WO2021013096A1 - 控制装置、摄像系统、移动体、控制方法以及程序 - Google Patents

控制装置、摄像系统、移动体、控制方法以及程序 Download PDF

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Publication number
WO2021013096A1
WO2021013096A1 PCT/CN2020/102766 CN2020102766W WO2021013096A1 WO 2021013096 A1 WO2021013096 A1 WO 2021013096A1 CN 2020102766 W CN2020102766 W CN 2020102766W WO 2021013096 A1 WO2021013096 A1 WO 2021013096A1
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WO
WIPO (PCT)
Prior art keywords
holder
posture
groove portion
optical axis
imaging device
Prior art date
Application number
PCT/CN2020/102766
Other languages
English (en)
French (fr)
Chinese (zh)
Inventor
城野方博
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 CN202080003342.2A priority Critical patent/CN112335222B/zh
Publication of WO2021013096A1 publication Critical patent/WO2021013096A1/zh

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Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • G01M7/02—Vibration-testing by means of a shake table
    • 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
    • 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
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • 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
    • 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
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • 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
    • 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 control device, a camera system, a mobile body, a control method and a program.
  • Patent Document 1 discloses a camera module that moves the lens through a guide structure containing balls between grooves.
  • Patent Document 1 Specification of U.S. Patent Application Publication No. 2008/253003
  • the control device may be a control device that controls an imaging device and a support mechanism that rotatably supports the imaging device.
  • the imaging device may include: a lens; a holder that holds the lens; a guide structure that guides the movement of the holder along the optical axis direction; a driving part that drives the holder along the optical axis direction via the guide structure; And a receiving part, which contains the holder, the guiding structure and the driving part.
  • the guide structure may include: a first guide portion provided on the holder and having a first groove portion along the optical axis direction; a second guide portion provided on the receiving portion and having a second recess portion along the optical axis direction
  • the groove part, the second groove part is opposite to the first groove part, and the ball, which is arranged between the first groove part and the second groove part.
  • the control device may include a circuit configured as follows: the support mechanism controls so that the posture of the imaging device is the first posture in which the moving direction of the holder becomes the first posture with the gravity direction component, and controls the drive unit so that the holder passes through
  • the guide structure moves along the first direction to adjust the positional relationship between the ball and the first groove portion and the second groove portion.
  • the driving part may include: a magnet supported by one of the holder and the accommodating part; and a coil and a yoke opposite to the magnet and supported by the other of the holder and the accommodating part.
  • the driving part presses the first guide part against the second guide part by the magnetic force between the magnet and the yoke, and can drive the holder in the optical axis direction via the guide structure by Lorentz force generated by the coil.
  • the circuit may be configured to set the posture of the imaging device to the first posture in response to causing the support mechanism to perform predetermined calibration.
  • the first direction may be a direction in which the moving direction of the holder becomes the direction of gravity.
  • the circuit can control the driving part when the posture of the imaging device is in the first posture, so that the holder can move along the optical axis through the guide structure, so that the ball and the first groove part and the second groove part are positioned
  • the relationship is a predetermined position relationship.
  • the circuit may be configured as follows: in the state where the posture of the imaging device is the first posture, the drive unit is controlled to move the holder to a predetermined position in the optical axis direction via the guide structure, so that the ball, the first groove portion and the first The positional relationship between the two groove portions is a predetermined positional relationship.
  • the holder can move from the first position to the second position along the optical axis direction.
  • the predetermined position may be the first position or the second position.
  • the imaging system may include: the control device, the support mechanism, and the imaging device.
  • the moving body according to an aspect of the present invention may be a moving body that includes the aforementioned camera system and moves.
  • the control method may be a control method for controlling an imaging device and a support mechanism that rotatably supports the imaging device.
  • the imaging device may include: a lens; a holder that holds the lens; a guide structure that guides the movement of the holder in the direction of the optical axis; a driving part that drives the holder in the direction of the optical axis via the guide structure; and
  • the receiving part contains the holder, the guiding structure and the driving part.
  • the guide structure may include: a first guide portion provided on the holder and having a first groove portion along the optical axis direction; a second guide portion provided on the receiving portion and having a second recess portion along the optical axis direction
  • the groove part, the second groove part is opposite to the first groove part, and the ball, which is arranged between the first groove part and the second groove part.
  • the control method may include: controlling the support mechanism so that the posture of the imaging device is a first posture in which the moving direction of the holder becomes a first direction having a gravity direction component.
  • the control method may include: controlling the driving part to move the cage in the first direction via the guide structure, thereby adjusting the positional relationship between the ball and the first groove part and the second groove part.
  • the program according to one aspect of the present invention may be a program for causing a computer to function as the above-mentioned control device.
  • an imaging device that moves the lens through a guide structure containing balls between the opposed grooves can suppress the power required by the driving unit for driving the lens and eliminate the gap between the grooves. The position of the ball is shifted.
  • FIG. 1 is a diagram showing an example of an external perspective view of an imaging system.
  • FIG. 2 is a diagram showing an example of an external perspective view of the imaging device.
  • FIG. 3 is a diagram showing an example of an exploded perspective view of the imaging device.
  • Fig. 4 is a sectional view taken along line A-A shown in Fig. 2.
  • Fig. 5 is a B-B sectional view shown in Fig. 4.
  • Fig. 6A is a diagram illustrating the positional relationship among the balls, the first rail, and the second rail.
  • Fig. 6B is a diagram explaining the positional relationship among the balls, the first rail, and the second rail.
  • Fig. 7A is a diagram illustrating the positional relationship among the balls, the first rail, and the second rail.
  • Fig. 7B is a diagram explaining the positional relationship among the balls, the first rail, and the second rail.
  • Fig. 8 is a diagram showing an example of functional blocks of the camera system.
  • Fig. 9 is a diagram showing an example of the appearance of an unmanned aircraft and a remote control device.
  • Fig. 10 is a flowchart showing an example of a processing procedure when the camera system is powered on.
  • FIG. 11A is a diagram explaining how the posture of the imaging device changes during calibration.
  • FIG. 11B is a diagram explaining how the posture of the imaging device changes during calibration.
  • FIG. 11C is a diagram explaining how the posture of the imaging device changes during calibration.
  • Fig. 12 is a diagram showing an example of a hardware configuration.
  • the blocks can represent (1) the stages of the process of performing operations or (2) the "parts" of the device that perform operations. Specific stages and “parts” can be implemented by programmable circuits and/or processors.
  • Dedicated circuits may include digital and/or analog hardware circuits. May include integrated circuits (ICs) and/or discrete circuits.
  • Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits can include logic AND, logic OR, logic exclusive OR, logic NAND, logic NOR, and other logic operations, flip-flops, registers, field programmable gate array (FPGA), programmable logic array (PLA) ) And other memory components.
  • FPGA field programmable gate array
  • PLA programmable logic array
  • the computer-readable medium may include any tangible device that can store instructions for execution by a suitable device.
  • the computer-readable medium having instructions stored thereon includes a product including instructions that can be executed to create means for performing operations specified by the flowchart or block diagram.
  • a computer-readable medium it may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like.
  • the computer readable medium may include floppy (registered trademark) disk floppy disk, floppy disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) Or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (registered trademark) disc, Memory stick, integrated circuit card, etc.
  • floppy registered trademark
  • floppy disk floppy disk
  • floppy disk hard disk
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • flash memory electrically erasable programmable read-only memory
  • SRAM static random access memory
  • CD-ROM compact disc read-only memory
  • DVD digital versatile disc
  • Blu-ray registered trademark
  • the computer-readable instructions may include any one of source code or object code described in any combination of one or more programming languages.
  • the source code or object code includes traditional procedural programming languages.
  • Traditional procedural programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Smalltalk (registered trademark), JAVA (registered trademark) , C++ and other object-oriented programming languages and "C" programming language or similar programming languages.
  • the computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device.
  • the processor or programmable circuit can execute computer-readable instructions to create means for performing the operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.
  • FIG. 1 is an external perspective view of an imaging system 10 according to this embodiment.
  • the imaging system 10 includes an imaging device 100, a supporting mechanism 200 and a grip 300.
  • the support mechanism 200 uses actuators to rotatably support the imaging device 100 around the roll axis, the pitch axis, and the yaw axis.
  • the support mechanism 200 can change or maintain the posture of the imaging device 100 by rotating the imaging device 100 around at least one of the roll axis, the pitch axis, and the yaw axis.
  • the support mechanism 200 includes a roll axis drive mechanism 201, a pitch axis drive mechanism 202, and a yaw axis drive mechanism 203.
  • the supporting mechanism 200 also includes a base 204 for fixing the yaw axis driving mechanism 203.
  • the grip 300 is fixed to the base 204.
  • the holding part 300 includes an operation interface 301 and a display part 302.
  • the imaging device 100 is fixed to the pitch axis driving mechanism 202.
  • the operation interface 301 accepts instructions for operating the camera device 100 and the supporting mechanism 200 from the user.
  • the operation interface 301 may include a shutter/recording button for instructing the camera device 100 to shoot or record.
  • the operation interface 301 may include power/function buttons for instructing to turn on or off the power of the camera 10 and to switch the still image shooting mode or the moving image shooting mode of the camera 100.
  • the display part 302 can display an image captured by the imaging device 100.
  • the display unit 302 can display a menu screen for operating the imaging device 100 and the supporting mechanism 200.
  • the display unit 302 may be a touch screen display that receives instructions for operating the imaging device 100 and the supporting mechanism 200.
  • FIG. 2 is an external perspective view of the imaging device 100.
  • FIG. 3 is an exploded perspective view of the imaging device 100.
  • Fig. 4 is a sectional view taken along line A-A shown in Fig. 2.
  • the imaging device 100 includes a lens 101, a holder 110, a guide structure 120, a driving part 130, a receiving part 140 and a position sensor 148.
  • the imaging device 100 uses a voice coil motor drive unit 130 to move the holder 110 in the optical axis direction to adjust the position of the lens 101.
  • the lens 101 may have multiple lenses.
  • the lens 101 can function as a zoom lens, a variable focal length lens, and a focus lens.
  • the holder 110 holds the lens 101.
  • the guide structure 120 guides the movement of the holder 110 along the optical axis direction.
  • the guiding structure 120 has a first guiding portion 121 and a second guiding portion 122.
  • the first guide portion 121 is provided on the holder 110 and guides the movement of the holder 110 in the optical axis direction.
  • the second guide portion 122 is provided in the accommodating portion 140, faces the first guide portion 121, and guides the movement of the holder 110 in the optical axis direction.
  • the first guide portion 121 has a first guide rail 1212 along the optical axis direction.
  • the first guide part 121 may have a pair of first guide rails 1212.
  • the first guide portion 121 may be formed integrally with the holder 110.
  • the pair of first rails 1212 may be a pair of grooves formed on the holder 110.
  • the first guide rail 1212 is an example of the first groove portion.
  • the second guide portion 122 has a second guide rail 1222 along the optical axis direction, and the second guide rail 1222 is opposite to the first guide rail 1212.
  • the second guide portion 122 may have a pair of second guide rails 1222 opposite to the pair of first guide rails 1212.
  • the pair of second rails 1222 may be a pair of grooves formed in the receiving part 140.
  • the second guide rail 1222 is an example of the second groove portion.
  • the guiding structure 120 also has a plurality of balls 123 arranged between the first rail 1212 and the second rail 1222.
  • the ball 123 rotates between the first rail 1212 and the second rail 1222 to move the holder 110 in the optical axis direction.
  • the driving unit 130 drives the holder 110 in the optical axis direction via the guide structure 120.
  • the driving part 130 may function as a voice coil motor (VCM).
  • VCM voice coil motor
  • the accommodating part 140 accommodates the holder 110, the guide structure 120 and the driving part 130.
  • the driving unit 130 includes a magnet 131, a coil 132 and a yoke 133.
  • the magnet 131 may be provided on the side of the holder 110.
  • the magnet 131 is located outside the lens 101 in the radial direction.
  • the coil 132 and the yoke 133 oppose the magnet 131 and are supported by the accommodating part 140.
  • the first guide portion 121 is pressed against the second guide portion 122 by the magnetic force 1301 between the magnet 131 and the yoke 133.
  • the driving unit 130 drives the holder 110 in the optical axis direction via the guide structure 120 based on the Lorentz force generated by the coil 132.
  • the magnet 131 may be arranged between the pair of first rails 1212.
  • the magnet 131 may be disposed on the first guide part 121.
  • the magnet 131 is fixed on the first guide part 121 so as to be supported by the holder 110.
  • the magnet 131 may also be supported by the accommodating part 140, and the coil 132 and the yoke 133 may also be supported by the holder 110.
  • the imaging device 100 further includes a position sensor 148, a flexible substrate (FPC) 150 connected to the coil 132 and the position sensor 148, an image sensor 170, and an infrared (IR) cut filter 172.
  • the imaging device 100 also includes a housing 160 having an opening that exposes the lens 101.
  • the position sensor 148 detects the position of the holder 110.
  • the position sensor 148 detects the position of the holder 110 as the position of the lens 101.
  • the position sensor 148 may be a Hall element.
  • the position sensor 148 can detect the magnetic field generated by the magnet 131 to detect the position of the holder 110.
  • the position sensor 148 may be arranged at the central part of the coil 132 to be surrounded by the coil 132.
  • the image sensor 170 may be arranged at the bottom of the receiving part 140.
  • the image sensor 170 converts the subject image formed by the lens 101 into an electric signal.
  • the image sensor 170 may be composed of CCD or CMOS.
  • An IR cut filter 172 may be arranged above the imaging surface of the image sensor 170.
  • Fig. 5 is a B-B sectional view shown in Fig. 4.
  • the ball 123 can rotate between the first rail 1212 and the second rail 1222 almost frictionlessly.
  • the maximum propulsive force required by the drive unit 130 for VCM is set to Fmax
  • the weight of the object system including the holder 110 and the lens 101 driven by the drive unit 130 is set to m
  • the acceleration required for focus control is set to a( 4G)
  • set the acceleration of gravity is set to g( 1G)
  • Set the rolling friction coefficient of the balls 123 to ⁇ r sets the magnetic attraction force of the magnet 131 to N.
  • the maximum propulsion force Fmax can be expressed by the following formula.
  • the imaging device 100 receives an impact
  • the positional relationship between the ball 123 and the first rail 1212 and the second rail 1222 sometimes shifts.
  • the cage 110 In order to correct the deviation of the positional relationship, when the ball 123 is not easily rolled between the first rail 1212 and the second rail 1222, it is necessary to make the cage 110 continue to move along the optical axis. For example, as shown in FIG. 7A, when the ball 123 is shifted to the object side (subject side), when the ball 123 is not easily rolled between the first rail 1212 and the second rail 1222, it is necessary to make the cage 110 Move further to the object side. After temporarily moving the holder 110 to the object side, the holder 110 is moved to the imaging surface side, so that the positional relationship between the ball 123 and the first rail 1212 and the second rail 1222 can be corrected, as shown in FIG.
  • the support mechanism 200 is used. The posture of the imaging device 100 is controlled so that the holder 110 moves in the direction of gravity. As a result, the power required by the driving unit 130 when the holder 110 is moved in the optical axis direction is reduced.
  • FIG. 8 is a diagram showing functional blocks of the imaging system 10.
  • the imaging device 100 includes an imaging control unit 180, an image sensor 170, a memory 176, a lens control unit 182, a driving unit 130, a lens 101, a holder 110, and a guide structure 120.
  • the image sensor 170 may be composed of CCD or CMOS.
  • the image sensor 170 outputs image data of the optical image formed by the lens 101 to the imaging control unit 180.
  • the imaging control unit 180 may be composed of a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, and a SOC system on chip (System On Chip).
  • the imaging control unit 180 is an example of a circuit.
  • the imaging control unit 180 can control the imaging device 100 in accordance with an operation instruction of the imaging device 100 from the holding unit 300.
  • the memory 176 may be a computer-readable storage medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 176 stores programs necessary for the imaging control unit 180 to control the image sensor 170 and the like.
  • the memory 176 may be provided inside the housing of the imaging device 100.
  • the grip 300 may include other memory for storing image data captured by the imaging device 100.
  • the holding part 300 may have a slot through which the memory can be detached from the housing of the holding part 300.
  • the lens 101 can function as a zoom lens, a variable focal length lens, and a focus lens.
  • the lens 101 is movably arranged along the optical axis.
  • the lens control unit 182 drives the driving unit 130 in accordance with a lens control command from the imaging control unit 180 to move the lens 101 in the optical axis direction.
  • the lens control commands are, for example, zoom control commands and focus control commands.
  • the driving part 130 includes a voice coil motor (VCM) that moves the lens 101 in the optical axis direction.
  • the driving unit 130 may include a DC motor, a coreless motor, or an ultrasonic motor.
  • the lens control section 182 is an example of a circuit.
  • the imaging device 100 further includes a posture control unit 210, an angular velocity sensor 212, and an acceleration sensor 214.
  • the angular velocity sensor 212 detects the angular velocity of the imaging device 100.
  • the angular velocity sensor 212 detects the respective angular velocities of the imaging device 100 around the roll axis, the pitch axis, and the yaw axis.
  • the posture control unit 210 obtains angular velocity information related to the angular velocity of the imaging device 100 from the angular velocity sensor 212.
  • the angular velocity information may show the respective angular velocities of the camera device 100 around the roll axis, the pitch axis, and the yaw axis.
  • the posture control unit 210 can acquire acceleration information related to the acceleration of the imaging device 100 from the acceleration sensor 214.
  • the acceleration information may indicate the vibration level, which is used to indicate the magnitude of the vibration of the imaging device 100.
  • the acceleration information may also indicate the acceleration of the imaging device 100 in each direction of the roll axis, the pitch axis, and the yaw axis.
  • the angular velocity sensor 212 and the acceleration sensor 214 may be provided in the housing 140 that is a housing that houses the image sensor 170, the lens 101, and the like. In this embodiment, a mode of the integrated configuration of the imaging device 100 and the support mechanism 200 will be described. However, the supporting mechanism 200 may include a base for detachably fixing the camera device 100. In this case, the angular velocity sensor 212 and the acceleration sensor 214 may be provided outside the housing of the imaging device 100 such as a base.
  • the posture control unit 210 controls the support mechanism 200 based on angular velocity information and acceleration information to maintain or change the posture of the imaging device 100.
  • the posture control unit 210 is an example of a circuit.
  • the posture control unit 210 controls the support mechanism 200 so that the posture of the imaging device 100 is the first posture in which the movement direction of the holder 110 becomes the first direction having the gravity direction component.
  • the first direction may be a direction in which the moving direction of the holder becomes the direction of gravity.
  • the posture control unit 210 may control the support mechanism 200 so that the imaging direction of the imaging device 100 becomes a vertical downward or vertical upward posture.
  • the posture control section 210 may set the posture of the imaging apparatus 100 as the first posture in response to causing the support mechanism 200 to perform a predetermined calibration for adjusting the posture of the imaging apparatus 100.
  • the posture control unit 210 performs position correction by performing calibration so that the actual posture of the imaging device 100 (rotation positions of the pitch axis, roll axis, and yaw axis) and the posture of the imaging device 100 recognized by the posture control unit 210 (pitch axis, The rotation position of the roll axis and the yaw axis) are the same.
  • the posture control unit 210 may perform calibration when the power of the imaging system 10 is turned on.
  • the lens control unit 182 controls the driving unit 130 to move the holder in the first direction via the guide structure 120110. Therefore, the positional relationship between the ball 123 and the first rail 1212 and the second rail 1222 is adjusted by the lens control unit 182.
  • the lens control unit 182 can control the drive unit 130 to move the holder 110 in the optical axis direction via the guide structure 120, so that the balls 123 and the first guide rail 1212 and The positional relationship of the second guide rail 1222 becomes a predetermined positional relationship.
  • the lens control unit 182 can adjust the positional relationship between the ball 123 and the first rail 1212 and the second rail 1222, so that one end of the first rail 1212 and the second rail 1222 are between the ball 123 and the first rail 1212.
  • a space is formed between the other end portion and the other end portion of the second guide rail 1222 and the ball 123.
  • the lens control unit 182 can control the driving unit 130 to move the holder 110 to a predetermined position along the optical axis via the guide structure 120, so that the ball 123 and the first posture
  • the positional relationship between the guide rail 1212 and the second guide rail 1222 is a predetermined positional relationship.
  • the holder 110 can move from the first position to the second position along the optical axis direction.
  • the predetermined position may be the first position or the second position.
  • the moving range of the holder 110 from the first position to the second position may correspond to the driving range of the lens 101 from the closest end to the infinite end.
  • the posture control unit 210 sets the posture of the imaging device 100 to the first posture in accordance with the instruction from the user.
  • the lens control unit 182 can adjust the ball 123 and the first rail 1212 and The positional relationship of the second guide rail 1222.
  • the posture control unit 210 determines that the imaging device 100 has received a strong impact, and the position of the ball 123 is likely to be shifted, thereby setting the posture of the imaging device 100
  • the lens control unit 182 can adjust the positional relationship between the ball 123 and the first rail 1212 and the second rail 1222.
  • the aforementioned imaging device 100 may be mounted on a mobile body.
  • the imaging device 100 may be mounted on an unmanned aerial vehicle (UAV) shown in FIG. 9.
  • UAV 1000 may include a UAV main body 20, a universal joint 50, a plurality of camera devices 60, and a camera device 100.
  • the universal joint 50 and the camera device 100 are an example of a camera system.
  • UAV1000 is an example of a moving body propelled by a propulsion unit.
  • the concept of moving objects also includes flying objects such as airplanes that move in the air, vehicles that move on the ground, and ships that move on the water.
  • the UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section.
  • the UAV main body 20 makes the UAV 1000 fly by controlling the rotation of a plurality of rotors.
  • the UAV body 20 uses, for example, four rotating wings to make the UAV1000 fly.
  • the number of rotors is not limited to four.
  • UAV1000 can also be a fixed-wing aircraft without rotors.
  • the imaging device 100 is an imaging camera that captures a subject included in a desired imaging range.
  • the universal joint 50 rotatably supports the imaging device 100.
  • the universal joint 50 is an example of a supporting mechanism.
  • the gimbal 50 uses an actuator to rotatably support the imaging device 100 with a pitch axis.
  • the universal joint 50 uses an actuator to further rotatably support the imaging device 100 around the roll axis and the yaw axis, respectively.
  • the gimbal 50 can change the posture of the camera device 100 by rotating the camera device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 60 are sensing cameras that capture images of the surroundings of the UAV 1000 in order to control the flight of the UAV 1000.
  • the two camera devices 60 can be installed on the nose of the UAV1000, that is, on the front side.
  • the other two camera devices 60 can be installed on the bottom surface of the UAV1000.
  • the two imaging devices 60 on the front side may be paired to function as a so-called stereo camera.
  • the two imaging devices 60 on the bottom side may also be paired to function as a stereo camera.
  • the three-dimensional spatial data around the UAV 1000 can be generated based on the images captured by the plurality of camera devices 60.
  • the number of imaging devices 60 included in the UAV 1000 is not limited to four.
  • the UAV1000 may include at least one camera device 60.
  • the UAV1000 may also include at least one camera 60 on the nose, tail, side, bottom and top surfaces of the UAV1000.
  • the viewing angle that can be set in the imaging device 60 may be larger than the viewing angle that can be set in the imaging device 100.
  • the camera 60 may also have a single focus lens or a fisheye lens.
  • the remote operation device 600 communicates with the UAV1000 to perform remote operation on the UAV1000.
  • the remote operation device 600 can wirelessly communicate with the UAV1000.
  • the remote operation device 600 transmits to the UAV 1000 instruction information indicating various commands related to the movement of the UAV 1000 such as ascending, descending, accelerating, decelerating, forwarding, retreating, and rotating.
  • the instruction information includes, for example, instruction information for raising the height of the UAV 1000.
  • the indication information can indicate the height at which the UAV1000 should be located.
  • the UAV 1000 moves to be at the height indicated by the instruction information received from the remote operation device 600.
  • the instruction information may include an ascending instruction to raise the UAV1000.
  • UAV1000 rises while receiving the rise command. When the height of the UAV1000 has reached the upper limit height, even if the ascent command is accepted, the UAV1000 can be restricted from rising.
  • FIG. 10 shows an example of the processing procedure when the imaging system 10 is turned on.
  • the posture control unit 210 starts the calibration of the support mechanism 200 (S102).
  • the posture control unit 210 drives the roll axis drive mechanism 201, the pitch axis drive mechanism 202, and the yaw axis drive mechanism 203 to rotate the imaging device 100.
  • the posture control unit 210 performs position correction based on the angular velocity and acceleration of the imaging device 100 detected by the angular velocity sensor 212 and the acceleration sensor 214 when the imaging device 100 is rotated so that the actual posture of the imaging device 100 matches the imaging recognized by the posture control unit 210
  • the postures of the device 100 are consistent.
  • the posture control unit 210 controls the support mechanism 200 to control the imaging device 100 to the first posture.
  • the posture control unit 210 controls the support mechanism 200 so that the imaging direction of the imaging device 100 is vertically downward.
  • the imaging system 10 is mounted on the UAV1000 as shown in FIG. 9, when the power of the imaging system 10 is turned on, as shown in FIG. 11A, the imaging direction 401 of the imaging device 100 becomes the horizontal direction.
  • the posture control unit 210 controls the gimbal 50 so that the imaging direction 401 of the imaging device 100 becomes vertically downward.
  • the lens control unit 182 moves the holder 110 in the direction of gravity, that is, the first direction (S106). As shown in FIG.
  • the lens control unit 182 moves the holder 110 vertically downward. Since the cage 110 moves in the direction of gravity, even when the balls 123 are shifted in position, the electric power of the driving unit 130 can be suppressed to a minimum and the cage 110 can be moved. Furthermore, the lens control unit 182 moves the holder 110 to a predetermined position in the optical axis direction, and then moves it in the opposite direction, so that the positional deviation of the balls 123 can be eliminated.
  • the posture control unit 210 controls the posture of the imaging device 100 to the reference posture (S108). For example, as shown in FIG. 11C, the posture control unit 210 controls the gimbal 50 so that the imaging direction of the imaging device 100 becomes the horizontal direction.
  • FIG. 12 shows an example of a computer 1300 that may fully or partially embody aspects of the present invention.
  • the program installed on the computer 1300 can make the computer 1300 function as an operation associated with the device according to the embodiment of the present invention or one or more "parts" of the device.
  • the program can enable the computer 1300 to perform the operation or the one or more "parts".
  • This program enables the computer 1300 to execute the process or stages of the process involved in the embodiment of the present invention.
  • Such a program can be executed by the CPU 1312, so that the computer 1300 executes specified operations associated with some or all blocks in the flowcharts and block diagrams described in this specification.
  • the computer 1300 includes a CPU 1312 and a RAM 1314, which are connected to each other through a host controller 1310.
  • the computer 1300 also includes a communication interface 1322, an input/output unit, which is connected to the host controller 1310 through the input/output controller 1320.
  • the computer 1300 also includes a ROM 1330.
  • the CPU 1312 operates according to the programs stored in the ROM 1330 and RAM 1314, thereby controlling each unit.
  • the communication interface 1322 communicates with other electronic devices via a network.
  • the hard disk drive can store programs and data used by the CPU 1312 in the computer 1300.
  • the ROM 1330 stores therein a boot program executed by the computer 1300 during operation, and/or a program that depends on the hardware of the computer 1300.
  • the program is provided via a computer-readable recording medium such as CR-ROM, USB memory, or IC card, or a network.
  • the program is installed in RAM 1314 or ROM 1330, which is also a computer-readable storage medium, and is executed by CPU 1312.
  • the information processing described in these programs is read by the computer 1300 and causes cooperation between the programs and the various types of hardware resources described above.
  • the operation or processing of information can be realized as the computer 1300 is used, thereby constituting an apparatus or method.
  • the CPU 1312 may execute a communication program loaded in the RAM 1314, and based on the processing described in the communication program, instruct the communication interface 1322 to perform communication processing.
  • the communication interface 1322 reads the transmission data stored in the transmission buffer provided in a recording medium such as RAM 1314 or USB memory, and sends the read transmission data to the network or receives from the network The received data is written into the receiving buffer provided on the recording medium, etc.
  • the CPU 1312 can make the RAM 1314 read all or necessary parts of a file or database stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1314. Then, the CPU 1312 can write the processed data back to the external recording medium.
  • an external recording medium such as a USB memory
  • the CPU 1312 can perform various types of operations, information processing, conditional judgment, conditional transfer, unconditional transfer, and information retrieval/retrieval/information specified by the instruction sequence of the program described in various places in this disclosure. Replace various types of processing, and write the results back to RAM 1314.
  • the CPU 1312 can search for information in files and databases in the recording medium.
  • the CPU 1312 may retrieve the attribute value of the specified first attribute from the multiple entries And read the attribute value of the second attribute stored in the entry to obtain the attribute value of the second attribute associated with the first attribute meeting the predetermined condition.
  • the above-mentioned programs or software modules may be stored on the computer 1300 or on a computer-readable storage medium near the computer 1300.
  • a recording medium such as a hard disk or 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 the program can be provided to the computer 1300 via the network.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Optics & Photonics (AREA)
  • Studio Devices (AREA)
  • Lens Barrels (AREA)
  • Accessories Of Cameras (AREA)
  • Adjustment Of Camera Lenses (AREA)
PCT/CN2020/102766 2019-07-24 2020-07-17 控制装置、摄像系统、移动体、控制方法以及程序 WO2021013096A1 (zh)

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