JP2004170619A - Photographing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a photographing device for measuring optical anisotropy capable of obtaining the actual image of a sample in each condition, while combining such conditions as normal vector of a reflection surface of the sample, orientation of the sample, phtographing angle of a camera, and illuminating direction of lighting. <P>SOLUTION: The photographing device 1 comprises, on a base 2, a stage part 5 for placing a sample 3 to be measured for optical anisotropy, a camera part 7 for supporting a camera 6 with the photographing direction made variable, and a lighting part 9 for holding a lighting 8 with the illuminating direction made variable. The stage part 5 is such that, on a stage supporting arm 11 integrated with the vertical main shaft 10 of the base 2, a horizontal stage supporting shaft 12 is rotatably held at right angles to the main shaft 10 while a stage 4 is held rotatably around the vertical line on the stage holding ring 13 of the stage supporting shaft 12, and that the stage supporting shaft 12 is driven by a motor 15 for setting a stage inclination angle while the stage 4 is driven by a motor 14 for setting a stage rotary angle. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention captures a sample while changing the orientation of the sample, the direction of illumination, and the shooting direction of the camera in order to obtain measurement data of the optical anisotropy of the sample to be measured, for example, a sample of cloth, synthetic leather, or the like. Device. Note that the optical anisotropy refers to a property of changing the appearance due to reflected light or transmitted light depending on how light hits the surface of the measurement object.
[0002]
[Prior art]
For example, when a flexible object such as cloth or synthetic leather is represented by computer graphics (CG), measurement data of optical anisotropy is important. For example, when a virtual fashion show is produced by 3D (three-dimensional) CG, in the conventional CG representation, information on the shape of a wrinkle of a cloth of clothes or a scarf fluttering in the wind is quite realistic (close to reality). Modeling is possible, but if this is used to generate a colored / shaded image using a rendering technique, it will be uniquely determined by the angle of the surface (reflection, color, light source angle, camera angle) of the target (fabric or scarf) This gives the viewer of the CG a soft image feeling, that is, the impression of the texture of the flat, plastic-like rigid surface.
[0003]
In the real world, the above-mentioned feeling is affected by the weave of the cloth, that is, the thickness and the weaving density of the warp and the weft, and the material of the yarn. Is completely different depending on the direction.
[0004]
In the new CG representation of cloth, etc., in order to solve the above problems, (1) the angle of the camera, (2) the normal vector of the reflection surface such as cloth, (3) the angle of incidence on the camera, (4) Rendering is performed while simulating the direction of a viewpoint (line of sight) and the direction of light rays by a technique such as a ray tracing method from optical data such as reflectance, color, and transmittance for each material such as cloth. However, even with this new CG expression, a high level of skill is required in the selection of optical data such as reflectance, color, and transmittance for each material, and in the execution of ray tracing and other techniques based on this. Therefore, it is difficult to generate a realistic image.
[0005]
Therefore, in recent CG technology, a partial real image such as a cloth is acquired in advance under all shooting conditions, and a partial real image of the shooting condition corresponding to the image to be rendered is pasted. Thus, an image that is close to reality is generated.
[0006]
[Problems to be solved by the invention]
With the recent spread of the CG technology, it is necessary that the photographing of a sample such as a cloth can be performed efficiently and easily under all photographing conditions without requiring a high level of skill.
[0007]
Therefore, an object of the present invention is to combine the normal vector of the reflective surface of the sample, the direction of the sample, the photographing angle of the camera, and the irradiation direction of the illumination in order to perform the above CG expression, It is an object of the present invention to obtain a photographing device for measuring optical anisotropy, which can easily obtain a real image of the image.
[0008]
[Means for Solving the Problems]
With the above object, the present invention provides a stage section (5) having a stage (4) on which a sample (3) to be measured for optical anisotropy is placed, on a machine base (2); ), The camera section (7) supporting the camera (6) with a variable shooting direction, and the center (a) of the stage (4) with a variable illumination direction for the illumination (8). ) Constitute an imaging device (1) with the illumination unit (9) supporting the imaging device (1).
[0009]
In particular, the stage section (5) has a stage support arm (11) fixed to a vertical main shaft (10) of the machine base (2), and a horizontal stage support shaft (12) to the stage support arm (11). The center line (b) of the stage support shaft (12) and the center line (A) of the main shaft (10) are orthogonally supported so as to be rotatable, and a stage holding ring (13) is mounted on the stage support shaft (12). The center (a1) of the holding ring (13) is aligned with the center line (A) of the main shaft (10), and the annular stage (4) is attached to the stage holding ring (13) perpendicular to the stage holding ring (13). The motor (15) for setting the stage tilt angle is connected to the stage support shaft (12), and the motor (14) for setting the stage rotation angle is connected to the stage (4). Composed That.
[0010]
The camera section (7) has a horizontal camera support bracket (16) fixed to the main shaft (10) and a horizontal camera arm directed to the center (a) of the stage (4) on the camera support bracket (16). The camera arm (18) is rotatably mounted on the axis (17), and the tip of the camera arm (18) is directed at the center (a) of the stage (4) in a plane including the center line (A) of the main shaft (10). In this state, a camera (6) is mounted, and a motor (19) for setting a shooting angle is connected to a camera arm shaft (17).
[0011]
Further, the illumination unit (9) has a horizontal illumination support bracket (20) attached to the main shaft (10) so as to be rotatable around a center line (A) of the main shaft (10), and a stage is attached to the illumination support bracket (20). The illumination arm (22) is rotatably mounted by a horizontal illumination arm axis (21) directed to the center (a) of (4), and the center line (A) of the main axis (10) is attached to the tip of the illumination arm (22). The illumination (8) is mounted so as to be directed to the center (a) of the stage (4) in a plane including the light, and a motor (23) for setting an illumination rotation angle is connected to the illumination support bracket (20), and the illumination is performed. A motor (24) for setting an illumination tilt angle is connected to the arm shaft (21).
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
1 to 5 show a photographing apparatus 1 according to the present invention. FIG. 6 shows a skeleton of the motion elements of the photographing apparatus 1. The photographing apparatus 1 includes a stage section 5 having a stage 4 on which a sample 3 such as a cloth is placed as a measurement target of optical anisotropy, and a center a of the stage 4, and a photographing direction is variable on a machine base 2. The camera unit 7 includes a camera unit 7 that supports the stage 6, and an illumination unit 9 that supports the illumination 8 by directing the center a of the stage 4 and changing the illumination direction.
[0013]
Then, the stage section 5 fixes the stage support arm 11 to the vertical main shaft 10 of the machine base 2, and connects the horizontal stage support shaft 12 to each of the two stage support brackets 25 on the stage support arm 11. The center line b of the shaft 12 and the center line A of the main shaft 10 are orthogonally supported by a bearing 26 so as to be rotatable, and the center a1 of the stage holding ring 13, the center a of the annular stage 4 and the center line A of the main shaft 10. The stage holding ring 13 and the annular stage 4 are attached between the stage support shafts 12, and the stage 4 is rotatable with respect to the stage holding ring 13 around the perpendicular of the stage holding ring 13 by the bearing 27. It is configured to support. The center a of the upper surface of the stage 4 coincides with the center line A of the main shaft 10, and is also on the center line b of the stage support shaft 12. A disc-shaped transparent body is fitted into the annular stage 4 as necessary.
[0014]
One hollow stage support shaft 12 is driven around a center line b as a center of rotation by a motor 15 for setting a stage tilt angle, and the stage 4 is driven by a motor 14 for setting a stage rotation angle to a vertical line of the stage holding ring 13. Driven around. Each of these motors 14 and 15 is constituted by a stepping motor with a speed reducer or the like, and is attached to a motor support bracket 28 on the stage support arm 11.
[0015]
The rotation of the output shaft 29 of the motor 14 for setting the stage rotation angle is performed by rotating the shaft joint 31, the transmission shaft 32 in one hollow stage support shaft 12, the bevel gear 34 of the transmission shaft 32, the transmission shaft 33, and the bevel gear of the transmission shaft 33. 35, the gear 36 of the transmission shaft 33 and the gear 37 integral with the stage 4 are transmitted to the stage 4 to set the stage rotation angle. As described above, the one stage support bracket 25 supports the transmission shaft 32 described later in addition to the hollow stage support shaft 12 and also serves as these housings. The transmission shaft 33 is rotatably supported by the stage holding ring 13. The stage rotation angle is 0 to 360 ° around the perpendicular to the stage holding ring 13, and the origin is detected by the dog 38 of the gear 37 and the proximity sensor 39 on the fixed side.
[0016]
The rotation of the output shaft 30 of the motor 15 for setting the stage tilt angle is transmitted to one hollow stage support shaft 12 by the gears 40 and 41 to set the stage tilt angle of the stage 4. The range of the stage tilt angle is ± 90 ° with the clockwise rotation plus (+) and the counterclockwise rotation (−) with respect to the horizontal origin (stage tilt angle 0 °), ± 90 °. Is detected by the dog 42 of the gear 40 and the proximity sensor 43 on the fixed side.
[0017]
The rotation of the output shaft 29 of the motor 14 for setting the stage rotation angle and the rotation of the output shaft 30 of the motor 15 for setting the stage tilt angle mutually affect each other. Is also controlled.
[0018]
The camera section 7 has a camera support bracket 16 in a horizontal direction fixed to the main shaft 10, and a camera arm shaft 17 directed to the center a of the stage 4 and parallel to the center line b on an auxiliary bracket 44 of the camera support bracket 16. The base end of the arm 18 is rotatably mounted, and the position of the camera 6 is freely adjustable in the focusing direction with the center a of the stage 4 being directed to the front end of the camera arm 18 in a plane including the center line A of the main shaft 10. It is configured to be attached to. The camera 6 is constituted by a digital camera, and its optical axis C is directed to the center a of the stage 4.
[0019]
The camera arm shaft 17 of the camera arm 18 is connected to a motor 19 for setting a camera tilt angle. The motor 19 is constituted by a stepping motor with a speed reducer or the like, and is mounted on the main shaft 10 side (inside) of the auxiliary bracket 44. Note that the rotation range of the camera arm shaft 17 is a range around the center line c of the camera arm shaft 17 and does not interfere with the machine base 2 and the main shaft 10 and the like. ) Is about ± 90 °. Within this range, the camera arm axis 17 sets the shooting angle of the camera 6. The origin of the camera arm 18 is detected by the dog 45 of the camera arm 18 and the proximity sensor 46 of the auxiliary bracket 44.
[0020]
The illumination unit 9 further includes a horizontal illumination support bracket 20 mounted on the main shaft 10 so as to be rotatable around a center line A of the main shaft 10 by a bearing 47, and an auxiliary bracket 48 on the illumination support bracket 20 provided with a center a of the stage 4. The base end of the lighting arm 22 is rotatably mounted by a horizontal lighting arm shaft 21 directed toward the center, and the center a of the stage 4 is directed to the front end of the lighting arm 22 in a plane including the center line A of the main shaft 10. The lighting 8 is attached as a state. In this example, the illumination 8 has, as an example, a light source of a dimmable metal halide lamp as an external source, and introduces a light beam of the light source to the distal end of the illumination arm 22 through an optical fiber, and a condensing lens to the center of the stage 4. a. The light beam axis B of the illumination 8 coincides with the center a of the stage 4, and the spot diameter at the center a of the surface of the stage 4 is variable, and is usually about 50 to 67 mm.
[0021]
Then, the illumination support bracket 20 is driven by a motor 23 for setting illumination rotation and rotation. The motor 23 is constituted by a stepping motor with a speed reducer or the like, and is attached downward to a motor bracket 49 integrated with the base of the camera support bracket 16 near the main shaft 10, and the output shaft 50 rotates integrally with the motor bracket 49. The lighting support bracket 20 is rotated (turned) within a range of 360 ° by a gear 51 and a gear 52 fixed to the lighting support bracket 20 concentrically with the main shaft 10. The rotation range of the lighting support bracket 20 is ± 180 ° with respect to a position (parallel position) of the same phase between the center line d of the lighting support bracket 20 and the center line b of the stage support shaft 12 (the lighting rotation angle is 0 °). In this range, the illumination support bracket 20 sets the illumination rotation angle of the illumination 8.
[0022]
Note that the illumination support bracket 20 is completely rotated about the center line A of the main shaft 10 by abutment of the fixed stopper 53 integrated therewith with the movable stopper 54 of the camera support bracket 16. Therefore, the movable stopper 54 is displaced in the direction of the rotation circumference by being pushed by the fixed stopper 53 in accordance with the rotation direction of the lighting support bracket 20, and the contact surface against the fixed stopper 53 is centered in any rotation direction. Match with line c. The origin of the lighting support bracket 20 is detected by the dog 55 of the lighting support bracket 20 and the proximity sensor 56 of the motor bracket 49.
[0023]
The illumination arm shaft 21 is driven by a motor 24 for setting an illumination inclination angle. The motor 24 is constituted by a stepping motor with a speed reducer, and is attached to the auxiliary bracket 48 on the side opposite to the main shaft 10 (outside), and rotates the lighting arm 22. The rotation range of the illumination arm 22 is ± 90 ° within a range that does not interfere with the machine base 2, the main shaft 10, and the like around the center line d of the illumination arm axis 21. Set the illumination tilt angle. The origin (illumination inclination angle 0 °) of the illumination arm shaft 21 is the vertical posture of the illumination arm 22 and is detected by the dog 57 of the illumination arm 22 and the proximity sensor 58 of the auxiliary bracket 48.
[0024]
With the origin position of the camera arm 18 (vertical posture of the camera arm 18) and the origin position of the illumination arm 22 (vertical posture of the illumination arm 22), the camera 6 and the illumination 8 are both at different heights, and the center line of the main shaft 10 together. It is on A. In this example, the radius of the camera arm 18 is designed to be as small as about 470 mm, and the radius of the illumination arm 22 is designed to be as large as about 520 mm. Further, the motor 19 for setting the tilt angle of the camera is inside and the motor 24 for setting the tilt angle is outside. , They do not interfere with each other even at other positions including the origin position.
[0025]
FIG. 7 shows an image processing device 60 and a control device 61 of the photographing device 1. The image of the camera 6 is taken into the image processing device 60. The image processing device 60 is a computer for image processing and has a built-in optical anisotropy measurement program. In addition to the display 59, an input device 62 such as a ghee board mouse, and the like, the optical anisotropy measurement program and the It is connected to the control device 61 in order to link the control. The control device 61 drives the motors 14, 15, 19, 23, and 24 by the motor drivers 63, 64, 65, 66, and 67 in conjunction with the optical anisotropy measurement program, and turns on / off the light source of the illumination 8. Turn off and perform dimming control as needed. Note that the origin position and angle of each unit are detected by the proximity sensors 39, 43, 46, 56, and 58, and are input to the control device 61.
[0026]
When measuring the optical anisotropy, the measurer first installs the photographing apparatus 1 in a dark room or a dark curtain and blocks ambient light, and then, for example, places a cloth as the sample 3 to be measured on the upper surface of the stage 4. The image processing apparatus 60 is then activated, and the control device 61 drives the motor drivers 63, 64, 65, 66, 67, and the motors 14, 15, 19, 23, 24 Is positioned at the origin, the image processing device 60 is caused to execute an optical anisotropy measurement program.
[0027]
The optical anisotropy measurement program includes step (1) the normal vector of the reflection surface of the sample 3 such as cloth, that is, the stage tilt angle, step (2) the stage rotation angle, that is, the texture direction of the cloth as the sample 3, and step (3). The tilt angle of the camera, that is, the photographing angle, the illumination tilt angle as one of the step (4) illumination directions, and the illumination rotation angle as another one of the step (5) illumination directions are set to the initial angle, and the condition of the initial angle In step (6), an actual image of the sample 3 is captured by the camera 6 in step (6). Next, the image processing program in the optical anisotropy measurement program performs image analysis of the real image of the sample 3 taken in as the step (7), and stores the image data of the analysis result in the memory area of the image processing device 60 at that time. Is stored together with the condition.
[0028]
Next, the optical anisotropy measurement program executes steps (6) and (7) by changing the illumination rotation angle in step (5) by a predetermined angle value, and sets this as the final illumination rotation angle. Repeat until By changing the illumination rotation angle, it is possible to observe the relative characteristics between the direction of incidence / reflection of the illumination light on the sample 3 and the imaging direction.
[0029]
Next, the optical anisotropy measurement program executes steps (5), (6), and (7) by changing the illumination inclination angle in step (4) by a predetermined angle value, and executes the final step. Repeat until the lighting angle is reached. Also in this measurement, the relative characteristics between the direction of incidence / reflection of the illumination light to the sample 3 and the imaging direction can be observed.
[0030]
Next, the optical anisotropy measurement program executes steps (4), (5), (6), and (7) by changing the photographing angle in step (3) by a predetermined angle value, This is repeated until the final shooting angle is reached. If the shooting direction of the camera 6 is directed to the upper surface of the sample 3 (stage 4) at the time of measurement, the camera 6 takes in the reflected light of the illumination 8 from the sample 3, but the shooting direction of the camera 6 is If the camera 6 is directed to the lower surface of the sample 3 (stage 4), the camera 6 takes in the transmitted light of the sample 3, and thus the optical anisotropy can be measured by the transmitted light of the sample 3.
[0031]
Next, the optical anisotropy measurement program changes the stage rotation angle in step (2) by a predetermined angle value, and executes steps (3), (4), (5), (6), and ( 7) is performed, and this is repeated until the final stage rotation angle is reached. In this measurement process, the directional characteristics of the sample 3 can be observed.
[0032]
Finally, the optical anisotropy measurement program changes the stage tilt angle in step (1) by a predetermined angle value, and then executes steps (2), (3), (4), (5), and (6). ), Step (7) is executed, and this is repeated until the final stage tilt angle is reached.
[0033]
In this manner, the image processing device 60 sequentially executes the above routines of the optical anisotropy measurement program, and stores the image data in the memory area of the image processing device 60 under the combined state of all the conditions. It will be stored together with the conditions of the time. In the optical anisotropy measurement process, the change width of the predetermined angle value is set in consideration of the optical anisotropy of the sample 3. The image data when the illumination light from the illumination 8 is blocked by the camera 6 and does not reach the sample 3 is created by an interpolation method as necessary.
[0034]
At the time of producing the 3DCG, these image data are generated at the stage of generating the image including the sample 3 by generating a near real image by pasting a partial real image of the imaging condition corresponding to the image to be rendered. I do.
[0035]
【The invention's effect】
According to the first aspect, a combination of the setting of the stage rotation angle of the stage and the setting of the stage tilt angle gives an imaging direction necessary for measuring the optical anisotropy of the sample on the stage. It can be applied to samples of sex.
[0036]
According to the second aspect, in addition to the effect of the first aspect, the setting of the photographing angle of the camera and the setting of the stage tilt angle of the stage (4) allow not only the reflected light from the sample but also the transmitted light image to be taken. In addition, not only the expression of the image by the reflected light but also the expression of the image by the transmitted light at the time of the backlight can be performed.
[0037]
According to the third aspect, in addition to the effects of the first and second aspects, the combination of the setting of the illumination tilt angle of the illumination and the setting of the illumination rotation angle enables irradiation from all illumination directions, resulting in a complicated configuration. Sufficient illumination can be set for a sample having a high optical anisotropy.
[0038]
According to the fourth aspect, the combination of the setting of the stage rotation angle of the stage and the setting of the stage tilt angle of the stage gives a photographing direction necessary for measuring the optical anisotropy of the sample on the stage. By being able to cope with anisotropic samples, and by setting the camera shooting angle and the stage tilt angle, the transmitted light image can be taken in addition to the reflected light from the sample. In addition to the expression of, the image can be expressed by the transmitted light at the time of backlight, and the combination of the setting of the illumination tilt angle of the illumination and the setting of the illumination rotation angle enables illumination from all illumination directions, Specific effects such as sufficient illumination setting can be obtained for a sample having complicated optical anisotropy.
[Brief description of the drawings]
FIG. 1 is a front view of a photographing apparatus according to the present invention.
FIG. 2 is a plan view of the photographing apparatus of the present invention.
FIG. 3 is a side view of the photographing apparatus of the present invention.
FIG. 4 is a front view of a stage section of the photographing apparatus of the present invention in a partial cross section.
FIG. 5 is a plan view of a stage section of the photographing apparatus of the present invention in a partial cross section.
FIG. 6 is a skeleton perspective view of a motion element in the photographing apparatus of the present invention.
FIG. 7 is a block diagram of an image processing device and a control device in the photographing device of the present invention.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 imaging device 2 machine base 3 sample 4 stage 5 stage unit 6 camera 7 camera unit 8 illumination 9 illumination unit 10 main shaft 11 stage support arm 12 stage support shaft 13 stage holding ring 14 motor for setting stage rotation 15 for setting stage tilt Motor 16 Camera support bracket 17 Camera arm axis 18 Camera arm 19 Motor 20 for setting the camera tilt angle Lighting support bracket 21 Lighting arm axis 22 Lighting arm 23 Motor 24 for setting the light rotation angle Motor 25 for setting the light tilt angle Stage support Bracket 26 bearing 27 bearing 28 motor support bracket 29 output shaft 30 output shaft 31 shaft coupling 32 transmission shaft 33 transmission shaft 34 bevel gear 35 bevel gear 36 gear 37 gear 38 doc 39 proximity sensor 40 gear 41 gear 42 dog 43 proximity sensor 44 Auxiliary bracket 45 Doc 46 Proximity sensor 47 Bearing 48 Auxiliary bracket 49 Motor bracket 50 Output shaft 51 Gear 52 Gear 53 Fixed stopper 54 Movable stopper 55 Dog 56 Proximity sensor 57 Dog 58 Proximity sensor 59 Display 60 Image processing device 61 Control device 62 Input device 63 motor driver 64 motor driver 65 motor driver 66 motor driver 67 motor driver

Claims (4)

On a machine base (2), a stage (5) having a stage (4) on which a sample (3) to be measured for optical anisotropy is mounted, and a center (a) of the stage (4) are oriented and photographed. A camera unit (7) supporting the camera (6) with a variable direction and an illumination unit (9) supporting the illumination (8) with a variable illumination direction and pointing at the center (a) of the stage (4). Become
The stage section (5) has a stage support arm (11) fixed to a vertical main shaft (10) of the machine base (2), and a horizontal stage support shaft (12) supported on the stage support arm (11). The center line (b) of the shaft (12) and the center line (A) of the main shaft (10) are orthogonally supported so as to be rotatable, and a stage holding ring (13) is attached to the stage support shaft (12). The center (a1) of (13) is aligned with the center line (A) of the main shaft (10), and the stage (4) is rotated on the stage holding ring (13) around the perpendicular of the stage holding ring (13). And the stage support shaft (12) is connected to a motor (15) for setting the stage tilt angle, and the stage (4) is connected to a motor (14) for setting the stage rotation angle. Characteristic shooting equipment (1). The camera section (7) has a horizontal camera support bracket (16) fixed to the main shaft (10), and the camera support bracket (16) has a horizontal camera arm axis directed toward the center (a) of the stage (4). The camera arm (18) is rotatably attached by (17), and the center (a) of the stage (4) is directed to the tip of the camera arm (18) in a plane including the center line (A) of the main shaft (10). 2. A photographing apparatus (1) according to claim 1, wherein the camera (6) is mounted as a state, and a motor (19) for setting a photographing angle is connected to the camera arm shaft (17). The illumination unit (9) has a horizontal illumination support bracket (20) attached to the main shaft (10) so as to be rotatable around a center line (A) of the main shaft (10), and a stage (4) attached to the illumination support bracket (20). ), The lighting arm (22) is rotatably mounted by means of a horizontal lighting arm axis (21) oriented toward the center (a), and the center of the main axis (10) is included at the tip of the lighting arm (22). The illumination (8) is mounted so as to be directed toward the center (a) of the stage (4) in a plane, and a motor (23) for setting an illumination rotation angle is connected to the illumination support bracket (20), and the illumination arm shaft The photographing device (1) according to claim 1, wherein a motor (24) for setting an illumination inclination angle is connected to (21). On a machine base (2), a stage (5) having a stage (4) on which a sample (3) to be measured for optical anisotropy is mounted, and a center (a) of the stage (4) are oriented and photographed. A camera unit (7) supporting the camera (6) with a variable direction and an illumination unit (9) supporting the illumination (8) with a variable illumination direction and pointing at the center (a) of the stage (4). Become
The stage section (5) has a stage support arm (11) fixed to a vertical main shaft (10) of the machine base (2), and a horizontal stage support shaft (12) supported on the stage support arm (11). The center line (b) of the shaft (12) and the center line (A) of the main shaft (10) are orthogonally supported so as to be rotatable, and a stage holding ring (13) is attached to the stage support shaft (12). The center (a1) of (13) is aligned with the center line (A) of the main shaft (10), and the stage (4) is rotated on the stage holding ring (13) around the perpendicular of the stage holding ring (13). And a stage support shaft (12) connected to a motor (15) for setting a stage tilt angle, and a stage (4) connected to a motor (14) for setting a stage rotation angle.
The camera section (7) has a horizontal camera support bracket (16) fixed to the main shaft (10), and the camera support bracket (16) has a horizontal camera arm axis directed toward the center (a) of the stage (4). The camera arm (18) is rotatably attached by (17), and the center (a) of the stage (4) is directed to the tip of the camera arm (18) in a plane including the center line (A) of the main shaft (10). A camera (6) is attached as a state, and a motor (19) for setting a shooting angle is connected to a camera arm axis (17).
The illumination unit (9) has a horizontal illumination support bracket (20) attached to the main shaft (10) so as to be rotatable around a center line (A) of the main shaft (10), and a stage (4) attached to the illumination support bracket (20). ), The lighting arm (22) is rotatably mounted by means of a horizontal lighting arm axis (21) oriented toward the center (a), and the center of the main axis (10) is included at the tip of the lighting arm (22). The illumination (8) is mounted so as to be directed toward the center (a) of the stage (4) in a plane, and a motor (23) for setting an illumination rotation angle is connected to the illumination support bracket (20), and the illumination arm shaft An imaging apparatus (1), characterized in that a motor (24) for setting an illumination inclination angle is connected to (21).

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