WO2019196928A1 - 摄像系统 - Google Patents

摄像系统 Download PDF

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Publication number
WO2019196928A1
WO2019196928A1 PCT/CN2019/082444 CN2019082444W WO2019196928A1 WO 2019196928 A1 WO2019196928 A1 WO 2019196928A1 CN 2019082444 W CN2019082444 W CN 2019082444W WO 2019196928 A1 WO2019196928 A1 WO 2019196928A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
lens mount
lens
camera system
image sensor
Prior art date
Application number
PCT/CN2019/082444
Other languages
English (en)
French (fr)
Inventor
饭沼大
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980003147.7A priority Critical patent/CN110771136B/zh
Publication of WO2019196928A1 publication Critical patent/WO2019196928A1/zh
Priority to US17/023,131 priority patent/US20200409241A1/en

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/642—Optical derotators, i.e. systems for compensating for image rotation, e.g. using rotating prisms, mirrors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/14—Mountings, adjusting means, or light-tight connections, for optical elements for lenses adapted to interchange lenses
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
    • G03B17/14—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets interchangeably
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/663—Remote control of cameras or camera parts, e.g. by remote control devices for controlling interchangeable camera parts based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the invention relates to a camera system.
  • Patent Document 1 discloses a gimbal that rotatably supports an imaging unit in a pitch direction and a yaw direction, and a camera base that holds a gimbal.
  • Patent Document 1 JP-A-9-18776
  • lens units can be mounted on an image pickup portion rotatably supported by a support mechanism such as a gimbal. Depending on the type of lens unit, it is sometimes difficult for the support mechanism to stably support the lens unit.
  • An imaging system may include an image sensor.
  • the camera system may include a lens mount that removably holds the lens unit.
  • the camera system can include a support mechanism that rotatably supports the lens mount and the image sensor.
  • the camera system can include a body that holds the support mechanism.
  • the camera system can include a support that supports the lens mount to maintain the position of the lens mount relative to the body.
  • the camera system can include a bayonet adapter that connects the lens unit to the lens mount.
  • the support body can be secured to the body and the bayonet adapter.
  • the bayonet adapter may include a conversion portion that receives a first control signal according to the first communication standard from the first control portion that controls the image sensor, and converts the first control signal into a second control signal according to the second communication standard, And sent to the lens unit.
  • the body may include a fixing surface for fixing the support.
  • the support body may include an adjustment mechanism that adjusts a fixed position of the support body with respect to the fixed surface by moving the support body along the fixed surface.
  • the body may include a first track extending in a first direction along the fixed surface on the fixed surface.
  • the adjustment mechanism can include a first guide that guides movement of the support along the first track.
  • the adjustment mechanism may include a second track extending in a second direction along the fixed surface.
  • the support body may include a second guide that guides movement of the support along the second track.
  • the body may include a retaining mechanism that holds the support mechanism in such a manner that the lens mount can move in a direction approaching and away from the fixed face.
  • the retaining mechanism may include a retaining portion that holds the support mechanism and a rotating portion that rotates the retaining portion relative to the main body about an axis along the fixed surface.
  • the support mechanism may include a first support portion that supports the lens mount and the image sensor in such a manner that the lens mount and the image sensor are rotatable in the pitch direction.
  • the support mechanism may include a second support portion that supports the first support portion in such a manner that the lens mount and the image sensor are rotatable in the roll direction.
  • the holding portion may support the second support portion in such a manner that the lens mount and the image sensor are rotatable in the pan direction.
  • the support may include indicia on the outer surface indicating the position of the imaging surface of the image sensor.
  • the imaging system may include a detecting portion that mounts the support body on the main body for detection.
  • FIG. 1 is a diagram showing an example of an external perspective view of an imaging system.
  • FIG. 2 is a view showing an example of an appearance of an imaging system viewed from a side surface side.
  • FIG. 3 is a view showing an example of an external perspective view of an image pickup system to which a bayonet adapter is mounted.
  • Fig. 4 is a view showing an example of an external view of an image pickup system to which a bayonet adapter is mounted, as seen from the side surface side.
  • FIG. 5 is a view showing an example of an external perspective view of an image pickup system to which a support body is attached.
  • FIG. 6 is a view showing an example of an external view of an image pickup system to which a support body is attached as seen from the side surface side.
  • FIG. 7 is a view for explaining a distance between a yaw axis of a universal joint and a center of an image sensor mounted on a lens mount.
  • FIG. 8 is a view showing an example of an external perspective view of the support viewed from the bottom surface side.
  • FIG. 9 is a diagram showing one example of functional blocks of an imaging system.
  • FIG. 10 is a flowchart showing one example of a processing procedure performed at the camera system when the power is turned on.
  • Fig. 11 is a diagram for explaining an example of a hardware configuration.
  • Various embodiments of the present invention may be described with reference to the flowcharts and block diagrams, which may represent (1) a stage of a process of performing an operation or (2) a "part" of a device including an action of performing an operation.
  • the specified phases and "parts" can be implemented by programmable circuits and/or processors.
  • Dedicated circuits may include digital and/or analog hardware circuits.
  • An integrated circuit (IC) and/or a discrete circuit can be included.
  • the programmable circuit can include a reconfigurable hardware circuit.
  • Reconfigurable hardware circuits may include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, as well as flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. Storage elements, etc.
  • Computer readable media can include any tangible device that can store instructions for execution by a suitable device.
  • a computer readable medium having instructions stored thereon includes a product including instructions that can be executed to create means for performing the operations specified by the flowchart or block diagram.
  • an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, or the like can be included. More specific examples of the computer readable medium may include a floppy disk (registered trademark), a floppy disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory). , EEPROM, SRAM, CD-ROM, Digital Versatile Disc (DVD), Blu-ray (RTM), Memory Stick, Integration Circuit card, etc.
  • Computer readable instructions may include any of source code or object code as described by any combination of one or more programming languages.
  • Source code or object code includes traditional procedural programming languages.
  • Conventional programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Smalltalk, JAVA (registered trademark), C++, etc.
  • the computer readable instructions may be provided locally or via a wide area network (WAN), such as a local area network (LAN), the Internet, to a processor or programmable circuit of a general purpose computer, special purpose computer or other programmable data processing apparatus.
  • WAN wide area network
  • LAN local area network
  • the Internet to a processor or programmable circuit of a general purpose computer, special purpose computer or other programmable data processing apparatus.
  • the processor or programmable circuitry can execute computer readable instructions to create a means for performing the operations specified by the flowchart or block diagram.
  • Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.
  • FIG. 1 is a view showing an example of an external perspective view of the imaging system 10 according to the present embodiment.
  • FIG. 2 is a diagram showing an example of an external view of the imaging system 10 as viewed from the side surface side.
  • the camera system 10 includes a main body 100, a holding mechanism 200, a universal joint 300, and a lens mount 400.
  • the lens mount 400 includes an image sensor 430 internally.
  • the lens mount 400 removably holds the lens unit.
  • the holding mechanism 200 holds the universal joint 300 in such a manner as to be movable in the Z-axis (yaw axis) direction with respect to the main body 100.
  • the holding mechanism 200 includes a holding portion 202 and a rotating portion 204.
  • the holding portion 202 is fixed to the main body 100 via the rotating portion 204.
  • the holding portion 202 holds the universal joint 300.
  • the rotating portion 204 may be rotatably coupled to one end of the holding portion 202, and the universal joint 300 may be rotatably coupled to the other end of the holding portion about the yaw axis.
  • the rotating portion 204 includes an actuator including a rotor that is rotatable by the actuator driving.
  • the universal joint 300 is one example of a support mechanism that rotatably supports the lens mount 400 and the image sensor 430.
  • the lens mount 400 may include a housing that houses the image sensor 430, and the universal joint 300 may rotatably support the housing.
  • the universal joint 300 supports the lens mount 400 and the image sensor 430 so as to be rotatable about the X-axis (pitch axis) by the actuator.
  • the universal joint 300 supports the lens mount 400 and the image sensor 430 so as to be further rotatable about the Y-axis (rolling axis) and the Z-axis (yaw axis) by the actuator.
  • the universal joint 300 can change the posture of the image sensor 430 by rotating the lens mount 400 and the image sensor 430 centering on at least one of the yaw axis, the pitch axis, and the roll axis.
  • the universal joint 300 includes a rotating portion 301, a rotating portion 303, a rotating portion 305, a supporting portion 302, and a supporting portion 304.
  • the rotating portion 301, the rotating portion 303, and the rotating portion 305 include an actuator including a rotor.
  • the rotating portion 301 is set at one end of the support portion 302.
  • the rotating portion 303 is set at the other end of the support portion 302.
  • the other end of the support portion 302 is connected to one end of the support portion 304 via the rotating portion 303.
  • the rotating portion 305 is set at the other end of the support portion 304.
  • the other end of the support portion 304 is connected to the other end of the holding portion 202 via the rotating portion 305.
  • the support portion 302 supports the lens mount 400 and the image sensor 430 such that the lens mount 400 and the image sensor 430 can rotate around the pitch axis by the rotating portion 301. That is, the support portion 302 is an example of the first support portion that supports the lens mount 400 and the image sensor 430 in such a manner that the lens mount 400 and the image sensor 430 can rotate in the pitch direction.
  • the support portion 304 supports the support portion 302 such that the lens mount 400 and the image sensor 430 can rotate around the rotation axis by the rotation portion 303. That is, the support portion 304 is an example of the second support portion that supports the support portion 302 in such a manner that the lens mount 400 and the image sensor 430 can rotate in the roll direction.
  • the support portion 304 is supported by the holding portion 202 such that the lens mount 400 and the image sensor 430 can be rotated in the pan direction by the rotating portion 305.
  • the lens mount 400 removably holds a lens unit including at least one lens.
  • the lens unit can be an interchangeable lens.
  • the camera system 10 may further include a bayonet adapter that connects the lens mount 400 and the lens unit.
  • FIG. 3 is an example of an external perspective view of the camera system 10 to which the bayonet adapter 500 is attached to the lens mount 400.
  • FIG. 4 is an example of an external view of the camera system 10 to which the bayonet adapter 500 is attached to the lens mount 400 as viewed from the side surface side.
  • the bayonet adapter 500 includes a standard bayonet structure that conforms to a lens unit that is coupled to the lens mount 400. With such a bayonet adapter 500, various types of lens units can be mounted on the lens mount 400.
  • the camera system 10 can also include a support that supports the lens mount 400 to maintain the position of the lens mount 400 relative to the body 100.
  • FIG. 5 is an example of an external perspective view of the imaging system 10 in which the support 150 is mounted to the main body 100.
  • FIG. 6 is an example of an external view of the imaging system 10 in which the support 150 is mounted to the main body 100 as viewed from the side.
  • the support body 150 supports the lens mount 400 to maintain the position of the lens mount 400 relative to the main body 100.
  • the support body 150 may be fixed to the main body 100 and the lens mount 400.
  • the support 150 may be fixed to the body 100 via bolts 152.
  • the support body 150 includes a through hole larger than the outer diameter of the bolt 152.
  • the bolt 152 is screwed to the body 100 via the through hole.
  • the support 150 includes a mark 151 indicating the position of the imaging surface of the image sensor 430 on the outer surface.
  • the support 150 may include indicia 151 on the side of the post.
  • the universal joint 300 does not control the posture of the lens mount 400. That is, the universal joint 300 does not work.
  • the main body 100 includes a fixing surface 140 for fixing the support 150.
  • the fixed surface 140 is located below the lens mount 400 and the bayonet adapter 500.
  • the body 100 may include a detection sensor 132 on the fixing surface 140 for mounting the support body 150 on the body 100 for detection.
  • the detecting sensor 132 may be a mechanical switch that is turned on in response to the case where the support 150 is attached to the fixed surface 140.
  • the detecting sensor 132 may be an electrical component that is electrically conducted corresponding to the case where the support body 150 is mounted on the fixed surface 140.
  • the lens mount 400 is supported by the support 150, and the universal joint 300 can stably support various lens units.
  • the support body 150 may be fixed to the lens mount 400 without being fixed to the bayonet adapter 500.
  • the support body 150 may be fixed to the bayonet adapter 500 and the lens mount 400, respectively.
  • the position of the lens mount 400 relative to the body 100 includes individual differences.
  • the positional relationship between the universal joint 300 supported by the main body 100 and the lens mount 400 also includes individual differences.
  • the distance 434 between the yaw axis 310 of the universal joint 300 and the center 432 of the image sensor 430 mounted on the lens mount 400 includes individual differences.
  • the support body 150 may not be fixed to the main body 100 and the bayonet adapter 500 due to the positional displacement of the bayonet adapter 500 with respect to the main body 100.
  • a load is applied to the gimbal 300, which may adversely affect the gimbal 300.
  • the support body 150 may include an adjustment mechanism that adjusts the fixed position of the support body 150 with respect to the fixed surface 140 by moving the support body 150 along the fixed surface 140.
  • the body 100 includes a rail 130 extending along the fixed surface 140 in a first direction (X direction) on the fixed surface 140.
  • Track 130 is an example of a first track.
  • the track 130 may be a groove set on the fixed surface 140.
  • the support 150 can include a pin 156 on the bottom surface 154 opposite the fixed surface 140 that guides movement of the support 150 along the track 130.
  • the support body 150 may include a rail 155 on the bottom surface 154 that guides the movement of the pin 156 in the second direction (Y direction).
  • the position of the support body 150 with respect to the fixing surface 140 of the main body 100 in the X direction is adjusted. Further, by moving the pin 156 along the rail 155 on the bottom surface 154 of the support 150, the position of the support 150 with respect to the fixing surface 140 of the main body 100 in the Y direction is adjusted.
  • the support body 150 since the support body 150 includes an adjustment mechanism, even if the lens mount 400 is displaced in the X direction or the Y direction with respect to the main body 100, the support body 150 can be firmly fixed to the main body 100 and the bayonet adapter 500 or the lens mount. 400.
  • the through hole 159 of the bottom surface 154 is a hole through which the bolt 152 passes.
  • the holding mechanism 200 holds the universal joint 300 in such a manner that the lens mount 400 can move in a direction toward or away from the fixed surface 140.
  • the holding mechanism 200 includes a rotating portion 204 that rotates the holding portion 202 holding the universal joint 300 with respect to the main body 100 centering on the axis (pitch axis) of the fixed surface 140. Therefore, the holding mechanism 200 can adjust the height of the lens mount 400 from the fixed surface 140. Thereby, it is possible to prevent the support body 150 from being fixed to the bayonet adapter 500 or the lens mount 400 due to the positional shift of the lens mount 400 with respect to the main body 100 in the Z direction.
  • FIG. 9 shows an example of functional blocks of the camera system 10.
  • the camera system 10 includes a main body 100, a holding mechanism 200, a universal joint 300, a lens mount 400, a bayonet adapter 500, a support 150, and a lens unit 600.
  • the main body 100 includes a main body control unit 110, a memory 120, and a detection sensor 132.
  • the main body control unit 110 controls the entire imaging system 10.
  • the body control unit 110 is an example of a control device.
  • the main body control unit 110 can be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the memory 120 stores programs and the like necessary for the main body control unit 110 to control the holding mechanism 200, the universal joint 300, the lens mount 400, the bayonet adapter 500, and the lens unit 600.
  • the memory 120 may be a computer readable recording medium, and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 120 can be set inside the main body 100.
  • the memory 120 can be configured to be detachable from the main body 100.
  • the detecting sensor 132 mounts the support body 150 on the main body 100 for detection.
  • the lens mount 400 includes an image sensor 430, an imaging control unit 410, a memory 420, and an acceleration sensor 440.
  • the image sensor 430 may be composed of a CCD or a CMOS.
  • the image sensor 430 captures an optical image imaged via the lens unit 600 and outputs the captured image data to the imaging control section 410.
  • the imaging control unit 410 can be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the imaging control unit 410 can control the lens mount 400 in accordance with an operation command from the main body control unit 110.
  • the memory 420 may be a computer readable recording medium, and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 420 stores programs and the like necessary for the imaging control unit 410 to control the image sensor 430 and the like.
  • the memory 420 can be set inside the housing of the lens mount 400.
  • the memory 420 can be configured to be detachable from the housing of the lens mount 400.
  • the acceleration sensor 440 may be a three-axis acceleration sensor for detecting the posture of the lens mount 400 and the image sensor 430.
  • the lens unit 600 includes a plurality of lenses 612, a plurality of lens driving portions 610, a lens control portion 620, and a memory 630.
  • the plurality of lenses 612 can function as a zoom lens, a zoom lens, and a focus lens. At least a portion or all of the plurality of lenses 612 are configured to be movable along the optical axis.
  • the lens unit 600 may be an interchangeable lens that is detachably set on the lens mount 400.
  • the lens driving unit 610 moves at least a part or all of the plurality of lenses 612 along the optical axis via a mechanism member such as a cam ring.
  • the lens driving portion 610 may include an actuator.
  • the actuator can include a stepper motor.
  • the lens control unit 620 drives the lens driving unit 610 in accordance with a lens control command from the lens mount 400, and moves one or a plurality of lenses 612 in the optical axis direction via the mechanism member.
  • the lens control commands are, for example, a zoom control command and a focus control command.
  • the bayonet adapter 500 includes an adapter control unit 510 and a memory 520.
  • the bayonet adapter 500 is detachably mounted to the lens mount 400 by a locking pin 450.
  • the bayonet adapter 500 is detachably mounted to the lens unit 600 by a lock pin 530.
  • the bayonet adapter 500 includes a contact 532 for communicating with the lens mount 400.
  • Lens mount 400 includes contacts 452 for communicating with bayonet adapter 500.
  • the bayonet adapter 500 includes a contact 534 for communicating with the lens unit 600.
  • Lens unit 600 includes a contact 632 for communicating with bayonet adapter 500.
  • the adapter control section 510 receives the first control signal conforming to the first communication standard from the imaging control section 410 of the control image sensor 430, and converts the first control signal into a second control signal conforming to the second communication standard and transmits it to the lens unit 600.
  • the adapter control unit 510 is an example of a conversion unit. Even when the communication standard of the lens mount 400 is different from the communication standard of the lens unit 600, the adapter control unit 510 can convert the control signal according to the communication standard to cause the lens mount 400 and the lens unit 600 to communicate with each other.
  • the adapter control unit 510 can be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the memory 520 stores a program and the like necessary for controlling the adapter control unit 510.
  • the memory 520 may be a computer readable recording medium, and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 520 can be set inside the bayonet adapter 500.
  • the memory 520 can be configured to be detachable from the bayonet adapter 500.
  • the universal joint 300 preferably does not control the posture of the lens mount 400.
  • the main body control unit 110 includes a detection unit 112, a gimbal control unit 114, an acquisition unit 116, and a setting unit 118.
  • the detecting unit 112 detects that the support 150 is mounted on the imaging system 10.
  • the detecting unit 112 can detect that the support 150 is attached to the main body 100 via the detecting sensor 132.
  • the detecting unit 112 can detect that the support 150 is attached to the bayonet adapter 500.
  • the detecting unit 112 can detect that the support 150 is attached to the bayonet adapter 500 via the lens mount 400.
  • the gimbal control portion 114 controls the universal joint 300 such that the rotation of the lens mount 400 and the image sensor 430 is restricted when the detecting portion 112 detects that the support 150 is mounted to the imaging system 10.
  • the gimbal control portion 114 can control the universal joint 300 so as not to rotate the lens mount 400 and the image sensor 430.
  • the gimbal control portion 114 drives the universal joint 300 as an initial operation in response to the power-on of the imaging system 10, and performs calibration to adjust the lens mount 400 and The pose of the image sensor 430.
  • the gimbal control unit 114 performs position correction by performing calibration so that the actual posture of the lens mount 400 and the image sensor 430 (the pitch axis, the rotational position of the scroll axis and the yaw axis) and the lens recognized by the gimbal control unit 114
  • the posture of the bayonet 400 and the image sensor 430 (the pitch axis, the rotational position of the scroll axis and the yaw axis) coincide.
  • the gimbal control portion 114 In a state where the support 150 is mounted to the imaging system 10, if the gimbal control portion 114 performs calibration, the gimbal 300 or the lens mount 400 may be adversely affected. Thus, when the detecting portion 112 detects that the support 150 is mounted to the imaging system 10, the gimbal control portion 114 can control the universal joint 300 to restrict the adjustment of the lens card by rotating the lens mount 400 and the image sensor 430. Calibration of the posture of port 400 and image sensor 430. When the detecting portion 112 detects that the support 150 is mounted to the imaging system 10, the gimbal control portion 114 can control the gimbal 300 not to perform calibration.
  • the detecting unit 112 can also detect that the bayonet adapter 500 is attached to the lens mount 400.
  • the detecting unit 112 can detect that the bayonet adapter 500 is attached to the lens mount 400 via the lens mount 400.
  • the gimbal control portion 114 can control the gimbal 300 to restrict the lens mount 400 and the image sensor 430. The rotation.
  • the gimbal control portion 114 can control the gimbal 300 to not rotate the lens mount 400 and the image sensor. 430.
  • the universal joint 300 generates a holding force against the external force to maintain the posture of the lens mount 400 and the image sensor 430.
  • the gimbal control portion 114 controls the voltage applied to the driving portion of each of the shafts of the universal joint 300 to generate a desired opposing force to maintain the holding force of the postures of the lens mount 400 and the image sensor 430.
  • the universal joint 300 does not need to generate a holding force for opposing an external force to maintain the posture of the lens mount 400 and the image sensor 430.
  • the detecting portion 112 detects that the bayonet adapter 500 is attached to the lens mount 400 and the support 150 is mounted to the imaging system 10
  • the detection portion 112 does not detect that the bayonet adapter 500 is attached to the lens mount 400.
  • the gimbal control unit 114 can reduce the holding force of the gimbal 300 to maintain the posture of the lens mount 400 and the image sensor 430.
  • the gimbal control portion 114 can control the gimbal 300 to maintain the posture of the lens mount 400 and the image sensor 430 at a predetermined first hold. force.
  • the universal joint control portion 114 controls the universal joint to maintain the lens with a second holding force smaller than the first holding force. The posture of the bayonet 400 and the image sensor 430.
  • the gimbal control portion 114 can reduce the holding force that the gimbal 300 can generate by reducing the voltage that can be applied to the driving portion of the universal joint 300.
  • the gimbal control portion 114 can reduce the maximum holding force that can be applied to the driving portion of the universal joint 300.
  • the universal joint control unit 114 can reduce the holding force that can be generated by the universal joint 300 by lowering the power supply voltage of the power supply that supplies electric power to the drive unit of the universal joint 300 to the initial set power supply voltage or lower. By lowering the power supply voltage, the control voltage that can be applied to the driving portion of the universal joint 300 is also lowered. Therefore, the retention force that the universal joint 300 can produce is also reduced.
  • the gimbal control portion 114 can reduce the holding force that the gimbal 300 can generate by reducing the maximum control voltage that can be applied to the driving portion of the universal joint 300 without changing the power supply voltage.
  • the gimbal control unit 114 can reduce the holding force that the gimbal 300 can generate by reducing the maximum current that can be input to the driving portion of the universal joint 300.
  • the lens unit 600 connected to the lens mount 400 through the bayonet adapter 500 there is also a case where the lens unit 600 is light in weight and short in length.
  • the universal joint 300 can stably maintain the posture of the lens unit 600. That is, if the lens unit 600 is small, the holding force for maintaining the posture of the lens unit 600 through the universal joint 300 may also be lower than usual.
  • the gimbal control portion 114 can control the gimbal 300 to The third holding force between the first holding force and the second holding force maintains the posture of the lens mount 400 and the image sensor 430.
  • the lens unit 600 depending on the size (length and diameter) of the lens unit 600, it is sometimes preferable to limit the driving range of the universal joint 300.
  • the lens unit 600 including the relatively large size is mounted to the imaging system 10
  • the lens unit 600 may collide with the members constituting the imaging system 10.
  • the gimbal control unit 114 can adjust the driving range of the universal joint 300 according to the size of the lens unit 600.
  • the acquisition section 116 acquires lens information regarding the size of the lens unit 600 held at the lens mount 400.
  • the acquisition section 116 can acquire the lens information stored in the memory 630 of the lens unit 600 for identifying the lens unit 600 via the lens mount 400.
  • the setting unit 118 sets the rotation range of the lens mount 400 and the image sensor 430 of the universal joint 300, that is, the driving range of the universal joint 300, based on the lens information.
  • the gimbal control portion 114 can control the universal joint 300 to rotate the lens mount and the image sensor 430 within its range of rotation.
  • the memory 120 may store in advance the driving ranges of the gimbals 300 of the various types of lens units 600.
  • the setting section 118 can set the driving range of the universal joint 300 by specifying the type of the lens unit 600 based on the lens information and reading the driving range of the universal joint 300 associated with the type from the memory 120.
  • FIG. 10 is a flowchart showing one example of a processing procedure performed at the imaging system 10 when the power is turned on.
  • the detecting unit 112 determines whether or not the bayonet adapter 500 is attached to the lens mount 400 (S102).
  • the gimbal control unit 114 performs calibration of the gimbal 300 (S106).
  • the gimbal control unit 114 sets the holding force generated by the universal joint 300 in order to maintain the postures of the lens mount 400 and the image sensor 430 as the first holding force (S108).
  • the gimbal control unit 114 can set the holding force of the universal joint 300 by setting the maximum voltage value applied to the universal joint 300 to a predetermined first voltage value.
  • the detecting portion 112 judges whether or not the support 150 is attached to the main body 100 (S104). If the support 150 is not attached to the main body 100, the gimbal control portion 114 performs calibration of the universal joint 300 (S110). The gimbal control unit 114 sets the holding force generated by the universal joint 300 in order to maintain the postures of the lens mount 400 and the image sensor 430 as the third holding force between the first holding force and the second holding force (S112). . The gimbal control unit 114 can set the gimbal 300 by setting the maximum voltage value applied to the universal joint 300 to a third voltage value between the preset first voltage value and the second voltage value. Resilience.
  • the gimbal control portion 114 stops the calibration of the gimbal 300 (S114). That is, the gimbal control unit 114 does not perform the calibration of the universal joint 300 when the power is turned on.
  • the gimbal control unit 114 sets the holding force generated by the universal joint 300 to maintain the posture of the lens mount 400 and the image sensor 430 as the second holding force (S116).
  • the gimbal control unit 114 can set the holding force of the universal joint 300 by setting the maximum voltage value applied to the universal joint 300 to a predetermined second voltage value.
  • the gimbal control unit 114 can set the holding force of the universal joint 300 by setting the maximum voltage value applied to the universal joint 300 to 0V.
  • the lens unit 600 is mounted to the camera system 10 (S118).
  • the lens unit 600 is connected to the lens mount 400 via a bayonet adapter 500.
  • the lens unit 600 is directly connected to the lens mount 400 without the bayonet adapter 500.
  • the acquisition section 116 acquires lens information of the mounted lens unit 600 (S120).
  • the setting unit 118 sets the driving range of the universal joint 300 corresponding to the type of the lens unit 600 based on the lens information (S122).
  • the setting portion 118 can set the driving range of the universal joint 300 to zero.
  • the imaging system 10 of the present embodiment even when the lens unit 600 of a large weight or a large length is attached to the imaging system 10, since the lens unit 600 is supported by the support 150, the universal joint 300 can be stably The posture of the lens unit 600 is supported. Moreover, when the support 150 is mounted to the camera system 10, the rotation of the lens mount 400 and the image sensor 430 depending on the gimbal 300 is limited. Thus, when the support body 150 is supporting the lens mount 400, it is possible to prevent the gimbal 300 from attempting to forcibly rotate the lens mount 400 to impose a burden on the gimbal 300.
  • FIG. 11 shows an example of a computer 1200 that may fully or partially embody aspects of the present invention.
  • the program installed on computer 1200 can cause computer 1200 to function as an operation associated with the device in accordance with embodiments of the present invention or as one or more "portions" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts.”
  • the program enables computer 1200 to perform the processes involved in embodiments of the present invention or the stages of the process.
  • Such a program may be executed by CPU 1212 to cause computer 1200 to perform specified operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.
  • the computer 1200 of the present embodiment includes a CPU 1212 and a RAM 1214 which are mutually connected by a host controller 1210.
  • the computer 1200 also includes a communication interface 1222, an input/output unit that is coupled to the host controller 1210 via an input/output controller 1220.
  • Computer 1200 also includes a ROM 1230.
  • the CPU 1212 operates in accordance with programs stored in the ROM 1230 and the RAM 1214 to control the respective units.
  • Communication interface 1222 communicates with other electronic devices over a network.
  • the hard disk drive can store programs and data used by the CPU 1212 in the computer 1200.
  • the ROM 1230 stores therein a boot program or the like executed by the computer 1200 at the time of operation, and/or a program dependent on the hardware of the computer 1200.
  • the program is provided by a computer readable recording medium such as a CR-ROM, a USB memory or an IC card or a network.
  • the program is installed in the RAM 1214 or the ROM 1230 which is also an example of a computer-readable recording medium, and is executed by the CPU 1212.
  • the information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the various types of hardware resources described above.
  • the apparatus or method can be constructed by realizing the operation or processing of information according to the use of the computer 1200.
  • the CPU 1212 can execute a communication program loaded in the RAM 1214, and instructs the communication interface 1222 to perform communication processing based on the processing described in the communication program.
  • the communication interface 1222 reads the transmission data stored in the transmission buffer provided in the recording medium such as the RAM 1214 or the USB memory under the control of the CPU 1212, and transmits the read transmission data to the network, or the slave network.
  • the received reception data is written in a reception buffer or the like provided in the recording medium.
  • the CPU 1212 can cause the RAM 1214 to read all or a necessary portion of a file or a database stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Next, the CPU 1212 can write the processed data back to the external recording medium.
  • an external recording medium such as a USB memory
  • CPU 1212 may perform various types of operations, information processing, conditional decisions, conditional transfers, unconditional transfers, information, as described throughout the disclosure, including sequences of instructions of the program. Various types of processing such as retrieval/replacement are performed, and the result is written back to the RAM 1214. Further, the CPU 1212 can retrieve information in a file, a database, and the like within the recording medium. For example, when a plurality of entries including attribute values of the first attribute respectively associated with the attribute values of the second attribute are stored in the recording medium, the CPU 1212 may retrieve the attribute values of the first attribute from the plurality of items. The condition matches the entry, and the attribute value of the second attribute stored in the entry is read, thereby obtaining the attribute value of the second attribute associated with the first attribute satisfying the predetermined condition.
  • the above described programs or software modules may be stored on computer 1200 or on a computer readable storage medium in the vicinity of computer 1200.
  • a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer readable storage medium so that a program can be provided to the computer 1200 via a network.

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Abstract

根据镜头单元的类型，有时支撑机构难以稳定地支撑镜头单元。摄像系统可以包括图像传感器。摄像系统包括可拆装地保持镜头单元的镜头卡口。摄像系统包括可旋转地支撑镜头卡口和图像传感器的支撑机构。摄像系统包括保持支撑机构的主体。摄像系统包括支撑体，该支撑体支撑镜头卡口以保持镜头卡口相对于主体的位置。摄像系统包括连接镜头单元和镜头卡口的卡口适配器。支撑体可以固定到主体和卡口适配器。

Description

摄像系统 【技术领域】
本发明涉及一种摄像系统。
【背景技术】
专利文献1中公开了一种在俯仰方向和偏航方向上旋转自如地支撑摄像部的万向架，以及保持万向架的摄像机基座。
专利文献1特开平9-18776号公报
【发明内容】
【发明所要解决的技术问题】
由诸如万向架等支撑机构可旋转地支撑的摄像部上可安装各种类型的镜头单元。根据镜头单元的类型，支撑机构有时难以稳定地支撑镜头单元。
【用于解决问题的技术手段】
本发明的一个方面所涉及的摄像系统可以包括图像传感器。摄像系统可以包括可拆装地保持镜头单元的镜头卡口。摄像系统可以包括可旋转地支撑镜头卡口和图像传感器的支撑机构。摄像系统可以包括保持支撑机构的主体。摄像系统可以包括支撑体，该支撑体支撑镜头卡口以保持镜头卡口相对于主体的位置。
摄像系统可以包括连接镜头单元和镜头卡口的卡口适配器。支撑体可以固定到主体和卡口适配器。
卡口适配器可以包括转换部，该转换部从控制图像传感器的第一控制部接收根据第一通信标准的第一控制信号，将第一控制信号转换为根据第二通信标准的第二控制信号，并发送到镜头单元。
主体可以包括用于固定支撑体的固定面。支撑体可以包括调整机构，其通过沿着 固定面移动支撑体来调整支撑体相对于固定面的固定位置。
主体在固定面上可以包括在沿固定面的第一方向上延伸的第一轨道。调整机构可以包括第一引导部，其引导支撑体的沿第一轨道的移动。
调整机构可以包括在沿固定面的第二方向上延伸的第二轨道。支撑体可以包括第二引导部，其引导支撑体的沿第二轨道的移动。
主体可以包括保持机构，其以镜头卡口可以在靠近和远离固定面的方向上移动的方式保持支撑机构。
保持机构可以包括保持支撑机构的保持部和使保持部相对于主体围绕沿固定面的轴旋转的旋转部。
支撑机构可以包括第一支撑部，其以镜头卡口和图像传感器可以在纵摇方向上旋转的方式支撑镜头卡口和图像传感器。支撑机构可以包括第二支撑部，其以镜头卡口和图像传感器可以在滚转方向上旋转的方式支撑第一支撑部。保持部可以以镜头卡口和图像传感器可以在横摇方向上旋转的方式支撑第二支撑部。
支撑体可以在外表面包括指示图像传感器的摄像面的位置的标记。
摄像系统可以包括检测部，其对支撑体安装于主体上进行检测。
根据本发明的一个方面，可以防止因镜头单元的类型差异导致支撑机构不能稳定地支撑镜头单元的情况。
此外，上述发明内容未列举本发明的必要的全部特征。此外，这些特征组的子组合也可以构成发明。
【附图说明】
图1是示出摄像系统的外观立体图的一个示例的图。
图2是示出从侧面侧观察到的摄像系统的外观的一个示例的图。
图3是示出安装有卡口适配器的摄像系统的外观立体图的一个示例的图。
图4是示出从侧面侧观察到的安装有卡口适配器的摄像系统的外观图的一个示 例的图。
图5是示出安装有支撑体的摄像系统的外观立体图的一个示例的图。
图6是示出从侧面侧观察到的安装有支撑体的摄像系统的外观图的一个示例的图。
图7是用于说明万向节的偏航轴与搭载在镜头卡口上的图像传感器的中心之间的距离的图。
图8是示出从底面侧观察的支撑体的外部立体图的一个示例的图。
图9是示出摄像系统的功能块的一个示例的图。
图10是示出在电源接通时在摄像系统执行的处理过程的一个示例的流程图。
图11是用于说明硬件配置的一个示例的图。
【具体实施方式】
以下，通过发明的实施方式来说明本发明，但是以下的实施方式并不限定权利要求书所涉及的发明。此外，并不是所有实施方式中所说明的特征组合对于发明的解决方案所必须的。对本领域普通技术人员来说，显然可以对以下实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。
权利要求书、说明书、附图以及摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人则不会提出异议。但是，在除此以外的情况下，保留一切的著作权。
本发明的各种实施方式可参照流程图及框图来描述，这里，方框可表示(1)执行操作的过程的阶段或者(2)包括执行操作的作用的装置的“部”。指定的阶段和“部”可以通过可编程电路和/或处理器来实现。专用电路可以包括数字和/或模拟硬件电路。可以包括集成电路(IC)和/或分立电路。可编程电路可以包括可重构硬件电路。可重构硬件电路可以包括逻辑AND、逻辑OR、逻辑XOR、逻辑NAND、逻辑NOR和 其他逻辑操作，以及触发器、寄存器、现场可编程门阵列(FPGA)，可编程逻辑阵列(PLA)之类的存储元件等。
计算机可读介质可以包括可以对由适宜的设备执行的指令进行存储的任意有形设备。其结果是，其上存储有指令的计算机可读介质包括一种包括指令的产品，该指令可被执行以创建用于执行流程图或框图所指定的操作的手段。作为计算机可读介质的示例，可以包括电子存储介质、磁存储介质、光学存储介质、电磁存储介质、半导体存储介质等。计算机可读介质的更具体示例可以包括软盘floppy disk(注册商标)、软盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或闪存)、电可擦除可编程只读存储器(EEPROM)、静态随机存取存储器(SRAM)、光盘只读存储器(CD-ROM)、数字通用光盘(DVD)、蓝光(RTM)盘、记忆棒、集成电路卡等。
计算机可读指令可以包括由一种或多种编程语言的任意组合描述的源代码或者目标代码中的任意一个。源代码或者目标代码包括传统的程序式编程语言。传统的程序式编程语言可以为汇编指令、指令集架构(ISA)指令、机器指令、与机器相关的指令、微代码、固件指令、状态设定数据、或者Smalltalk、JAVA(注册商标)、C++等面向对象编程语言以及“C”编程语言或者类似的编程语言。计算机可读指令可以在本地或者经由局域网(LAN)、互联网等广域网(WAN)提供给通用计算机、专用计算机或者其它可编程数据处理装置的处理器或可编程电路。处理器或可编程电路可以执行计算机可读指令，以创建用于执行流程图或框图所指定操作的手段。处理器的示例包括计算机处理器、处理单元、微处理器、数字信号处理器、控制器、微控制器等。
图1是示出了本实施方式所涉及的摄像系统10的外观立体图的一个示例的图。图2是示出了从侧面侧观察到的摄像系统10的外观图的一个示例的图。
摄像系统10包括主体100、保持机构200、万向节300和镜头卡口400。镜头卡口400在内部包括图像传感器430。镜头卡口400可拆装地保持镜头单元。保持机构 200以能够相对于主体100在Z轴(偏航轴)方向可移动的方式保持万向节300。保持机构200包括保持部202和旋转部204。保持部202经由旋转部204固定于主体100。保持部202保持万向节300。旋转部204可以可旋转地与保持部202的一端连接，万向节300可以以偏航轴为中心可旋转地与保持部另一端连接。旋转部204包括包括转子的致动器，通过致动器驱动而能够旋转。
万向节300是可旋转地支撑镜头卡口400和图像传感器430的支撑机构的一个示例。镜头卡口400可以包括容纳图像传感器430的壳体，且万向节300可以可旋转地支撑壳体。万向节300支撑镜头卡口400和图像传感器430，使其能够利用致动器而以X轴(俯仰轴)为中心旋转。万向节300支撑镜头卡口400和图像传感器430，使其能够利用致动器而进一步分别以Y轴(滚转轴)和Z轴(偏航轴)为中心旋转。万向节300可以通过以偏航轴、俯仰轴以及滚转轴中的至少一个为中心旋转镜头卡口400和图像传感器430，来改变图像传感器430的姿势。
万向节300包括旋转部301、旋转部303、旋转部305、支撑部302以及支撑部304。旋转部301、旋转部303以及旋转部305包括包括转子的致动器。旋转部301设定在支撑部302的一端。旋转部303设定在支撑部302的另一端。支撑部302的另一端经由旋转部303与支撑部304的一端连接。旋转部305设定在支撑部304的另一端。支撑部304的另一端经由旋转部305与保持部202的另一端连接。支撑部302以镜头卡口400和图像传感器430能够通过旋转部301以俯仰轴为中心旋转的方式支撑镜头卡口400和图像传感器430。即，支撑部302是第一支撑部的一个示例，其以镜头卡口400和图像传感器430能够在纵摇方向上旋转的方式支撑镜头卡口400和图像传感器430。支撑部304以镜头卡口400和图像传感器430能够通过旋转部303以滚转轴为中心旋转的方式支撑支撑部302。即，支撑部304是第二支撑部的一个示例，其以镜头卡口400和图像传感器430能够在滚转方向上旋转的方式支撑支撑部302。支撑部304以镜头卡口400和图像传感器430能够通过旋转部305在横摇方向上旋转的方式由保持部202所支撑。
镜头卡口400可拆装地保持包括至少一个镜头的镜头单元。镜头单元可以是可更换镜头。
在如上所述构成的摄像系统10中，在镜头卡口400上能够可拆装地安装各种类型的镜头单元。但是，在镜头单元中，也存在不符合镜头卡口400的标准的镜头单元。为了使镜头卡口400能够保持这样的标准之外的镜头单元，摄像系统10还可以包括连接镜头卡口400和镜头单元的卡口适配器。
图3是卡口适配器500安装到镜头卡口400的摄像系统10的外观立体图的示例。图4是卡口适配器500安装到镜头卡口400的摄像系统10的从侧面侧观察到的外观图的示例。卡口适配器500包括符合与镜头卡口400连接的镜头单元的标准的卡口结构。通过这样的卡口适配器500，能够在镜头卡口400上安装各种类型镜头单元。
然而，在镜头单元中，也有由于重量大或者长度长等原因造成万向节300难以稳定地支撑的镜头单元。即，在镜头单元中，也存在难以维持镜头卡口400相对于主体100的位置的镜头单元。由此，摄像系统10还可以包括支撑镜头卡口400以维持镜头卡口400相对于主体100的位置的支撑体。
图5是支撑体150安装到主体100的摄像系统10的外观立体图的示例。图6是从侧面侧观察到的支撑体150安装到主体100的摄像系统10的外观图的示例。
支撑体150支撑镜头卡口400以维持镜头卡口400相对于主体100的位置。支撑体150可以固定在主体100和镜头卡口400上。支撑体150可以经由螺栓152固定到主体100。支撑体150包括比螺栓152的外径大的通孔。螺栓152经由该通孔螺纹固定于主体100。支撑体150在外表面包括指示图像传感器430的摄像面的位置的标记151。支撑体150可以在支柱的侧面包括标记151。另外，在镜头卡口400被支撑体150支撑的情况下，万向节300不控制镜头卡口400的姿势。即，万向节300不工作。
如图3及图4所示，主体100包括用于固定支撑体150的固定面140。固定面140位于镜头卡口400和卡口适配器500的下方。主体100可以在固定面140包括用于对支撑体150安装于主体100上进行检测的检测传感器132。检测传感器132可以是对 应于支撑体150安装于固定面140的情况而接通的机械开关。检测传感器132可以是对应于支撑体150安装于固定面140的情况而电导通的电元件。
通过支撑体150支撑镜头卡口400，万向节300能够稳定地支撑各种镜头单元。另外，支撑体150也可以不固定于卡口适配器500，而固定于镜头卡口400。或者，支撑体150也可以分别固定于卡口适配器500和镜头卡口400。
另外，镜头卡口400相对于主体100的位置包括个体差异。由主体100支撑的万向节300与镜头卡口400之间的位置关系也包括个体差异。例如，如图7所示，万向节300的偏航轴310与搭载在镜头卡口400上的图像传感器430的中心432之间的距离434包括个体差异。安装到镜头卡口400上的卡口适配器500与主体100之间的位置关系也存在个体差异。当支撑体150分别固定到主体100和卡口适配器500时，由于卡口适配器500相对于主体100的位置偏移，支撑体150可能无法固定到主体100和卡口适配器500。通过试图强制地将支撑体150固定到主体100和卡口适配器500，负载被施加到万向节300，这可能对万向节300造成不利影响。
因此，支撑体150可以包括调整机构，该调整机构通过沿着固定面140移动支撑体150来调整支撑体150相对于固定面140的固定位置。例如，如图3所示，主体100在固定面140上包括沿固定面140在第一方向(X方向)上延伸的轨道130。轨道130是第一轨道的一个示例。轨道130可以是设定在固定面140上的凹槽。如图8所示，支撑体150可以在与固定面140相对的底面154上包括销156，该销引导支撑体150的沿轨道130的移动。支撑体150可以在底面154上包括轨道155，该轨道引导销156在第二方向(Y方向)上的移动。通过使销156引导支撑体150沿轨道130移动，从而调整支撑体150相对于主体100的固定面140朝X方向的位置。此外，通过使销156沿着支撑体150的底面154上的轨道155移动，调整支撑体150相对于主体100的固定面140朝Y方向的位置。如此，由于支撑体150包括调整机构，即使镜头卡口400相对于主体100在X方向或Y方向上位置偏移，支撑体150也可以牢固地固定到主体100及卡口适配器500或镜头卡口400。此外，底面154的通孔159是 用于螺栓152穿过的孔。
保持机构200以镜头卡口400能够靠近或远离固定面140的方向移动的方式保持万向节300。保持机构200包括旋转部204，其使保持万向节300的保持部202以沿着固定面140的轴(俯仰轴)为中心相对于主体100旋转。因此，保持机构200能够调整镜头卡口400距固定面140的高度。由此，能够防止由于镜头卡口400相对于主体100在Z方向上发生位置偏移，导致支撑体150无法固定于卡口适配器500或镜头卡口400的情况。
图9示出了摄像系统10的功能块的一个示例。摄像系统10包括主体100、保持机构200、万向节300、镜头卡口400、卡口适配器500、支撑体150以及镜头单元600。
主体100包括主体控制部110、存储器120以及检测传感器132。主体控制部110控制整个摄像系统10。主体控制部110是控制装置的一个示例。主体控制部110可以由CPU或MPU等微处理器、MCU等微控制器等构成。存储器120存储主体控制部110对保持机构200、万向节300、镜头卡口400、卡口适配器500和镜头单元600进行控制所需的程序等。存储器120可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。存储器120可以设定于主体100内部。存储器120可设定成可从主体100上拆卸下来。检测传感器132对支撑体150安装于主体100上进行检测。
镜头卡口400包括图像传感器430、摄像控制部410、存储器420和加速度传感器440。图像传感器430可以由CCD或CMOS构成。图像传感器430拍摄经由镜头单元600成像的光学图像，并将所拍摄的图像数据输出至摄像控制部410。摄像控制部410可以由CPU或MPU等微处理器、MCU等微控制器等构成。摄像控制部410可以根据来自主体控制部110的操作指令来控制镜头卡口400。存储器420可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。存储器420储存摄像控制部410对图像传感器430等进行控制 所需的程序等。存储器420可以设定在镜头卡口400的壳体内部。存储器420可以设定成可从镜头卡口400的壳体中拆卸下来。加速度传感器440可以是用于检测镜头卡口400和图像传感器430的姿势的三轴加速度传感器。
镜头单元600包括多个镜头612、多个镜头驱动部610、镜头控制部620以及存储器630。多个镜头612可以起到变焦镜头、可变焦距镜头及聚焦镜头的作用。多个镜头612中的至少一部分或全部被配置为能够沿着光轴移动。镜头单元600可以是可拆装地设定在镜头卡口400上的可更换镜头。镜头驱动部610经由凸轮环等机构构件使多个镜头612中的至少一部分或全部沿着光轴移动。镜头驱动部610可以包括致动器。致动器可以包括步进马达。镜头控制部620按照来自镜头卡口400的镜头控制指令来驱动镜头驱动部610，经由机构构件使一个或多个镜头612沿着光轴方向移动。镜头控制指令例如是变焦控制指令和聚焦控制指令。
卡口适配器500包括适配器控制部510以及存储器520。卡口适配器500通过锁销450可拆装地安装到镜头卡口400上。卡口适配器500通过锁销530可拆装地安装到镜头单元600上。卡口适配器500包括用于与镜头卡口400通信的触点532。镜头卡口400包括用于与卡口适配器500通信的触点452。卡口适配器500包括用于与镜头单元600通信的触点534。镜头单元600包括用于与卡口适配器500通信的触点632。
适配器控制部510从控制图像传感器430的摄像控制部410接收符合第一通信标准的第一控制信号，并将第一控制信号转换为符合第二通信标准的第二控制信号并发送给镜头单元600。适配器控制部510是转换部的一个示例。即使在镜头卡口400的通信标准与镜头单元600的通信标准不同的情况下，适配器控制部510也能够根据通信标准对控制信号进行转换，使镜头卡口400与镜头单元600相互通信。
适配器控制部510可以由CPU或MPU等微处理器、MCU等微控制器等构成。存储器520存储对适配器控制部510进行控制所需的程序等。存储器520可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。存储器520可以设定在卡口适配器500的内部。存储器520可以 设定为能够从卡口适配器500中拆卸下来。
这里，在支撑体150固定到主体100和卡口适配器500的状态下，如果万向节300要强制地控制镜头卡口400的姿态，则存在对万向节300造成负担的可能性。由于万向节300强制改变镜头卡口400的姿态，万向节300等可能会出现故障。因此，在支撑体150固定在主体100和卡口适配器500的状态下，万向节300最好不控制镜头卡口400的姿态。
主体控制部110包括检测部112、万向节控制部114、获取部116和设定部118。检测部112检测到支撑体150安装到摄像系统10上。检测部112可以经由检测传感器132对支撑体150安装于主体100上进行检测。检测部112可以对支撑体150安装于卡口适配器500上进行检测。检测部112可以经由镜头卡口400对支撑体150安装于卡口适配器500上进行检测。
万向节控制部114控制万向节300，使得当检测部112检测到支撑体150安装到摄像系统10时限制镜头卡口400和图像传感器430的旋转。当检测部112检测到支撑体150安装到摄像系统10时，万向节控制部114可以控制万向节300以不旋转镜头卡口400和图像传感器430。
在支撑体150未安装到摄像系统10的情况下，万向节控制部114响应于摄像系统10的电源接通，作为初始操作，驱动万向节300，并且执行校准以调整镜头卡口400和图像传感器430的姿态。万向节控制部114通过执行校准，进行位置修正，使得镜头卡口400和图像传感器430的实际姿势(俯仰轴，滚动轴和偏航轴的旋转位置)和万向节控制部114识别的镜头卡口400和图像传感器430的姿势(俯仰轴，滚动轴和偏航轴的旋转位置)一致。
在支撑体150安装到摄像系统10的状态下，如果万向节控制部114执行校准，可能会对万向节300或镜头卡口400造成不利影响。由此，当检测部112检测到支撑体150安装到摄像系统10时，万向节控制部114可以控制万向节300以使通过旋转镜头卡口400和图像传感器430来限制用于调整镜头卡口400和图像传感器430的姿 势的校准。当检测部112检测到支撑体150安装到摄像系统10时，万向节控制部114可以控制万向节300不执行校准。
检测部112还可以对卡口适配器500安装于镜头卡口400上进行检测。检测部112可以经由镜头卡口400对卡口适配器500安装于镜头卡口400上进行检测。当检测部112检测到支撑体150安装到摄像系统10并且卡口适配器500安装到镜头卡口400上时，万向节控制部114可以控制万向节300以限制镜头卡口400和图像传感器430的旋转。当检测部112检测到支撑体150安装到摄像系统10并且卡口适配器500安装到镜头卡口400上时，万向节控制部114可以控制万向节300以不旋转镜头卡口400和图像传感器430。
通常，万向节300产生对抗外力以维持镜头卡口400和图像传感器430的姿态的保持力。万向节控制部114控制施加到万向节300的每个轴的驱动部的电压，以便产生期望的对抗外力以维持镜头卡口400和图像传感器430的姿态的保持力。
这里，当支撑体150安装到摄像系统10时，万向节300不需要产生用于对抗外力以维持镜头卡口400和图像传感器430的姿态的保持力。由此，当检测部112检测到卡口适配器500安装到镜头卡口400并且支撑体150安装到摄像系统10时，与检测部112未检测到卡口适配器500安装到镜头卡口400的情况相比，万向节控制部114可以降低万向节300维持镜头卡口400和图像传感器430的姿态的保持力。
当检测部112未检测到卡口适配器500安装到镜头卡口400时，万向节控制部114可以控制万向节300以将镜头卡口400和图像传感器430的姿态维持在预定的第一保持力。当检测部112检测到卡口适配器500安装到镜头卡口400并且支撑体150安装到摄像系统10时，万向节控制部114控制万向节以小于第一保持力的第二保持力维持镜头卡口400和图像传感器430的姿势。
万向节控制部114可以通过降低可施加到万向节300的驱动部的电压来降低万向节300可产生的保持力。万向节控制部114可以降低可施加到万向节300的驱动部的最大保持力。万向节控制部114可以通过将向万向节300的驱动部供应电力的电源的 电源电压降低到初始设定电源电压以下，来降低万向节300可产生的保持力。通过降低电源电压，可施加到万向节300的驱动部的控制电压也降低。因此，万向节300可产生的保持力也降低。
万向节控制部114可以在不改变电源电压的情况下，通过降低可施加到万向节300的驱动部的最大控制电压来降低万向节300可产生的保持力。万向节控制部114可以通过降低可输入到万向节300的驱动部的最大电流来降低万向节300可产生的保持力。
在通过卡口适配器500连接到镜头卡口400的镜头单元600中，也存在有重量轻、长度短的镜头单元600的情况。当这样的镜头单元600安装到卡口适配器500时，即使支撑体150没有安装到摄像系统10，万向节300也可以稳定地维持镜头单元600的姿势。即，如果镜头单元600较小，则用于通过万向节300维持镜头单元600的姿态的保持力也可以低于通常。由此，当检测部112检测到卡口适配器500安装到镜头卡口400并且检测部112没有检测到支撑体150安装到摄像系统10时，万向节控制部114可以控制万向节300以在第一保持力和第二保持力之间的第三保持力维持镜头卡口400和图像传感器430的姿态。
此外，根据镜头单元600的尺寸(长度和直径)，有时优选地限制万向节300的驱动范围。当包括相对大尺寸的镜头单元600安装到摄像系统10时，如果万向节300的驱动范围较宽，则镜头单元600可能与构成摄像系统10的构件碰撞。由此，万向节控制部114可以根据镜头单元600的尺寸调整万向节300的驱动范围。获取部116获取关于保持在镜头卡口400的镜头单元600的尺寸的镜头信息。获取部116可以经由镜头卡口400获取镜头单元600的存储器630中所存储的、用于识别镜头单元600的镜头信息。设定部118根据镜头信息来设定利用万向节300的镜头卡口400和图像传感器430的旋转范围，即万向节300的驱动范围。万向节控制部114可以控制万向节300，以使镜头卡口和图像传感器430在其旋转范围内旋转。存储器120可以预先存储各种类型的镜头单元600的万向节300的驱动范围。设定部118可以通过根据镜 头信息指定镜头单元600的类型并从存储器120读取与该类型相关联的万向节300的驱动范围来设定万向节300的驱动范围。
图10是示出当电源接通时在摄像系统10执行的处理过程的一个示例的流程图。当接通摄像系统10的电源时(S100)，检测部112判断卡口适配器500是否安装到镜头卡口400(S102)。当卡口适配器500未安装到镜头卡口400时，万向节控制部114执行万向节300的校准(S106)。万向节控制部114将万向节300为了维持镜头卡口400和图像传感器430的姿态而产生的保持力设定为第一保持力(S108)。万向节控制部114可通过将施加到万向节300的最大电压值设定为预定的第一电压值来设定万向节300的保持力。
当卡口适配器500安装到镜头卡口400时，检测部112判断支撑体150是否安装到主体100(S104)。如果支撑体150没有安装到主体100，则万向节控制部114执行万向节300的校准(S110)。万向节控制部114将万向节300为了维持镜头卡口400和图像传感器430的姿态而产生的保持力设定为第一保持力和第二保持力之间的第三保持力(S112)。万向节控制部114可以通过将施加到万向节300的最大电压值设定为预先设定的第一电压值和第二电压值之间的第三电压值，来设定万向节300的保持力。
当卡口适配器500安装到镜头卡口400并且支撑体150安装到主体100时，万向节控制部114停止万向节300的校准(S114)。即，万向节控制部114在电源接通时不执行万向节300的校准。万向节控制部114将万向节300为了保持镜头卡口400和图像传感器430的姿态而产生的保持力设定为第二保持力(S116)。万向节控制部114可以通过将施加到万向节300的最大电压值设定为预定的第二电压值来设定万向节300的保持力。万向节控制部114可以通过将施加到万向节300的最大电压值设定为0V来设定万向节300的保持力。
接下来，将镜头单元600安装到摄像系统10(S118)。镜头单元600经由卡口适配器500连接到镜头卡口400。或者，镜头单元600不经由卡口适配器500而直接连 接到镜头卡口400。获取部116获取已安装的镜头单元600的镜头信息(S120)。设定部118基于镜头信息设定镜头单元600的类型对应的万向节300的驱动范围(S122)。当支撑体150安装到主体100时，设定部118可以将万向节300的驱动范围设定为零。
如上所述，根据本实施方式的摄像系统10，即使在大重量或大长度的镜头单元600安装到摄像系统10时，由于镜头单元600由支撑体150所支撑，万向节300也可以稳定地支撑镜头单元600的姿态。而且，当支撑体150安装到摄像系统10时，依赖于万向节300的镜头卡口400和图像传感器430的旋转受到限制。从而，当支撑体150正支撑镜头卡口400时，可以防止万向节300试图强制地旋转镜头卡口400而对万向节300造成的负担。
图11表示可全部或部分地体现本发明的多个方面的计算机1200的一个示例。安装在计算机1200上的程序能够使计算机1200作为与本发明的实施方式所涉及的装置相关联的操作或者该装置的一个或多个“部”而起作用。或者，该程序能够使计算机1200执行该操作或者该一个或多个“部”。该程序能够使计算机1200执行本发明的实施方式所涉及的过程或者该过程的阶段。这种程序可以由CPU 1212执行，以使计算机1200执行与本说明书所述的流程图及框图中的一些或者全部方框相关联的指定操作。
本实施方式的计算机1200包括CPU 1212和RAM 1214，它们通过主机控制器1210相互连接。计算机1200还包括通信接口1222、输入/输出单元，它们通过输入/输出控制器1220与主机控制器1210连接。计算机1200还包括ROM 1230。CPU 1212按照ROM 1230及RAM 1214内存储的程序而工作，从而控制各单元。
通信接口1222通过网络与其他电子装置通信。硬盘驱动器可以储存计算机1200内的CPU 1212所使用的程序及数据。ROM 1230在其中储存运行时由计算机1200执行的引导程序等、和/或依赖于计算机1200的硬件的程序。程序通过CR-ROM、USB存储器或IC卡之类的计算机可读记录介质或者网络来提供。程序安装在也作为计算 机可读记录介质的示例的RAM 1214或ROM 1230中，并通过CPU 1212执行。这些程序中记述的信息处理由计算机1200读取，并引起程序与上述各种类型的硬件资源之间的协作。可以通过根据计算机1200的使用而实现信息的操作或者处理来构成装置或方法。
例如，当在计算机1200和外部装置之间执行通信时，CPU 1212可执行加载在RAM 1214中的通信程序，并且基于通信程序中描述的处理，命令通信接口1222进行通信处理。通信接口1222在CPU 1212的控制下，读取存储在RAM 1214或USB存储器之类的记录介质内提供的发送缓冲区中的发送数据，并将读取的发送数据发送到网络，或者将从网络接收的接收数据写入记录介质内提供的接收缓冲区等中。
此外，CPU 1212可以使RAM 1214读取USB存储器等外部记录介质所存储的文件或数据库的全部或者需要的部分，并对RAM 1214上的数据执行各种类型的处理。接着，CPU 1212可以将处理过的数据写回到外部记录介质中。
可以将各种类型的程序、数据、表格及数据库之类的各种类型的信息存储在记录介质中，并接受信息处理。对于从RAM 1214读取的数据，CPU 1212可执行在本公开的各处描述的、包括由程序的指令序列指定的各种类型的操作、信息处理、条件判断、条件转移、无条件转移、信息的检索/替换等各种类型的处理，并将结果写回到RAM 1214中。此外，CPU 1212可以检索记录介质内的文件、数据库等中的信息。例如，在记录介质中储存包括分别与第二属性的属性值相关联的第一属性的属性值的多个条目时，CPU 1212可以从该多个条目中检索出与指定第一属性的属性值的条件相匹配的条目，并读取该条目内储存的第二属性的属性值，从而获取与满足预定条件的第一属性相关联的第二属性的属性值。
以上描述的程序或者软件模块可以存储在计算机1200上或者计算机1200附近的计算机可读存储介质上。另外，连接到专用通信网络或因特网的服务器系统中提供的诸如硬盘或RAM之类的记录介质可以用作计算机可读存储介质，从而可以经由网络将程序提供给计算机1200。
应该注意的是，权利要求书、说明书以及附图中所示的装置、系统、程序以及方法中的动作、顺序、步骤以及阶段等各项处理的执行顺序，只要没有特别明示“在...之前”、“事先”等，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及附图中的操作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。
以上使用实施方式对本发明进行了说明，但是本发明的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。
【符号说明】
10 摄像系统
100 主体
110 主体控制部
112 检测部
114 万向节控制部
116 获取部
118 设定部
120 存储器
130 轨道
132 检测传感器
140 固定面
150 支撑体
151 标记
152 螺栓
154 底面
155 轨道
156 销
159 通孔
200 保持机构
202 保持部
204 旋转部
300 万向节
301，303，305 旋转部
302，304 支撑部
400 镜头卡口
410 摄像控制部
420 存储器
430 图像传感器
440 加速度传感器
450 锁销
500 卡口适配器
510 适配器控制部
520 存储器
530 锁销
600 镜头单元
610 镜头驱动部
612 镜头
620 镜头控制部
630 存储器
1200 计算机
1210 主机控制器
1212 CPU
1214 RAM
1220 输入/输出控制器
1222 通信接口
1230 ROM

Claims (11)

  1. 一种摄像系统，其特征在于，包括：
    图像传感器；
    镜头卡口，其可拆装地保持镜头单元；
    支撑机构，可旋转地支撑所述镜头卡口和所述图像传感器；
    主体，其保持所述支撑机构；以及
    支撑体，其支撑所述镜头卡口以保持所述镜头卡口相对于所述主体的位置。
  2. 如权利要求1所述的摄像系统，
    其还包括连接所述镜头单元和所述镜头卡口的卡口适配器，
    所述支撑体固定到所述主体和所述卡口适配器上。
  3. 如权利要求2所述的摄像系统，其中，
    所述卡口适配器包括转换部，其从所述控制图像传感器的第一控制部接收根据第一通信标准的第一控制信号，将所述第一控制信号转换为根据第二通信标准的第二控制信号，并发送到所述镜头单元。
  4. 如权利要求1所述的摄像系统，其中，
    所述主体包括用于固定所述支撑体的固定面，
    所述支撑体包括调整机构，其通过沿着固定面移动所述支撑体来调整所述支撑体相对于所述固定面的固定位置。
  5. 如权利要求4所述的摄像系统，其中，
    所述主体包括于所述固定面上在沿所述固定面的第一方向上延伸的第一轨道，
    所述调整机构包括第一引导部，其引导所述支撑体的沿所述第一轨道的移动。
  6. 如权利要求5所述的摄像系统，其中，
    所述调整机构包括在沿所述固定面的第二方向上延伸的第二轨道，
    所述支撑体包括第二引导部，其引导所述支撑体的沿所述第二轨道的移动。
  7. 如权利要求4所述的摄像系统，其中，
    所述主体包括保持机构，其以所述镜头卡口可以在靠近和远离所述固定面的方向上移动的方式保持支撑机构。
  8. 如权利要求7所述的摄像系统，其中，
    所述保持机构包括保持所述支撑机构的保持部和使所述保持部相对于所述主体围绕沿所述固定面的轴旋转的旋转部。
  9. 如权利要求8所述的摄像系统，其中，
    所述支撑机构包括：第一支撑部，其以所述镜头卡口和所述图像传感器可以在纵摇方向上旋转的方式支撑所述镜头卡口和所述图像传感器；第二支撑部，其以所述镜头卡口和所述图像传感器可以在滚转方向上旋转的方式支撑所述第一支撑部；
    所述保持部以所述镜头卡口和所述图像传感器可以在横摇方向上旋转的方式支撑所述第二支撑部。
  10. 如权利要求1所述的摄像系统，其中，
    所述支撑体在外表面包括指示所述图像传感器的摄像面的位置的标记。
  11. 如权利要求1所述的摄像系统，其还包括：
    检测部，其对所述支撑体安装于所述主体上进行检测。
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