on-vehicle distance detectors (see Patent Document 1) that adjust the optical axis of the optical system of the other video camera and two imaging units consisting of the main camera and sub camera so that they are parallel. A stereo camera rotation adjustment device that is fixed to a pedestal, fits the mount of the main camera to the adjuster, rotates the mount around the optical axis via the adjuster, and adjusts the rotational deviation of the main camera (Patent Document 2) Have been proposed).

Also, when attaching the stay where the two imaging units are installed to the vehicle body, in order to prevent the stay from being distorted due to vibration or the like and the optical axis of the optical system of the two imaging units being displaced, A vehicle stereo camera support device (see Patent Document 3) that is attached to a vehicle body with a resin spacer or hard rubber interposed therebetween has been proposed. Further, for the same purpose as that of Patent Document 3, a sensor support structure (see Patent Document 4) in which a buffer member is interposed between both ends of the stay and a base portion to which the stay is attached has been proposed.
JP-A-5-157557 JP-A-11-237702 Japanese Patent Laid-Open No. 11-301365 JP 2003-335180 A

  In the in-vehicle distance detection device described in Patent Document 1, the correlation between the two cameras is mechanically adjusted, and thus there is a problem that the accuracy of the adjustment is low. Further, in the rotation adjustment device for a stereo camera described in Patent Document 2, the rotational deviation around the optical axis of the main camera can be adjusted, but the inclination of the imaging surface with respect to the optical axis is ignored. Furthermore, regarding the support device and the sensor support structure for the in-vehicle stereo camera described in Patent Documents 3 and 4, there is no mention of the adjustment of the shift between the two imaging units.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a stereo camera and a stereo camera stay that can accurately adjust the positions of two imaging units with a simple configuration.

  In order to achieve the above object, the present invention provides a stereo camera in which a stay in which a first and a second imaging unit having an imaging lens and an imaging element are arranged with a predetermined interval is covered with a cover. The stay is provided with a fixing unit to which the first imaging unit is fixed and the second imaging unit, and an adjustment mechanism for adjusting the rotational position of the second imaging unit around the pitch, yaw, and roll axis. It is characterized by comprising an adjustment portion and a backbone portion that integrally connects the fixing portion and the adjustment portion with the predetermined interval.

  The adjustment mechanism includes: a holding plate to which the second imaging unit is fixed; and a support member that supports a part of the holding plate as a rotation center around the pitch, yaw, and roll axis of the second imaging unit; An urging member that applies a rotational force in the direction around the pitch, yaw, and roll axis of the second imaging unit to the holding plate; and an adjustment that adjusts the amount of displacement around the pitch, yaw, and roll axis of the second imaging unit It is preferable to provide a member.

  The stay is preferably attached to the cover via an elastic member. Alternatively, the stay is preferably formed from an elastic body. Alternatively, it is preferable to provide a hole for imparting elasticity in the central portion of the backbone.

  Further, a circuit board on which a signal processing circuit for performing various signal processing on an image pickup signal output from the image pickup device is fixed to the cover, and the circuit board and the image pickup are provided by a flexible wiring member. It is preferable to electrically connect the element.

  In addition, a cover adjustment mechanism that adjusts the rotational position of the cover around the roll axis is provided, and a stay adjustment member that adjusts the pitch of the stay and the amount of displacement around the yaw axis is provided. It is preferable that a stay adjusting mechanism for adjusting the rotational position of the surroundings is provided, and the stay adjusting member is exposed to the outside from the cover.

  The present invention is also a stereo camera stay in which first and second imaging units having an imaging lens and an imaging element are arranged at a predetermined interval, and the fixing unit to which the first imaging unit is fixed And an adjustment unit provided with an adjustment mechanism to which the second imaging unit is attached and an adjustment mechanism for adjusting a rotational position around the pitch, yaw, and roll axis of the second imaging unit, and the fixing unit and the adjustment unit, It is characterized by comprising a trunk portion integrally connected with a predetermined interval.

  The adjustment mechanism includes: a holding plate to which the second imaging unit is fixed; and a support member that supports a part of the holding plate as a rotation center around the pitch, yaw, and roll axis of the second imaging unit; An urging member that applies a rotational force in the direction around the pitch, yaw, and roll axis of the second imaging unit to the holding plate; and an adjustment that adjusts the amount of displacement around the pitch, yaw, and roll axis of the second imaging unit It is preferable to provide a member.

  According to the stereo camera and the stereo camera stay of the present invention, the fixing unit to which the first imaging unit is fixed and the second imaging unit are attached, and the rotation position about the pitch, yaw, and roll axis of the second imaging unit. Since the adjustment unit provided with an adjustment mechanism for adjustment and the backbone unit that integrally connects the fixed unit and the adjustment unit with a predetermined interval therebetween, the position adjustment of the two imaging units can be performed with a simple configuration. It can be performed with high accuracy.

  In FIG. 1, a stereo camera 2 to which the present invention is applied has a main body base 20 (see FIG. 2) covered with a front cover 10a and a rear cover 10b. The front cover 10a and the rear cover 10b are assembled with screws (not shown).

  Openings 11a and 11b are formed at the center of both ends of the front cover 10a, and the imaging lenses 13a and 13b of the first and second imaging units 12a and 12b are exposed from these openings 11a and 11b. Openings 14a and 14b are formed above the openings 11a and 11b, and screws for adjusting the pitch of the stay 21 (see FIG. 2) and the amount of displacement around the yaw axis from these openings 14a and 14b. 15a and 15b are exposed. The first and second imaging units 12a and 12b are obtained by unitizing imaging lenses 13a and 13b and CCDs 27a and 27b (see FIG. 4). Also, here, the optical axes of the imaging lenses 13a and 13b are the roll axis (Z axis), the alignment direction of the imaging lenses 13a and 13b is the yaw axis (Y axis), and the direction orthogonal to the yaw axis on the surface of the front cover 10a. Is the pitch axis (X-axis). That is, the rotation about the pitch, yaw, and roll axis corresponds to the rotations represented by ρ, γ, and φ in the figure, respectively.

  Insertion holes 17, 18a, and 18b through which screws for attaching the stereo camera 2 to the vehicle body and the like are inserted are formed in both the widened portions 16a and 16b of the front cover 10a. The insertion hole 17 is a round hole having a diameter equivalent to the diameter of the screw to be inserted. On the other hand, the insertion holes 18a and 18b are oval holes that expand in the pitch axis direction. As a result, the stereo camera 2 itself rotates around the roll axis by the amount of play in the insertion holes 18a and 18b with the screw inserted through the insertion hole 17 as an axis in a state where the stereo camera 2 is temporarily fixed to the mounting position with a screw. It becomes possible. The insertion holes 17, 18a, and 18b constitute a cover adjustment mechanism.

  As shown in FIGS. 2 to 5, the main body base 20 of the stereo camera 2 includes the first and second imaging units 12a and 12b, a stay 21 in which these imaging units 12a and 12b are disposed, and a circuit. And a substrate 22. The stay 21 includes a fixing portion 21a to which the first imaging unit 12a is fixed, an adjustment unit 21b to which the second imaging unit 12b is attached, and a backbone portion 21c that integrally connects the fixing unit 21a and the adjustment unit 21b. .

  In FIG. 2, a stud 23 is erected at the lower center of the back surface of the front cover 10a. A tongue piece 24 formed at the center lower portion of the trunk portion 21c comes into contact with the stud 23.

  Studs 25a and 25b through which screw holes to be screwed into the screws 15a and 15b are attached to the back surfaces of the openings 14a and 14b of the front cover 10a. The studs 25 a and 25 b have the same height as the stud 23. Tongue pieces 26a and 26b formed at the center upper portions of the fixing portion 21a and the adjusting portion 21b come into contact with the studs 25a and 25b.

  The screws 15a and 15b are longer than the height of the studs 25a and 25b. In a state where the stud 23 and the tongue piece 24, and the studs 25a and 25b and the tongue pieces 26a and 26b are in contact with each other, the respective portions 21a to 21c of the stay 21 are on the same plane. As will be described later, the stay 21 is mounted in a state of being lifted from the rear cover 10b via a leaf spring 33 (see FIG. 5), and therefore when the screws 15a and 15b are turned in the tightening direction, the tongue pieces 26a and 26b are provided. The upper part of the center of the fixing part 21a and the adjusting part 21b is pushed to the rear cover 10b side. Thus, with the stereo camera 2 attached to the attachment location, the fixed portion 21a and the adjustment portion 21c can rotate around the pitch and yaw axes with the stud 23 as a fulcrum. The screws 15a and 15b, the studs 23, 25a and 25b, the tongue pieces 24, 26a and 26b constitute a stay adjusting mechanism, and the screws 15a and 15b are stay adjusting members.

  The circuit board 22 is mounted with a signal processing circuit that performs various signal processing such as A / D conversion on the imaging signals output from the CCDs 27a and 27b (see FIG. 4) of the first and second imaging units. Yes. As shown in FIGS. 3 and 4, the circuit board 22 is fastened and fixed on the four studs 28 erected on the rear cover 10 b by four screws 29.

  As shown in FIG. 4, the electrical connection between the circuit board 22 and the CCDs 27a and 27b is made by using flexible wiring members (flexible printed circuit (FPC), flexible flat cable (FFC). Etc.) 30a, 30b.

  As shown in FIG. 5, the stay 21 is attached to the rear cover 10 b via a leaf spring 33 with four screws 31 and 32. An insertion hole 35 into which the boss 34 formed in the central portion of the rear cover 10b is inserted and a screw hole 36 into which the screw 32 is screwed are formed in the central portion of the trunk portion 21c (see also FIG. 6). . The boss 34 has a screw hole 37 into which the screw 31 is screwed.

  The height of the boss 34 is longer than the thickness of the stay 21. Thereby, the stay 21 is attached via the leaf spring 33 in a non-contact manner with the rear cover 10b in a state of floating from the rear cover 10b.

  In FIG. 6, a holding plate 40 and three studs 41 (one is not shown) are arranged on the fixing portion 21 a. An opening 42 for exposing the imaging lens 13 a is formed in the holding plate 40, and the first imaging unit 12 a is fixed by four screws 43. The stud 41 is disposed so as to surround the first imaging unit 12 a and is fastened and fixed on the stay 21. The stud 41 has a screw hole into which three screws 44 are screwed. The holding plate 42 is fastened and fixed on the stud 41 by screws 44.

  A holding plate 45, three studs 46, 47 a, 47 b, coil springs 48 a to 48 c, and a plate spring 49 are arranged in the adjustment portion 21 b. An opening 50 is formed in the holding plate 45 to expose the imaging lens 13 b, and the second imaging unit 12 b is fixed by four screws 51. The studs 46, 47 a, 47 b are arranged so as to surround the second imaging unit 12 b and are fastened and fixed on the stay 21.

  The studs 46, 47a, 47b are formed with screw holes into which the three screws 52, 53a, 53b are screwed, and coil springs 48a-48c are inserted therethrough. The coil springs 48a to 48c are formed so that one end of the coil springs 48a to 48c is engaged with the stay 21 and the height of the coil springs 48a to 48c is extended by the urging force thereof is higher than the height of the studs 46, 47a and 47b. The holding plate 45 is supported by the coil springs 48a to 48c, and is attached to the studs 46, 47a, and 47b by screws 52, 53a, and 53b.

  The leaf spring 49 is integrally formed with an L plate 54 attached to the stay 21. The tip of the leaf spring 49 abuts on one side of the holding plate 45 and presses the holding plate 45 in the direction of the side facing the one side. The L plate 54 is provided with a stopper 55 that restricts the pitch of the holding plate 45 and rotation around the yaw axis. A screw 56 is inserted through the L plate 54.

  As shown in FIG. 7, the holding plate 45 is formed with a bearing hole 60 into which the boss 63 (see FIG. 8) of the stud 46 is loosely fitted, and insertion holes 61a and 61b into which the screws 53a and 53b are inserted. . The leaf spring 49 side of the bearing hole 60 is a chamfered portion 62 that is chamfered in a substantially square shape. The insertion holes 61a and 61b are oblong holes that expand in the yaw axis direction to allow rotation of the holding plate 45 around the roll axis.

  As shown in FIG. 8, a boss 63 having substantially the same outer diameter as the bearing hole 60 is formed at the tip of the stud 46. The boss 63 is formed so that its height is slightly higher than the thickness of the holding plate 45. As a result, the pitch of the holding plate 45 and the clearance allowing rotation around the yaw axis are ensured.

  The stud 46 is in contact with the chamfered portion 62 of the bearing hole 60 at two locations of the boss 63 by the bias of the leaf spring 49 in a state where the holding plate 45 is attached to the studs 46, 47a, 47b with screws 52, 53a, 53b. The holding plate 45 is pivotally supported as a rotation center around the pitch, yaw and roll axes.

  The stud 46 is formed so that its height including the boss 63 is the same as the height of the holding plate 40 of the fixing portion 21 a fixed on the stud 41. That is, in the state shown in FIG. 8 in which the holding plate 45 is attached to the stud 46 by the screw 52, the holding plate 45 is at least at the bearing hole 60 portion and the height matches the holding plate 40 of the fixed portion 21a. The adjusting unit 21b adjusts the rotational position around the pitch, yaw, and roll axis of the second imaging unit 12b with the bearing hole 60 as a reference.

  As shown in FIG. 9, the studs 47 a and 47 b are formed so that the height thereof is slightly lower than the height excluding the boss 63 of the stud 46. As a result, the adjustment margin for allowing the pitch of the holding plate 45 and the rotation around the yaw axis is secured.

  The L plate 54 has an insertion hole 64 through which the screw 56 is inserted. A screw hole 65 into which a screw 56 is screwed is formed on the side surface of the holding plate 45 with which the tip of the plate spring 49 abuts.

  When the screws 53a and 53b are turned with the holding plates 45 being attached to the studs 46, 47a and 47b with the screws 52, 53a, 53b and 56, the biasing force of the coil springs 48b and 48c causes the boss 63 to be a fulcrum. The portion that contacts the screws 53a and 53b moves in the roll axis direction. As a result, the pitch of the second imaging unit 12b fixed to the holding plate 45 and the rotational position around the yaw axis can be adjusted.

  When the screw 56 is turned in the above state, the portion of the holding plate 45 that contacts the screw 56 moves in the yaw axis direction by the urging force of the leaf spring 49 with the boss 63 as a fulcrum. As a result, the rotational position of the second imaging unit 12b fixed to the holding plate 45 around the roll axis can be adjusted. The holding plate 45, the stud 46, the coil springs 48b and 48c, the plate spring 49, and the screws 52, 53a, 53b, and 56 constitute an adjustment mechanism. The stud 46 is a shaft support member, and the coil springs 48b and 48c and the plate spring 49 are The biasing member and the screws 53a, 53b, and 56 are adjusting members.

  Next, a procedure for attaching the stereo camera 2 having the above configuration to an attachment location will be described. First, the first imaging unit 12 a is fixed to the holding plate 40 with the screw 43, and the holding plate 40 is fixed onto the stud 41 with the screw 44.

  Next, the second imaging unit 12 b is fixed to the holding plate 45 with the screw 51, and the boss 63 of the stud 46 is loosely fitted into the bearing hole 60 of the holding plate 45, and then the holding plate 45 is attached to the stud 46 with the screw 52. Further, the screws 53a and 53b are inserted into the insertion holes 61a and 61b, and the holding plate 45 is attached to the studs 47a and 47b. Further, the screw 56 is inserted into the insertion hole 64 and the screw 56 is screwed into the screw hole 65. At this time, the screw 52 is tightened to the screw hole of the stud 46 until the screw head hits the boss 63. The other screws 53a, 53b, 56 are temporarily fixed in their respective screw holes.

  Next, using the inspection jig, while observing the images taken by the first and second imaging units 12a and 12b, the image taken by the first imaging unit 12a and the second imaging unit 12b are taken. The rotation position about the pitch, yaw, and roll axis of the second imaging unit 12b is adjusted so that the obtained image matches with the exception of the parallax.

  Adjustment of the pitch of the second imaging unit 12b and the rotational position around the yaw axis is performed by turning the screws 53a and 53b. When the screws 53a and 53b are turned, the second imaging unit 12b fixed to the holding plate 45 is rotated about the pitch and yaw axes around the boss 63 by the urging force of the coil springs 48b and 48c.

  The rotation position of the second imaging unit 12b around the roll axis is adjusted by turning the screw 56. When the screw 56 is turned, the second imaging unit 12 b fixed to the holding plate 45 is rotated around the roll axis about the boss 63 by the urging force of the leaf spring 49.

  After adjusting the pitch, yaw, and rotational position around the roll axis of the second imaging unit 12b, the hole 35 of the trunk 21c is inserted into the boss 34 of the rear cover 10b, and the leaf spring 33 is attached to the boss 34 with the screw 31, The stay 21 is attached to the leaf spring 33 with the screw 32.

  After the stay 21 is attached to the rear cover 10b via the leaf spring 33, the circuit board 22 and the CCDs 27a and 27b are electrically connected by the wiring members 30a and 30b, and the circuit board 22 is placed on the stud 28 by the screw 29. Fasten and fix. Next, the front cover 10a is put on the rear cover 10b to cover the main body base 20 with both covers 10a and 10b, and both the covers 10a and 10b are assembled with screws.

  After assembling both covers 10a and 10b, the screws are inserted into the insertion holes 17, 18a and 18b, and the stereo camera 2 is attached to the attachment location. Then, while observing the images captured by the first and second imaging units 12a and 12b again, the stereo camera 2 itself is moved by the amount of play in the insertion holes 18a and 18b with the screw inserted in the insertion hole 17 as an axis. Rotate around the roll axis to adjust the rotational position of the stereo camera 2 itself around the roll axis.

  Next, the screws 15a and 15b are turned to rotate the fixing portion 21a and the adjusting portion 21b around the pitch and the yaw axis with the stud 23 as a fulcrum, thereby adjusting the pitch of the stay 21 and the rotational position around the yaw axis.

  As described above, the first imaging unit 12a is fixed to the fixing unit 21a, and the screws 53a, 53b, and 56 are turned around the boss 63 as a rotation center, so that the second imaging unit 12b can be rotated around the pitch, yaw, and roll axes. Since the rotational position is adjusted, the position adjustment of the two imaging units can be performed with high accuracy with a simple configuration.

  Further, since the stay 21 is attached to the rear cover 10b via the leaf spring 33, when the covers 10a and 10b are assembled or the stereo camera 2 is attached, the covers 10a and 10b are distorted or bent. The positions of the first and second imaging units 12a and 12b are not displaced, and the positions of the first and second imaging units 12a and 12b are adjusted after the covers 10a and 10b are assembled or after the stereo camera 2 is installed. There is no need to do it again.

  Further, since the circuit board 22 is fixed to the rear cover 10b and the circuit board 22 and the CCDs 27a and 27b are electrically connected by the flexible wiring members 30a and 30b, the stay 21 is displaced. The electrical connection between the circuit board 22 and the CCDs 27a and 27b is not cut off.

  Furthermore, the rotation positions of the stereo camera 2 itself around the roll axis can be adjusted by the insertion holes 17, 18a, 18b, and the screws 15a, 15b exposed from the front cover 10a through the openings 14a, 14b are turned. Even after the stereo camera 2 is attached, the pitch of the stay 21 and the rotational position around the yaw axis can be adjusted, so that the position adjustment after the stereo camera 2 is attached can be easily performed.

  In the above embodiment, the stay 21 is attached to the rear cover 10b via the leaf spring 33. However, the stay 21 may be formed of an elastic body, and the stay 21 itself may have the same effect as the leaf spring 33. Good. Further, like the stay 70 shown in FIG. 10, a hole 71 may be formed in the central portion of the trunk portion 70 c to partially impart elasticity to the trunk portion 70 c. As a result, the leaf spring 33 becomes unnecessary, and the number of parts can be reduced.

It is an external appearance perspective view of the stereo camera to which this invention is applied. It is an external appearance perspective view of a front cover and a main part base in the state where a back cover was removed. It is an external appearance top view of a main part base in the state where a front cover was removed. It is sectional drawing of a rear cover and a main body base. It is sectional drawing of a rear cover and a main body base. It is an external appearance perspective view which shows the state which attached the 1st, 2nd imaging part to the stay. It is an external appearance top view of a holding plate. It is a fragmentary sectional view of an adjustment part. It is a fragmentary sectional view of an adjustment part. It is an external appearance top view which shows another embodiment of a stay.

Explanation of symbols

2 Stereo camera 10a, 10b Front cover, rear cover 12a, 12b First and second imaging parts 13a, 13b Imaging lens 15a, 15b Screw 17, 18a, 18b Insertion hole 20 Main body base 21, 70 Stay 21a Fixing part 21b Adjustment part 21c Core 22 Circuit board 23, 25a, 25b Stud 24, 26a, 26b Tongue 27a, 27b CCD
30a, 30b Wiring member 33 Leaf spring 45 Holding plate 46, 47a, 47b Stud 48a-48c Coil spring 49 Leaf spring 52, 53a, 53b, 56 Screw 60 Bearing hole 61a, 61b Insertion hole 62 Chamfered portion 63 Boss 71 Hole

Claims (9)

In a stereo camera in which a stay in which first and second imaging units having an imaging lens and an imaging element are arranged with a predetermined interval is covered with a cover.
The stay includes a fixing unit to which the first imaging unit is fixed;
An adjusting unit to which the second imaging unit is attached and provided with an adjustment mechanism for adjusting a rotational position around the pitch, yaw, and roll axis of the second imaging unit;
A stereo camera comprising: a base portion that integrally connects the fixing portion and the adjustment portion with the predetermined interval therebetween. The adjustment mechanism includes a holding plate to which the second imaging unit is fixed,
A shaft support member that supports a part of the holding plate as a rotation center around the pitch, yaw, and roll axis of the second imaging unit;
A biasing member that applies a rotational force in a direction around the pitch, yaw, and roll axis of the second imaging unit to the holding plate;
The stereo camera according to claim 1, further comprising an adjustment member that adjusts a displacement amount around the pitch, yaw, and roll axis of the second imaging unit.   The stereo camera according to claim 1, wherein the stay is attached to the cover via an elastic member.   The stereo camera according to claim 1, wherein the stay is formed of an elastic body.   The stereo camera according to claim 1, wherein a hole for imparting elasticity is provided in a central portion of the trunk portion. While fixing to the cover a circuit board on which a signal processing circuit that performs various signal processing on the imaging signal output from the imaging element is mounted,
The stereo camera according to claim 1, wherein the circuit board and the image pickup device are electrically connected by a flexible wiring member. While providing a cover adjustment mechanism for adjusting the rotational position of the cover around the roll axis,
A stay adjusting member for adjusting the stay pitch and the amount of displacement about the yaw axis; and a stay adjusting mechanism for adjusting the rotational position of the stay pitch and the yaw axis;
The stereo camera according to claim 1, wherein the stay adjustment member is exposed to the outside from the cover. A stereo camera stay in which first and second imaging units having an imaging lens and an imaging element are disposed at a predetermined interval,
A fixing unit to which the first imaging unit is fixed;
An adjustment unit provided with an adjustment mechanism to which the second imaging unit is attached and which adjusts the rotational position around the pitch, yaw, and roll axis of the second imaging unit;
A stereo camera stay comprising: a base portion that integrally connects the fixing portion and the adjustment portion with the predetermined interval therebetween. The adjustment mechanism includes a holding plate to which the second imaging unit is fixed,
A shaft support member that supports a part of the holding plate as a rotation center around the pitch, yaw, and roll axis of the second imaging unit;
A biasing member that applies a rotational force in a direction around the pitch, yaw, and roll axis of the second imaging unit to the holding plate;
The stereo camera stay according to claim 8, further comprising: an adjustment member that adjusts a displacement amount around the pitch, yaw, and roll axis of the second imaging unit.

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