JP2016017993A - Imaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a more lighter and compact imaging device even when the imaging device has a gimbal support device.SOLUTION: The imaging device includes: a camera imaging part (3) having an imaging element (2) and a driver (3f) for driving the imaging element; a camera main body (4) separate from the camera imaging part (3) having a signal processing part (4d) for processing an image signal output from the imaging element (2); and a gimbal support device (21) having a gimbal mechanism (JK) for supporting only the camera imaging part (3) between the camera imaging part (3) and the camera main body part (4) by the gimbal mechanism (JK).SELECTED DRAWING: Figure 1

Description

  The present invention relates to an imaging apparatus, and more particularly, to an imaging apparatus including a gimbal apparatus that facilitates stabilization of the posture of a camera unit having an imaging element.

When shooting while moving the imaging device, or aerial shooting with the imaging device mounted on an unmanned helicopter or airplane, the imaging device is supported in a highly stable manner so that its posture does not change suddenly in order to suppress visual axis shake. There is a need to.
An existing video camera or the like is used as an imaging apparatus used for such shooting. Therefore, in order to stabilize the posture, it is common to use a support device (hereinafter simply referred to as a gimbal support device) having a general-purpose gimbal mechanism to which various video cameras and the like can be attached.

  By supporting the imaging device with the gimbal support device, the posture can be easily stabilized, and a high-quality image with suppressed visual axis shake can be obtained. An example of a gimbal support device is described in Patent Document 1 as a camera stabilizer.

JP 2009-210709 A

By the way, in recent years, with the spread of small helicopters (multi-rotor helicopters) equipped with a plurality of rotors and capable of radio control, aerial photography using the multi-rotor helicopters is becoming common.
However, when an existing video camera or the like is used for the image pickup apparatus, the mass and the size are relatively large. Therefore, it is necessary to use a gimbal support apparatus that supports the image camera to a certain extent and is large. For this reason, the entire apparatus is increased in mass.
Therefore, aerial shooting with a multi-rotor helicopter with a small mountable mass must take into account mass and size restrictions in selecting an imaging device and a gimbal support device combined therewith, and is not always easy. It is.
Further, in the future, as the image quality of the imaging apparatus becomes higher (for example, 4k and the size of the imaging device increase), the selection work is expected to become more difficult.

As described above, the imaging device including the gimbal support device is desired to be as light and compact as possible for facilitating the selection work.
Moreover, not only aerial shooting, but also an imaging device equipped with a gimbal support device should be as light and compact as possible in order to reduce the burden on the photographer when holding the device in hand to perform mobile shooting. desired.

  Therefore, a problem to be solved by the present invention is to provide a lighter and more compact imaging device even if it is provided with a gimbal support device.

In order to solve the above problems, the present invention has the following configuration 1).
1) a camera imaging unit (3) having an imaging device (2) and a driver (3f) for driving the imaging device (2);
A camera body (4) separate from the camera imaging unit (3) having a signal processing unit (4d) for processing an image signal output from the imaging element (2),
A gimbal support device having a gimbal mechanism (JK) and supporting only the camera imaging unit (3) of the camera imaging unit (3) and the camera body unit (4) by the gimbal mechanism (JK) ( 21) and
This is an imaging device (51).

  According to the present invention, there is an effect that even if a gimbal support device is provided, it is lighter and more compact.

It is a perspective view for demonstrating the imaging device 51 which is an Example of the imaging device which concerns on embodiment of this invention. 4 is a perspective view for explaining a camera imaging unit 3 and a gimbal support device 21 in the imaging device 51. FIG. It is a front view for demonstrating the camera imaging part 3 and the gimbal support apparatus 21. FIG. It is a left view for demonstrating the camera imaging part 3 and the gimbal support apparatus 21. FIG. 4 is a schematic cross-sectional view for explaining an upper part of the imaging device 51. FIG. FIG. 11 is a block diagram for explaining a configuration of an imaging apparatus 51.

  An image pickup apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6 using an image pickup apparatus 51 which is a preferred embodiment.

FIG. 1 is a perspective view of an overall configuration in which the handle portion 31 is attached to the imaging device 51 and is in a hand-held state, as viewed from the left rear and slightly obliquely above.
The imaging device 51 includes a camera imaging unit 3 that includes the imaging device 2 and an element driver 3f (see FIG. 6) that drives the imaging device 2, a gimbal support device 21 that supports the camera imaging unit 3 with a gimbal mechanism, and a gimbal support device 21. The camera main body part 4 attached to the upper side of the camera and the main body support part 11 to which it is attached.
A plurality of types of lenses can be attached to the camera imaging unit 3 in a replaceable manner by a lens mount 3a described later. 1 to 4 show a state in which a single-focus lens 1 capable of external control of iris and focus is mounted, for example.
When the imaging device 51 is in a hand-held mode, as shown in FIG. 1, a handle portion 31 formed by combining a plurality of pipe-like members is attached above the main body support portion 11.

2 to 4 are diagrams illustrating the camera imaging unit 3 and the gimbal support device 21 in which the camera main body unit 4 and the main body support unit 11 are removed from the imaging device 51.
2 is a perspective view seen from diagonally above the left front, FIG. 3 is a front view, and FIG. 4 is a left side view.
1-4, the basic attitude | position of the camera imaging part 3 and the gimbal support apparatus 21 which supports it is shown.
This basic attitude is such that the optical axis CL of the lens 1 coincides with a rotation axis Cb (described later) and extends horizontally in the front-rear direction, and the rotation axis Cc (described later) intersects with the rotation axis Cb and extends in the vertical direction. It is.
Also, the front, rear, left and right directions are defined by arrows in each figure. In the basic posture of the imaging device 51, the top and bottom correspond to the top and bottom direction, the front corresponds to the subject side direction, and the left corresponds to the left when the subject is viewed from the camera imaging unit 3.

  FIG. 5 is a schematic cross-sectional view in which the upper part in the basic posture of the imaging device 51 with the handle portion 31 attached is cut by a plane slightly parallel to the right side with respect to the vertical plane including the optical axis CL. is there.

The camera imaging unit 3 includes a lens 1, an imaging device 2 such as a CMOS or a CCD that converts an image formed by the lens 1 into an electric signal, and a lens mount 3a for housing the imaging device 2 and detachably attaching the lens 1. And a housing 3b provided with.
A tally lamp 3c that is lit during photographing is provided on the front surface of the housing 3b.
The lens mount 3a is a common mount to which another lens compatible with the lens 1 can be attached in a replaceable manner.
A relay cable 41 (see FIGS. 3, 4, and 6) is provided from the rear surface side of the housing 3 b for electrical connection with a camera body 4 (to be described later) to exchange signals. .

  The gimbal support device 21 includes a gimbal mechanism JK that includes the imaging unit bracket 6 and the support frame 7 and motors Ma, Mb, and Mc.

The camera imaging unit 3 is attached with a rectangular frame-shaped bracket 3d that surrounds the left, right, upper, and lower sides of the housing 3b.
Plate portions 5 are respectively arranged on the left and right sides of the bracket 3d.
The plate portion 5 includes a plate 5a extending in a flat plate shape in the up / down and front / rear directions, and a guide column 5b extending in the up / down direction provided to protrude from the plate 5a toward the housing 3b.
The bracket 3d is provided with a guide arm 3e (FIG. 3) that engages with the guide column 5b so as to be movable up and down. The guide arm 3e can be fixed at an arbitrary position in the vertical direction by tightening the set screw 3e1 with respect to the guide column 5b.

The plate portion 5, the bracket 3d, and the housing 3b are integrated, and a U-shaped imaging portion bracket 6 is disposed so as to cover the left and right side surfaces and the rear surface thereof.
The outer surface side of the plate 5a of the plate portion 5 is supported so as to be rotatable about the rotation axis Ca (arrow Ra) extending in the left-right direction with respect to the imaging unit bracket 6.

A motor Ma is attached to the right part of the imaging unit bracket 6, and the rotation axis Ma <b> 1 of the motor Ma is aligned with the rotation axis Ca.
Accordingly, when the motor Ma is driven, the camera imaging unit 3 rotates about the rotation axis Ca together with the plate unit 5 and the bracket 3d in a rotation direction corresponding to the rotation direction. .
With this rotation, the optical axis CL rotates in the direction of the arrow RLa in FIG. 1 around the rotation axis Ca.

The gimbal support device 21 has a support frame 7 extending in the vertical direction. A motor Mb is attached to the lower part of the support frame 7.
A rear portion 6a of the U-shaped imaging unit bracket 6 is connected to the output shaft of the motor Mb.
Thus, when the motor Mb is driven, the imaging unit bracket 6 and the camera imaging unit 3 supported by the imaging unit bracket 6 and the camera imaging unit 3 supported by the imaging unit bracket 6 in a rotational direction corresponding to the rotational direction are rotational axes that are axes of the output shaft of the motor Mb. It rotates around Cb (arrow Rb).
By this rotation, the image captured by the camera imaging unit 3 rotates around the optical axis CL (arrow RLb) as shown in FIG.

The upper end portion of the support frame 7 is connected to the output shaft of the motor Mc that rotates about the rotation axis Cc extending in the vertical direction.
Thus, when the motor Mc is driven, the support frame 7, the imaging unit bracket 6 connected to the support frame 7, and the imaging unit bracket 6 are connected to the imaging unit bracket 6 via the plate unit 5 in a rotation direction corresponding to the rotation direction. The supported camera imaging unit 3 rotates about the rotation axis Cc (arrow Rc).
By this rotation, the optical axis CL rotates in the direction of the arrow RLc in FIG. 1 around the rotation axis Cc.

The motor Mc is fixed to a base portion 8 disposed on the upper side.
The base portion 8 is formed in a rectangular plate shape, and a bar 9 extending in the front-rear direction is attached to each of the left and right side surfaces.
A plurality of connecting brackets 10 for connecting to other members are attached to the bar 9.

As shown in FIGS. 1 and 5, the connection bracket 10 is attached with a body support portion 11 that supports the camera body portion 4.
The main body support portion 11 is formed in a thin flat box shape with the rear side being opened and closed. This shape generally corresponds to the outer shape of the camera body 4.
The camera body 4 is mounted inside the body support 11 so that it can be inserted and removed from the rear side. The camera body 4 is fastened to the body support 11 by set screws N4 on both left and right ends. A battery BA is detachably attached to the front portion of the camera body 4 as shown in FIG.
Further, the top plate portion 11a of the main body support portion 11 is provided with a connecting portion 11a1 having a female screw, a small bracket or the like for attaching to another member.

As described above, the imaging device 51 includes the camera imaging unit 3, the gimbal support device 21, the camera body unit 4, and the body support unit 11.
In addition, the gimbal support device 21 is located below the main body support portion 11 that supports the camera main body portion 4 in the use state of the imaging device 51.
When the imaging device 51 is used for aerial photography, the imaging device 51 is attached to a member on the helicopter side via the connecting portion 11a1 of the top plate portion 11a.
Further, when hand-held shooting is performed with the imaging device 51, as shown in FIG. 1, the handle portion 31 is attached via the connecting portion 11a1 of the top plate portion 11a.
The handle portion 31 is a gripping tool that is provided with a pair of grip bars 31a that are gripped by hand, and in which a plurality of pipe members are combined so that their assembly positions can be adjusted.

The gimbal support device 21 can adjust the spatial position of the camera imaging unit 3 attached thereto within a predetermined range in the vertical direction, the front-rear direction, and the left-right direction.
Among the adjustments, the vertical adjustment is performed by adjusting the position of the guide arm 3e with respect to the guide column 5b as described above. This adjustment is referred to as camera tilt centroid adjustment (part 1).

About the adjustment in the front-rear direction, it can be adjusted in two places.
Specifically, as shown in FIG. 4, first, the position of a set screw N1 that is inserted through a long hole 5a1 provided in the plate 5a and extending in the front-rear direction to fasten the plate 5a and the guide column 5b is adjusted. Is possible. This adjustment is referred to as camera tilt gravity center adjustment (part 2).
Further, it is possible by adjusting the position of a set screw N2 that is inserted into a long hole 7a1 provided in the side plate 7a of the support frame 7 and extends in the front-rear direction and fastens the side plate 7a and the output shaft side member of the motor Mc. is there. This adjustment is referred to as gimbal pan adjustment.

  Regarding the adjustment in the left-right direction, as shown in FIG. 2, the rear portion 6 a and the output shaft side member of the motor Mb are inserted through a long hole 6 a 1 extending in the left-right direction provided in the rear portion 6 a of the imaging unit bracket 6. This is possible by adjusting the position of the set screw N3 to be fastened. This adjustment is referred to as camera roll center of gravity adjustment.

Next, the electrical system configuration of the imaging device 51 will be described with reference to FIG. 6 which is a block diagram. The electrical system configuration of the imaging device 51 is not limited to this, and can be modified as appropriate.
In the imaging device 51, a portion corresponding to a conventional so-called video camera is not integrated, but is divided into a plurality of separate bodies. In this example, it is divided into a camera imaging unit 3 and a camera body unit 4.

As shown in FIG. 6, the camera imaging unit 3 includes an image sensor 2 and an element driver 3 f for driving the image sensor 2. The element driver 3f is configured in a minimum unit that can be divided.
The tally lamp 3c is connected to the element driver 3f, for example, and is lit by an instruction from the camera body 4 side.
The optical image by the lens 1 is converted into an image signal by the image sensor 2, and the image signal is subjected to preprocessing such as amplification by the element driver 3 f and then output to the camera body 4 via the relay cable 41. The

The camera body 4 is formed in a thin, rectangular parallelepiped shape, and includes a control unit CT, a camera controller 4b, a storage unit MR, a gimbal controller 4c, a signal processing unit 4d, an image transmission unit 4e, and a power supply unit 4f. Contained.
The control unit CT controls the overall operation of the imaging device 51.
The camera controller 4b sends out signals for adjusting the operation of the image sensor 2 and the iris and focus of the lens 1. Also, a lighting instruction is issued to the tally lamp 3c.
The gimbal controller 4c issues an operation instruction to the motors Ma, Mb, and Mc under the control of the control unit CT. In addition, feedback information regarding rotation that has entered from the motors Ma, Mb, Mc is sent to the control unit CT.
The signal processing unit 4d performs desired processing on the image signal input from the camera imaging unit 3 under the control of the control unit CT.
The storage unit MR is a built-in memory, and stores images and photographing information under the control of the control unit CT. Further, the socket PT1 that allows the external storage unit MR2 such as a memory card to be freely attached and detached is provided so that the same processing can be performed on the mounted external storage unit MR2.
The storage unit MR and the external storage unit MR2 reproduce and output recorded images and photographing information in response to a request from the control unit CT.
The image transmission unit 4e controls the reproduced image from the storage unit MR or the external storage unit MR2, the captured information, or the image processed by the signal processing unit 4d from the port PT2 to the external device D or the like under the control of the control unit CT. Output.
The power supply unit 4f receives power from the detachably mounted battery BA from the port PT3 and supplies the power to the entire imaging device 51 including the camera imaging unit 3, and monitors the remaining power of the battery BA. The quantity information is sent to the control unit CT.

Further, an operation instruction from the external device D comes from the port PT4. This operation instruction includes, for example, operations of the focus and iris of the lens 1, operations of the motors Ma, Mb, and Mc for controlling the direction of the optical axis CL serving as the visual axis of the captured image, This is an instruction related to image processing of an image.
The control unit CT controls the operation of the imaging device 51 according to the external operation instruction.

The ports PT2 and PT4 are connected to an external cable 43 that is connected to the outside. For example, in the case of aerial shooting using a helicopter, the external cable 43 is connected to a wireless communication unit mounted on the helicopter, and signals are transmitted and received wirelessly to the control device (external device D) on the pilot side via the wireless communication unit. Is done.
In the case of hand-held shooting by the photographer, the camera is connected to a control device (external device D) on the photographer side, and signals are exchanged by wire. Of course, in this case as well, data may be exchanged wirelessly via a wireless communication device.

The operation panel 4g on the rear side of the camera body 4 is used to output signals to an operation system (buttons and switches) for operation by the user, a socket PT1 for mounting the external storage unit MR2, and an external device. The cable socket is arranged.
A socket group for connecting the relay cable 41 from the camera imaging unit 3 and the connection cables 42a to 42c from the motors Ma, Mb, and Mc is provided on a surface other than the rear surface (operation panel 4g) of the camera body unit 4.

The relay cable 41 from the camera imaging unit 3 and the connection cables 42a and 42b (see FIG. 4) from the motors Ma and Mb are rotated around the rotation axes Ca to Cc so that the position of the center of gravity G affects the gimbal operation. Lighter lines are selected and routed so that they do not change as much as they do.
For example, if the motor Mb is a hollow motor and the relay cable 41 connecting the camera imaging unit 3 and the camera body 4 is inserted into the hollow shaft portion, the center of gravity movement due to the rotation about the rotation axis Cb is substantially reduced. Therefore, it is preferable.

When the imaging device 51 is used, the rotational axis Ca, the rotational axis Cb, and the rotational axis Cc are crossed at one point by adjusting the spatial position of the camera imaging unit 3 described above, and the motor Mc The position of the center of gravity G of all the members rotated at is made to coincide.
Thereby, even if the camera imaging unit 3 and the gimbal support device 21 are rotated about the respective rotation axes Ca, Cb, Cc, the position of the center of gravity G does not move, and a smooth rotation is realized with an extremely low load.

For the posture of the camera imaging unit 3, for example, a posture sensor (not shown) is provided integrally with the camera imaging unit 3, and the control unit CT determines the posture of the camera imaging unit 3 based on a detection signal from the posture sensor. And the motors Ma to Mc are controlled so that the posture becomes a desired posture. The desired posture is stored in advance in the storage unit MR or the external storage unit MR2, and is obtained by referring to the control unit CT, or is instructed to the control unit CT from the user side via the external device D. To.
By using the gimbal support device 21 and adjusting the position of the center of gravity G described above, the rotation of the camera imaging unit 3 can be performed with an extremely low load. Therefore, the attitude control of the camera imaging unit 3 can be executed with high accuracy and high speed.

The imaging device 51 and the handle part 31 are made of a material that is lightweight and can ensure a certain degree of rigidity. In particular, it is desired that the member of the portion rotated by the motor Mc is lighter. Specifically, the members are a housing 3b, a plate 5a, a guide post 5b, an imaging unit bracket 6, and a support frame 7.
A preferred material is a fiber reinforced resin, and a carbon fiber reinforced resin is more preferred.

  In the imaging device 51 described in detail above, a part corresponding to a conventional video camera is divided into a camera imaging unit 3 and a camera body unit 4, and the camera imaging unit 3 other than the lens has a minimum configuration (imaging element). 2 and element driver 3f only) to reduce weight and size. In particular, since the battery BA serving as a power source is excluded from the movable system (a group of members rotated by the motor Mc) of the gimbal support device 21 and disposed outside the movable system, the camera imaging unit 3 is significantly reduced in weight. Is done.

  Accordingly, regarding the weight reduction, the gimbal support device 21 that supports the camera imaging unit 3 can be formed to be compact and lightweight because it has a lower rigidity than the conventional one.

Further, regarding the downsizing, the depth dimension La in the front-rear direction of the housing 3b is extremely short, as is apparent from FIG.
Thereby, the backward protrusion distance Lb with respect to the rotation axis Cc in the column frame 7 of the gimbal support device 21 shown in FIG. 4 can be made shorter than before.
Therefore, the external appearance of the imaging device 51 becomes more compact.
In addition, since the depth dimension La is extremely short, a wider range of camera tilt centroid adjustment by the set screw N1 can be secured.
As a result, it is possible to exchange and attach a long focal length lens that is longer than the conventional one as an interchangeable lens. For this reason, the shooting area is expanded, and a wider video expression is possible.

  Since the gimbal support device 21 is light and compact, the mass of the entire imaging device 51 is reduced accordingly. Therefore, the burden on the photographer when photographing the imaging device 51 by hand is reduced.

The embodiments of the present invention are not limited to the above-described configuration, and modifications may be made without departing from the spirit of the present invention.
The shooting application of the imaging apparatus 51 is not limited to the above-described aerial shooting or handheld shooting.
The camera imaging unit 3 and the camera body unit 4 are not limited to those connected by a wired relay cable 41. Both may be provided with wireless communication means so as to communicate wirelessly.
In this case, the camera imaging unit 3 needs to be provided with a battery and a power supply circuit that are independent of each other, and the mass increases. Therefore, the camera imaging unit 3 is connected by wire using the relay cable 41 as in the embodiment. Preferably, power is supplied from the camera body 4 side through the relay cable 41.

DESCRIPTION OF SYMBOLS 1 Lens 2 Image pick-up element 3 Camera image pick-up part 3a Lens mount, 3b Case, 3c Tally lamp 3d Bracket, 3e Guide arm, 3e1 Set screw 3f Element driver 4 Camera body part 4b Camera controller, 4c Gimbal controller 4d Signal processing part, 4e Image transmission part, 4f Power supply part 4g Operation panel 5 Plate part 5a Plate, 5a1 long hole, 5b Guide pillar 6 Imaging part bracket 6a Rear part, 6a1 Long hole 7 Column frame 7a Side plate, 7a1 Long hole 8 Base part 9 Bar 10 Connecting bracket DESCRIPTION OF SYMBOLS 11 Main body support part 11a Top plate part, 11a1 Connection part 21 Gimbal support apparatus 31 Handle part, 31a Grip bar 41 Relay cable, 42a-42c Connection cable 43 External cable 51 Imaging apparatus BA Battery Ca, Cb, Cc Rotation axis CL optical axis CT control unit D external device G center of gravity Ma, Mb, Mc motor, Ma1 rotation axis MR storage unit, MR2 external storage unit La depth dimension, Lb backward projection distance N1 to N4 set screw PT1 socket, PT2, PT3 PT4 port

Claims (5)

A camera imaging unit having an imaging element and a driver for driving the imaging element;
A signal processing unit that processes an image signal output from the imaging device, and a camera body unit separate from the camera imaging unit;
A gimbal support device that has a gimbal mechanism and supports only the camera imaging unit of the camera imaging unit and the camera body unit by the gimbal mechanism;
An imaging apparatus comprising: A cable for electrically connecting the camera imaging unit and the camera body unit;
The imaging apparatus according to claim 1, wherein power for driving the camera imaging unit is supplied from the camera body side through the cable.   The gimbal mechanism includes a motor that rotates the camera imaging unit around an optical axis, and the motor is a hollow motor having a hollow shaft, and the cable is inserted through the hollow shaft. The imaging apparatus according to claim 2.   The imaging apparatus according to claim 1, wherein the camera imaging unit includes a lens mount that allows a plurality of types of lenses to be exchangeably mounted. A main body support for supporting the camera main body;
5. The imaging apparatus according to claim 1, wherein the gimbal support device is positioned on a lower side with respect to the main body support portion in a use state.

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