WO2022083426A1 - 支撑机构及摄像系统 - Google Patents

支撑机构及摄像系统 Download PDF

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Publication number
WO2022083426A1
WO2022083426A1 PCT/CN2021/121170 CN2021121170W WO2022083426A1 WO 2022083426 A1 WO2022083426 A1 WO 2022083426A1 CN 2021121170 W CN2021121170 W CN 2021121170W WO 2022083426 A1 WO2022083426 A1 WO 2022083426A1
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WO
WIPO (PCT)
Prior art keywords
support member
support
cable
connector
axis
Prior art date
Application number
PCT/CN2021/121170
Other languages
English (en)
French (fr)
Inventor
中川敬太
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.)
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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
Publication of WO2022083426A1 publication Critical patent/WO2022083426A1/zh

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Classifications

    • 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
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment

Definitions

  • the invention relates to a support mechanism and a camera system.
  • Patent Document 1 describes an imaging apparatus in which various types of lens units can be detachably mounted.
  • Patent Document 1 Japanese Patent Laid-Open No. 2019-203938
  • the support mechanism which concerns on one aspect of this invention supports a mounted object rotatably.
  • the support mechanism may include a first support member that supports the load.
  • the support mechanism may include a first holding member rotatably holding the first support member about the first axis.
  • the first support member may include a first connector mounted with a first cable for connection with the first device mounted on the load.
  • the first support member includes a first fixing portion, and the first fixing portion fixes the first fixing member included in the first cable.
  • the first holding member may include a cover member covering at least the first connector.
  • the first support member may include a cover support portion for movably supporting the cover member.
  • the first fixing portion may be provided at a position farther from the position where the first device is provided than the first connector.
  • the first support member may include an adjustment mechanism for adjusting the position of the support load in a direction intersecting with the first axis.
  • At least one of the first support member and the first holding member may form an indicator representing a position at which the first holding member holds the first support member.
  • the support mechanism may include a second support member that supports the load.
  • the support mechanism may include a second holding member rotatably holding the second support member about the first axis.
  • the second support member may include a second connector mounted with a second cable for connecting with a second device mounted on the load.
  • the first support member may include a first fixing portion for fixing the fixing member included in the first cable.
  • the second support member may include a second fixing portion for fixing the fixing member included in the second cable.
  • the first fixing portion may be located on a first side with respect to the first axis, and the second fixing portion may be located on a second side with respect to the first axis.
  • the support mechanism may include a third support member supporting the first holding member.
  • the support mechanism may include a third holding member rotatably holding the third support member about the second axis.
  • the first connector may be provided on a side opposite to the position of the third holding member with respect to the first shaft.
  • the support mechanism may include a fourth support member supporting the third holding member.
  • the support mechanism may include a fourth holding member rotatably holding the fourth support member about the third axis.
  • the mounted object may be an imaging device.
  • the first device may be an external device detachable from the camera device.
  • the external device may be at least one of a ranging device that outputs ranging information to the imaging device and a driving device that drives a lens included in a lens device provided in the imaging device.
  • the camera system may include the above-mentioned support mechanism.
  • the camera system may include a camera device.
  • the connector for attaching the cable to the rotating support member by providing the connector for attaching the cable to the rotating support member, it is possible to improve the degree of freedom of electrical connection with the device provided on the mounted object.
  • FIG. 1 is a perspective view of the camera system 10 .
  • FIG. 2 is a perspective view of the camera system 10 .
  • FIG. 3 is a side view of the camera system 10 .
  • FIG. 4 is a perspective view showing both the gimbal 300 and the imaging device 100 .
  • FIG. 5 is a perspective view showing both the gimbal 300 and the imaging device 100 .
  • FIG. 6 is a perspective view of the first support member 310 and the first holding member 312 .
  • FIG. 7 is a perspective view illustrating the first support member 310 and the first holding member 312 with the casing 400 omitted.
  • FIG. 8 is a front view and a top view of the first cable 600 and two projection views with respect to an oblique projection plane.
  • FIG. 9 is a perspective view of the first cable 600 .
  • FIG. 10 shows a case where the second connector 620 is mounted to the first support member 310 .
  • FIG. 11 shows a state in which the first support member 310 and the distance measuring device 20 are connected by the first cable 600 , and the lens motor 30 and the second support member 320 are connected by the second cable 700 .
  • FIG. 12 shows a portion of the AA section of FIG. 11 .
  • FIG. 13 shows a state in which the imaging system 10 is supported by the support body 900 .
  • Figure 14 shows an example of an unmanned aerial vehicle (UAV).
  • UAV unmanned aerial vehicle
  • FIG. 1 and 2 are perspective views of the imaging system 10 according to the present embodiment.
  • FIG. 3 shows a side view of the camera system 10 .
  • the camera system 10 includes a camera 170 , a distance measuring device 20 , a lens motor 30 , a gimbal 300 , a cable 600 and a cable 700 .
  • the camera 170 includes a camera device 100 and a lens device 190 .
  • the camera 170 may be an interchangeable lens type camera.
  • the imaging device 100 includes an image sensor that captures an image using the subject light beam passing through the lens device 190 .
  • the lens device 190 is a lens device that can be attached to and detached from the imaging device 100 .
  • the direction along the optical axis of the lens device 190 is referred to as the z-axis direction. That is, the direction in which the subject light flux is incident is referred to as the z-axis direction.
  • the direction in which the subject light beam is incident toward the camera 170 is referred to as the negative z-axis direction, and the opposite direction is referred to as the positive z-axis direction.
  • Cardan joint 300 is one example of a support mechanism.
  • the gimbal 300 rotatably supports the camera device 100 .
  • the gimbal 300 supports the camera device 100 rotatably around three axes.
  • the gimbal 300 supports the camera device 100 rotatably about the pitch axis 301 .
  • the gimbal 300 supports the camera device 100 rotatably about the roll axis 302 .
  • the gimbal 300 supports the camera device 100 rotatably about the yaw axis 303 .
  • the pitch axis 301 and the yaw axis 303 are perpendicular to the z axis.
  • the pitch axis 301 and the yaw axis 303 may be axes substantially perpendicular to the z-axis.
  • the pitch axis 301 and the yaw axis 303 are examples of axes having a component in a direction perpendicular to the z-axis.
  • the gimbal 300 can be attached to a moving object such as a UAV, for example.
  • the distance measuring device 20 is attached to the imaging device 100 .
  • the distance measuring device 20 is held by a distance measuring device holding member 22 fixed to the imaging device 100 .
  • the distance measuring device 20 is a time of flight type sensor that measures the distance to an object by light.
  • the ranging device 20 outputs ranging information to the imaging device 100 .
  • Power from the imaging device 100 is supplied to the distance measuring device 20 through the first cable 600 .
  • the first cable 600 is a cable for connecting with the distance measuring device 20 mounted on the imaging device 100 .
  • the imaging device 100 includes a circuit that performs focus control by adjusting the position of a focus lens included in the lens device 190 based on the distance output from the distance measuring device 20 .
  • the distance measuring device 20 is an example of a device to which the first cable 600 is connected.
  • the distance measuring device 20 is an example of an external device that can be attached to and detached from the imaging device 100 .
  • the lens motor 30 is attached to the imaging device 100 .
  • the lens motor 30 is held by a lens motor holding member 32 fixed to the imaging device 100 .
  • the lens motor 30 is provided on the opposite side to the distance measuring device 20 with respect to a plane parallel to the z-axis including the tilt axis.
  • the lens motor 30 drives the lens included in the lens device 190 .
  • the lens motor 30 moves the focus lens included in the lens device 190 in the direction of the optical axis by rotating the focus ring provided in the lens barrel of the lens device 190 .
  • the lens motor 30 is supplied with a drive signal and electric power through the second cable 700 from the imaging apparatus 100 .
  • the second cable 700 is a cable for connecting with the lens motor 30 mounted on the camera device 100 .
  • the lens motor 30 moves the zoom lens included in the lens device 190 in the optical axis direction by rotating the zoom ring provided in the lens barrel of the lens device 190 .
  • the lens motor 30 is one example of a device to which the second cable 700 is connected.
  • the lens motor 30 is an example of an external device that can be attached to and detached from the imaging apparatus 100 .
  • the universal joint 300 includes a first supporting member 310, a second supporting member 320, a first retaining member 312, a second retaining member 322, a third supporting member 330, a third retaining member 332, a fourth supporting member 340, and a fourth retaining member Component 342 .
  • the first support member 310 supports the imaging device 100 .
  • the first support member 310 is fixed to the imaging device 100 to support the imaging device 100 .
  • the first holding member 312 holds the first support member 310 so as to be rotatable about the pitch axis 301 .
  • the first holding member 312 includes a motor that rotates the first support member 310 around the pitch axis 301 .
  • the second support member 320 supports the imaging device 100 .
  • the second support member 320 is fixed to the imaging device 100 to support the imaging device 100.
  • the second holding member 322 holds the second supporting member 320 so as to be rotatable about the pitch axis 301 .
  • the second holding member 322 includes a motor that rotates the second support member 320 around the pitch axis 301 .
  • the first support member 310 and the first holding member 312 are located on the opposite side of the second support member 320 and the second holding member 322 with respect to the yaw axis 303 .
  • the gimbal 300 supports the camera device 100 between the first support member 310 and the second support member 320 .
  • the third support member 330 supports the first holding member 312 .
  • the third holding member 332 holds the third supporting member 330 so as to be rotatable about the roll shaft 302 .
  • the third holding member 332 includes a motor that rotates the third supporting member 330 around the roll axis 302 .
  • the fourth support member 340 supports the third holding member 332 .
  • the fourth holding member 342 holds the fourth supporting member 340 rotatably around the yaw axis 303 .
  • the fourth holding member 342 includes a motor that rotates the fourth supporting member 340 around the yaw axis 303 .
  • the fourth support member 340 is fixed to a support body that supports the camera system 10 .
  • the fourth support member 340 is fixed to a moving body such as a UAV.
  • the universal joint 300 includes a control circuit that controls the first holding member 312 , the second holding member 322 , the third holding member 332 and the fourth holding member 342 .
  • the control circuit controls the posture of the imaging apparatus 100 relative to the support body of the imaging apparatus 100 by controlling the first holding member 312 , the second holding member 322 , the third holding member 332 , and the fourth holding member 342 .
  • FIG. 6 is a perspective view of the first support member 310 and the first holding member 312 .
  • the first holding member 312 includes the rotating body 314 , the housing 400 and the locking member 490 .
  • the rotating body 314 is rotated by a motor included in the first holding member 312 .
  • the casing 400 is fixed to the rotating body 314 by screws 401 , screws 402 , screws 403 and screws 404 .
  • the first support member 310 has a shape extending from the first end portion 410 toward the second end portion 420 in the z-axis direction.
  • the first support member 310 is fixed to the imaging device 100 at the first end portion 410 .
  • the first support member 310 includes a fixing surface 418 at the first end 410 to be fixed to the imaging device 100 .
  • the fixing surface 418 is provided with a fixing portion 411 , a fixing portion 412 , a fixing portion 413 , and a fixing portion 414 for fixing the first support member 310 to the imaging device 100 .
  • the fixing surface 418 is provided with a terminal portion 440 for transmitting electrical signals and power to and from the imaging device 100 .
  • the first support member 310 includes a mounting portion 250 to which the first cable 600 can be detached.
  • the mounting portion 250 is provided on the second end portion 420 of the first support member 310 .
  • the second end portion 420 is an end portion on the opposite side of the first end portion 410 in the direction of the roll axis 302 .
  • the first support member 310 includes the first connector 210 on which the first cable 600 is mounted.
  • the first connector 210 is provided on the mounting portion 250 .
  • the first connector 210 includes a plurality of electrical terminals.
  • the first connector 210 is a socket.
  • the first connector 210 is, for example, a USB Type-C (registered trademark) terminal.
  • the first connector 210 is provided on the side opposite to the position of the third holding member 332 with respect to the pitch axis 301 .
  • the first connector 210 opens in the z-axis direction. Therefore, the terminal portion included in the first cable 600 is inserted into the first connector 210 along the z-axis.
  • the electrical terminals of the first connector 210 are connected to electrical terminals included in the terminal portion 440 .
  • the first support member 310 includes a first fixing portion 220 , and the first fixing portion 220 fixes the second fixing member 624 included in the first cable 600 .
  • the first fixing portion 220 is provided on the mounting portion 250 .
  • the first fixing portion 220 is a screw hole.
  • the first fixing portion 220 includes an internal thread portion. The detailed structure of the first cable 600 will be described later.
  • the first support member 310 includes the cover member 290 .
  • the cover member 290 covers the first connector 210 and the first fixing portion 220 .
  • the cover member 290 covers the mounting portion 250 .
  • the cover member 290 may be a member covering at least the first connector 210 .
  • the first support member 310 includes a cover support portion 292 that movably supports the cover member 290 .
  • the cover support portion 292 is provided on the mounting portion 250 .
  • the cover support part 292 may be a support hole that movably supports the cover part 290 .
  • the first connector 210 is provided between the cover support part 292 and the first fixing part 220 .
  • the cover supporting part 292 , the first connector 210 and the first fixing part 220 are arranged in the order of approaching the distance measuring device 20 in the direction perpendicular to the z-axis and the pitch axis 301 .
  • the first fixing part 220 is provided at a position farther from the position where the distance measuring device 20 is provided than the first connector 210 . That is, the first fixing portion 220 is provided at a position farther from the distance measuring device 20 than the first connector 210 . Therefore, when the first cable 600 is mounted to the mounting portion 250 , the second fixing member 624 of the first cable can be easily handled. In addition, the operation of the first cable 600 connecting the distance measuring device 20 and the first connector 210 becomes easy.
  • the first support member 310 penetrates through the opening 450 between the housing 400 and the rotating body 314 along the z-axis direction.
  • the first support member 310 is movable relative to the first holding member 312 in the z-axis direction.
  • a guide groove 317 is formed on the first support member 310 .
  • the guide groove 317 is formed in the direction along the z-axis direction.
  • the first support member 310 can move relative to the first holding member 312 in the z-axis direction in a state where the first holding member 312 is fitted into the guide groove 317 .
  • the guide groove 317 is an example of an adjustment mechanism for adjusting the position at which the first support member 310 supports the imaging device 100 in the direction intersecting the tilt axis 301 .
  • the locking member 490 switches between a locked state in which the housing 400 is pressed against the first support member 310 and a locked state in which the locked state is released, according to the user's operation.
  • the lock member 490 is in the unlocked state, the first support member 310 can move relative to the first holding member 312 in the z-axis direction.
  • the first supporting member 310 In a state of being in the locked state by the locking member 490, the first supporting member 310 cannot be relatively moved relative to the first holding member 312 in the z-axis direction, and the first supporting member 310 is moved relative to the first holding member 312 in the z-axis direction with respect to the first supporting member 310. position.
  • the quality of the camera 170 varies according to the quality of the lens device 190 mounted on the imaging device 100 .
  • the position of the center of gravity of the camera 170 can be brought closer to the tilt axis 301 .
  • the position of the center of gravity of the camera 170 can be brought closer to the yaw axis 303 .
  • the moment of inertia associated with the pitch axis 301 and the moment of inertia associated with the yaw axis 303 can be reduced.
  • the load applied to the gimbal 300 can be reduced. Further, by moving the first support member 310 in the positive z-axis direction, a space for attaching a weight for adjusting the position of the center of gravity of the camera 170 can be secured on the surface 104 on the third support member 330 side of the imaging device 100 .
  • FIG. 7 is a perspective view schematically showing the first support member 310 and the first holding member 312 with the housing 400 omitted.
  • the first support member 310 is engraved with a scale line 470 and a scale line 472 indicating the position where the first holding member 312 holds the first support member 310 .
  • the graduation line 470 and the graduation line 472 are formed on the first support member 310 and are an example of an indicator that indicates the position where the first holding member 312 holds the first support member 310 .
  • the position where the first holding member 312 holds the first supporting member 310 is shown by the positional relationship between the plate 421 or the plate 422 fixed on the housing 400 and the graduation line 470 .
  • the position where the first holding member 312 holds the first supporting member 310 is shown by the positional relationship between the plate 423 fixed to the housing 400 and the graduation line 472 .
  • the user can read the position where the first holding member 312 holds the first supporting member 310 through the scale line 470 or the scale line 472 .
  • FIG. 8 is a front view and a top view of the first cable 600 and two projection views with respect to an oblique projection plane.
  • FIG. 9 is a perspective view of the first cable 600 .
  • the first cable 600 is a cable with a connector.
  • the first cable 600 is used as a cable connecting the distance measuring device 20 and the first support member 310 .
  • the first cable 600 includes a cable portion 602 , a first connector 610 , a second connector 620 , a first fixing part 614 and a second fixing part 624 .
  • the first connector 610 is provided at one end of the cable portion 602
  • the second connector 620 is provided at the other end of the cable portion 602 .
  • the first connector 610 includes a first housing 611 and a first terminal portion 612 extending in a first direction from a first surface 631 of the first housing 611 .
  • the first terminal portion 612 includes a plurality of electrical terminals.
  • the first terminal portion 612 is a plug.
  • the first terminal portion 612 is, for example, a USB Type-C (registered trademark) terminal.
  • the first terminal part 612 can be inserted into a USB Type-C (registered trademark) socket included in the distance measuring device 20 .
  • the cable portion 602 extends from the second surface 632 of the first housing 611 in a second direction intersecting with the first direction.
  • the first housing 611 includes a third surface 633 diagonally crossing the first direction between the first surface 631 and the second surface 632 .
  • the first housing 611 includes a fourth surface 634 and a third surface 633 that obliquely intersect the second direction from the first surface 631 to the second surface 632 .
  • the fourth surface 634 and the third surface 633 are provided in this order from the first surface 631 to the second surface 632 , the fourth surface 634 and the third surface 633 .
  • the first surface 631 is inclined with respect to the second surface 632 . That is, the first surface 631 is a surface facing in a direction different from that of the second surface 632 .
  • the extending direction of the first terminal portion 612 becomes the direction in which the cable portion 602 extends
  • the direction of extension is the direction of the diagonal cross. In this way, the cable portion 602 extends from the second surface 632 in a direction diagonally intersecting with the first direction in which the first terminal portion 612 extends.
  • the first fixing member 614 is a member for fixing the first connector 610 to the distance measuring device 20 .
  • the first fixing member 614 is provided at a portion including the fourth surface 634 in the first housing 611 , and the first terminal portion 612 extends from the first housing 611 in a direction along the first direction extending from the first surface 631 .
  • the first fixing member 614 includes a screw portion 615 and an operation portion 616 .
  • the screw portion 615 is provided to extend from the first housing 611 to the first terminal portion 612 side.
  • the screw portion 615 is inserted into the female screw portion included in the distance measuring device 20 .
  • the operation part 616 is provided so as to extend from the first casing 611 to the third surface 633 side.
  • the operation unit 616 is a member that accepts a user's operation to rotate the first fixing member 614 .
  • the screw portion 615 is screwed into the female screw portion included in the distance measuring device 20 . Thereby, the first connector 610 is fixed to the distance measuring device 20 .
  • the second connector 620 includes the same structure as the first connector 610 . Therefore, a detailed description of the second connector 620 is sometimes omitted.
  • the second connector 620 includes a second housing 621 and a second terminal portion 622 extending in a third direction from the fifth surface 635 of the second housing 621 .
  • the second terminal portion 622 includes a plurality of electrical terminals.
  • the second terminal portion 622 is a plug.
  • the second terminal portion 622 can be inserted into the first connector 210, for example.
  • the second terminal portion 622 is, for example, a USB Type-C (registered trademark) terminal.
  • the cable portion 602 extends from the sixth surface 636 of the second housing 621 in a fourth direction intersecting with the third direction.
  • the second housing 621 includes a seventh face 637 that obliquely intersects the third direction between the fifth face 635 and the sixth face 636 .
  • the second housing 621 includes an eighth surface 638 and a seventh surface 637 that obliquely intersect the second direction from the fifth surface 635 to the sixth surface 636 .
  • the eighth surface 638 and the seventh surface 637 are arranged in order from the fifth surface 635 to the sixth surface 636 , the eighth surface 638 and the seventh surface 637 .
  • the fifth face 635 is inclined relative to the sixth face 636 . That is, the fifth surface 635 is a surface facing in a direction different from that of the sixth surface 636 .
  • the direction in which the second terminal portion 622 extends from the fifth surface 635 is the same as the wire
  • the direction in which the cable portion 602 extends from the sixth surface 636 diagonally intersects. In this way, the cable portion 602 extends from the sixth surface 636 in a direction diagonally intersecting with the third direction in which the second terminal portion 622 extends.
  • the cable portion 602 may be connected in a straight line between the second surface 632 and the sixth surface 636 .
  • the second surface 632 and the sixth surface 636 are arranged opposite to each other, and the cable portion 602 is in a state where the second surface 632 and the sixth surface 636 are linearly connected, the first terminal portion 612 is opposed to the cable portion 602
  • the extension line of the extending direction is located on the same side as the second terminal portion 622 . Therefore, the angle formed by the first direction in which the first terminal portion 612 extends and the third direction in which the second terminal portion 622 extends is smaller than 180°.
  • the first cable 600 is easily connected in the shape of an arc-like connection between the devices connected by the first cable 600 . Since the first cable 600 has such a shape, when the camera 170 is rotated by the gimbal 300 in a state where the distance measuring device 20 is connected to the first support member 310 on the first cable 600 , the first cable 600 It may be difficult to interfere with the gimbal 300 .
  • the angle formed by the first direction and the second direction may be the same as the angle formed by the third direction and the fourth direction.
  • the second fixing member 624 is a member for fixing the second connector 620 to the first support member 310 .
  • the second fixing member 624 is provided at a portion of the second housing 621 including the eighth surface 638 , and the second terminal portion 622 extends from the second housing 621 in a direction along the third direction extending from the fifth surface 635 .
  • the second fixing member 624 includes a screw portion 625 and an operation portion 626 .
  • the screw portion 625 is provided to extend from the first housing 611 to the second terminal portion 622 side.
  • the screw portion 625 is inserted into the first fixing portion 220 included in the first support member 310 of the universal joint 300 .
  • the operation portion 626 is provided to extend from the second housing 621 to the seventh surface 637 side.
  • the operation part 626 is a member which accepts user's operation to rotate the second fixing member 624 .
  • FIG. 10 shows a case where the second connector 620 of the first cable 600 is mounted to the first support member 310 .
  • the first connector 610 of the first cable 600 includes a first fixing member 614 on one side of the first terminal portion 612 . Further, one side of the second terminal portion 622 of the second connector 620 includes a second fixing member 624 . Therefore, since the insertion direction of the first cable 600 is unique, it is possible to suppress interference between the first cable 600 and the gimbal 300 due to incorrect insertion, or occurrence of electrical failures.
  • FIG. 11 shows a state in which the first support member 310 and the distance measuring device 20 are connected by the first cable 600 and the lens motor 30 and the second support member 320 are connected by the second cable 700 .
  • the structure for attaching the first cable 600 to the first support member 310 and the distance measuring device 20 has been described with reference to FIGS. 6 to 9 and the like. Therefore, the description of this structure is omitted.
  • the structure for attaching the second cable 700 to the second support member 320 the difference from the structure of the attachment portion 250 of the first support member 310 will be mainly described.
  • the second cable 700 includes the same structure as the first cable 600 . Therefore, the description of the structure of the second cable 700 is omitted.
  • FIG. 12 shows a portion of the AA section of FIG. 11 .
  • the second support member 320 includes the same structure as the first support member 310 .
  • the second support member 320 includes a second connector 810 to which the second terminal 722 of the second connector included in the second cable 700 is mounted, and the second cable 700 is fixed.
  • the second fixing member 820 of the second fixing member 724 of the second connector, and the mounting portion 850 of the cover supporting portion 892 supporting the cover member 294 are included.
  • the second connector 810 , the second fixing portion 820 and the cover supporting portion 892 of the second supporting member 320 are respectively provided to the first connector 210 , the first fixing portion 220 and the first connector 210 of the first supporting member 310 with respect to the z-axis.
  • the cover support portion 292 is located at a symmetrical position. That is, on the first support member 310, when viewed along the arrangement direction of the first connector 210, the first fixing portion 220, and the cover support portion 292, the second connector 810 and the second fixing portion 820 of the second support member 320 And the cover support part 892 is arranged in the order of the second fixing part 820 , the second connector 810 and the cover support part 892 . That is, in the second support member 320 , the second fixing portion 820 is provided at a position farther from the position where the lens motor 30 is provided than the second connector 810 . That is, the second fixing portion 820 for fixing the second cable 700 is provided at a position farther from the lens motor 30 than the second connector 810 .
  • the first fixing portion 220 is located on the first side with respect to the pitch axis 301, and the second fixing portion 820 is located on the second side opposite to the pitch axis 301. Therefore, when the second cable 700 is attached to the second support member 320, the second fixing member 724 of the second cable is easily handled. In addition, the operation of the second cable 700 connecting the lens motor 30 and the second support member 320 becomes easy.
  • the cable portion 602 of the first cable 600 approaches the pitch axis 301 along the distance from the first connector 610 extension in the direction. That is, the cable portion 602 of the first cable 600 extends in a direction along the outer circumference of the lens device 190 compared to the case where the cable portion 602 extends from the first connector 610 along the extending direction of the first terminal portion 612 . Therefore, the cable portion 602 can be prevented from protruding outward from the part farthest from the tilt axis 301 among the first holding member 312 , the second holding member 322 , the distance measuring device 20 , and the lens motor 30 . Similarly, the second cable 700 can prevent the cable portion 702 of the second cable 700 from protruding outward.
  • FIG. 13 shows a state in which the imaging system 10 is supported by the support body 900 .
  • the gimbal 300 enables the camera 170 to independently rotate about the pitch axis 301 , the roll axis 302 , and the yaw axis 303 .
  • the first cable 600 may connect the first support member 310 and the distance measuring device 20 to supply power to the distance measuring device 20 .
  • the second cable 700 can connect the second support member 320 and the lens motor 30 to supply power to the lens motor 30 . Therefore, when external devices such as the distance measuring device 20 and the lens motor 30 are mounted in the imaging apparatus 100 , power can be supplied to the external devices.
  • the positional relationship between the first connector 210 and the distance measuring device 20 does not change, and the positional relationship between the second connector 810 and the lens motor 30 does not change. Variety. Therefore, the load applied to the first cable 600 and the second cable 700 can be reduced. According to the present embodiment, by providing the electric terminal on the support member of the universal joint 300, the degree of freedom of power supply can be improved.
  • the distance measuring device 20 and the lens motor 30 are provided around the tilt axis 301 . Therefore, even if the imaging device 100 is rotated about the pitch axis 301 and the roll axis 302 , the external devices such as the distance measuring device 20 and the lens motor 30 do not interfere with the gimbal 300 .
  • the cable portion 602 of the first cable 600 extends along the outer peripheral direction of the lens device 190 .
  • the first connector 610 of the first cable 600 includes a third surface 633 inclined with respect to the extending direction of the first terminal portion 612 . Therefore, for example, as shown in FIG. 13 , even in a state where the distance measuring device 20 and the first support member 310 are electrically and mechanically connected by the first cable 600 , the gimbal 300 makes the camera 170 about the pitch axis 301 and the roll Even when the rotating shaft 302 is rotated, it is possible to prevent the cable portion 602 and the first connector 610 from coming into contact with the fourth holding member 342 .
  • the above-described imaging device 100 may be mounted on a mobile body.
  • the camera device 100 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. 14 .
  • UAV 1000 may include a UAV body 1020 , a gimbal 300 , a plurality of cameras 1060 , and the camera 100 .
  • UAV 1000 is an example of a moving object propelled by a propelling unit.
  • the concept of a moving object includes, in addition to a UAV, a flying object such as an airplane moving in the air, a vehicle moving on the ground, and a ship moving on the water.
  • UAV body 1020 includes a plurality of rotors.
  • a plurality of rotors is one example of a propulsion section.
  • the UAV body 1020 makes the UAV 1000 fly by controlling the rotation of the plurality of rotors.
  • the UAV body 1020 uses, for example, four rotors to make the UAV 1000 fly.
  • the number of rotors is not limited to four.
  • the UAV1000 can also be a fixed-wing aircraft without rotors.
  • the imaging device 100 is an imaging camera that captures an image of a subject included in a desired imaging range.
  • the gimbal 300 rotatably supports the camera device 100 .
  • Cardan joint 300 is one example of a support mechanism.
  • the gimbal 300 rotatably supports the camera device 100 with a pitch axis using an actuator.
  • the gimbal 300 further supports the camera 100 rotatably around the roll axis and the yaw axis, respectively, using an actuator.
  • the gimbal 300 can change the posture of the imaging device 100 by rotating the imaging device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 1060 are sensor 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 1060 can be installed on the nose of the UAV1000, that is, the front.
  • the other two camera devices 1060 can be arranged on the bottom surface of the UAV 1000 .
  • the two imaging devices 1060 on the front side may be paired to function as so-called stereo cameras.
  • the two imaging devices 1060 on the bottom side may also be paired to function as stereo cameras.
  • Three-dimensional space data around the UAV 1000 can be generated from images captured by the plurality of cameras 1060 .
  • the number of cameras 1060 included in the UAV 1000 is not limited to four.
  • the UAV 1000 only needs to include at least one camera device 1060 .
  • the UAV1000 may also include at least one camera device 1060 on the nose, the tail, the side, the bottom, and the top of the UAV1000, respectively.
  • the angle of view that can be set in the camera device 1060 may be larger than the angle of view that can be set in the camera device 100 .
  • the camera 1060 may also include a single focus lens or a fisheye lens.
  • the remote operation device 1600 communicates with the UAV 1000 to remotely operate the UAV 1000 .
  • the remote operation device 1600 can wirelessly communicate with the UAV 1000 .
  • the remote control device 1600 transmits to the UAV 1000 instruction information indicating various commands related to the movement of the UAV 1000, such as ascending, descending, acceleration, deceleration, forward, backward, and rotation.
  • the instruction information includes, for example, instruction information to raise the altitude of UAV 1000 .
  • the indication information may show the altitude at which the UAV 1000 should be located.
  • UAV 1000 moves so as to be at the height indicated by the instruction information received from remote control device 1600 .
  • the instruction information may include an ascending instruction to ascend the UAV 1000 .
  • the UAV1000 rises during the period when the rising command is accepted. When the height of the UAV1000 has reached the upper limit, even if the ascending command is accepted, the UAV1000 can be restricted from ascending.

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Abstract

支撑机构可旋转地支撑搭载物。支撑机构可以包括支撑搭载物的第一支撑部件以及第一保持部件，该第一保持部件可绕第一轴旋转地保持第一支撑部件。第一支撑部件包括第一连接器，该第一连接器安装有用于与安装于搭载物的第一设备连接的第一线缆。摄像系统包括上述支撑机构以及摄像装置。

Description

支撑机构及摄像系统 技术领域
本发明涉及一种支撑机构及摄像系统。
背景技术
专利文献1记载有一种能够可拆卸地安装各种类型的镜头单元的摄像装置。
[现有技术文献]
[专利文献]
[专利文献1]日本特开2019-203938号公报
发明内容
本发明的一个方面所涉及的支撑机构可旋转地支撑搭载物。支撑机构可以包括支撑搭载物的第一支撑部件。支撑机构可以包括第一保持部件，该第一保持部件可绕第一轴旋转地保持第一支撑部件。第一支撑部件可以包括第一连接器，该第一连接器安装有用于与安装于搭载物的第一设备连接的第一线缆。
第一支撑部件包括第一固定部，该第一固定部固定第一线缆所包括的第一固定部件。
第一保持部件可以包括至少覆盖第一连接器的盖部件。第一支撑部件可以包括用于活动支撑盖部件的盖支撑部。
第一固定部可以设置在比第一连接器远离设置第一设备的位置的位置。
第一支撑部件可以包括调整机构，该调整机构用于在与第一轴交叉的方向上调整支撑搭载物的位置。
第一支撑部件和第一保持部件的至少一个可形成表示第一保持部件保持第一支撑部件的位置的指示器。
支撑机构可以包括支撑搭载物的第二支撑部件。支撑机构可以包括第二保持部件，该第二保持部件可绕第一轴旋转地保持第二支撑部件。第二支撑部件可以包括第二连接器，该第二连接器安装有用于与安装于搭载物的第二设备连接的第二线缆。
第一支撑部件可以包括第一固定部，该第一固定部用于固定第一线缆所 包括的固定部件。第二支撑部件可以包括第二固定部，该第二固定部用于固定第二线缆所包括的固定部件。第一固定部可以相对于第一轴位于第一侧，第二固定部可以相对于第一轴位于第二侧。
支撑机构可以包括支撑第一保持部件的第三支撑部件。支撑机构可以包括第三保持部件，该第三保持部件可绕第二轴旋转地保持第三支撑部件。
第一连接器可设于相对于第一轴与第三保持部件的位置相反的一侧。
支撑机构可以包括支撑第三保持部件的第四支撑部件。支撑机构可以包括第四保持部件，该第四保持部件可绕第三轴旋转地保持第四支撑部件。
搭载物可以是摄像装置。第一设备可以是可拆装于摄像装置的外部设备。
外部设备可以是向摄像装置输出测距信息的测距装置和驱动摄像装置中设置的镜头装置所包括的镜头的驱动装置中的至少一个。
本发明的一个方面所涉及的摄像系统可以包括上述支撑机构。摄像系统可以包括摄像装置。
根据本发明的一个方面，通过在旋转的支撑部件上设置安装线缆的连接器，能够提高与设于搭载物的设备之间的电性连接的自由度。
此外，上述发明内容并未列举本发明全部必要特征。此外，这些特征组的子组合也可以构成发明。
附图说明
图1是摄像系统10的立体图。
图2是摄像系统10的立体图。
图3是摄像系统10的侧视图。
图4是同时示出万向节300与摄像装置100的立体图。
图5是同时示出万向节300与摄像装置100的立体图。
图6是第一支撑部件310和第一保持部件312的立体图。
图7是省略了外壳400图示地示出第一支撑部件310和第一保持部件312的立体图。
图8是第一线缆600的正视图和俯视图以及关于斜投影面的两个投影图。
图9是第一线缆600的立体图。
图10示出将第二连接器620安装到第一支撑部件310的情况。
图11示出用第一线缆600将第一支撑部件310与测距装置20连接，用第二线缆700将镜头电机30与第二支撑部件320连接的状态。
图12示出图11的AA截面的一部分。
图13示出摄像系统10由支撑体900支撑的状态。
图14示出无人驾驶航空器(UAV)的一个示例。
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，实施方式中所说明的所有特征组合对于发明的解决方案未必是必须的。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、说明书附图以及说明书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。
图1和图2示出本实施方式所涉及的摄像系统10的立体图。图3示出摄像系统10的侧视图。
摄像系统10包括：相机170、测距装置20、镜头电机30、万向节300、线缆600以及线缆700。相机170包括摄像装置100和镜头装置190。相机170可以是更换镜头式的相机。
摄像装置100内部包括利用通过镜头装置190的被摄体光束进行摄像的图像传感器。镜头装置190是可拆装于摄像装置100的镜头装置。
对相机170所涉及的结构进行说明时，将沿镜头装置190的光轴的方向设为z轴方向。即，将被摄体光束入射的方向设为z轴方向。将被摄体光束朝向相机170入射的方向设为z轴负方向，其反方向设为z轴正方向。
万向节300为支撑机构的一个示例。万向节300可旋转地支撑摄像装置100。万向节300可绕三轴旋转地支撑摄像装置100。万向节300可绕俯仰轴301旋转地支撑摄像装置100。万向节300可绕滚转轴302旋转地支撑摄像装置100。万向节300可绕偏航轴303旋转地支撑摄像装置100。俯仰轴301 及偏航轴303与z轴垂直。俯仰轴301及偏航轴303可以是基本与z轴垂直的轴。俯仰轴301及偏航轴303是具有与z轴垂直方向的分量的轴的一个示例。万向节300例如可安装于UAV等移动体。
测距装置20安装于摄像装置100。测距装置20由固定于摄像装置100的测距装置保持部件22保持。测距装置20是通过光来测量到对象物的距离的飞行时间(Time Of Flight)型传感器。测距装置20向摄像装置100输出测距信息。通过第一线缆600向测距装置20供给来自摄像装置100的电力。第一线缆600是用于与安装在摄像装置100上的测距装置20连接的电缆。摄像装置100包括基于从测距装置20输出的距离，通过调整镜头装置190所包括的聚焦镜头的位置来执行对焦控制的电路。测距装置20是第一线缆600所连接的设备的一个示例。测距装置20是可拆装于摄像装置100的外部设备的一个示例。
镜头电机30安装于摄像装置100。镜头电机30由固定于摄像装置100上的镜头电机保持部件32保持。镜头电机30设于关于包括俯仰轴在内的与z轴平行的面与测距装置20相反的一侧。镜头电机30驱动镜头装置190所包括的镜头。镜头电机30通过旋转设于镜头装置190的镜头镜筒的聚焦环，使镜头装置190所包括的聚焦镜头沿光轴方向移动。从摄像装置100通过第二线缆700向镜头电机30供给驱动信号和电力。第二线缆700是用于与安装在摄像装置100上的镜头电机30连接的线缆。另外，镜头电机30通过旋转设于镜头装置190的镜头镜筒的变焦环，使镜头装置190所包括的变焦镜头沿光轴方向移动。镜头电机30是第二线缆700所连接的设备的一个示例。镜头电机30是可拆装于摄像装置100的外部设备的一个示例。
图4和5是同时示出万向节300与摄像装置100的立体图。万向节300包括第一支撑部件310、第二支撑部件320、第一保持部件312、第二保持部件322、第三支撑部件330、第三保持部件332、第四支撑部件340和第四保持部件342。
第一支撑部件310支撑摄像装置100。例如，第一支撑部件310固定于摄像装置100来支撑摄像装置100。第一保持部件312可绕俯仰轴301旋转地保持第一支撑部件310。第一保持部件312内部包括使第一支撑部件310绕俯仰轴301旋转的电机。
第二支撑部件320支撑摄像装置100。例如，第二支撑部件320固定于 摄像装置100来支撑摄像装置100。第二保持部件322可绕俯仰轴301旋转地保持第二支撑部件320。第二保持部件322内部包括使第二支撑部件320绕俯仰轴301旋转的电机。
第一支撑部件310和第一保持部件312位于相对于偏航轴303与第二支撑部件320和第二保持部件322相反的一侧。万向节300在第一支撑部件310和第二支撑部件320之间支撑摄像装置100。
第三支撑部件330支撑第一保持部件312。第三保持部件332可绕滚转轴302旋转地保持第三支撑部件330。第三保持部件332内部包括使第三支撑部件330绕滚转轴302旋转的电机。
第四支撑部件340支撑第三保持部件332。第四保持部件342可绕偏航轴303旋转地保持第四支撑部件340。第四保持部件342包括使第四支撑部件340绕偏航轴303旋转的电机。
第四支撑部件340固定于支撑摄像系统10的支撑体。例如，第四支撑部件340被固定于UAV等移动体上。万向节300包括控制第一保持部件312、第二保持部件322、第三保持部件332和第四保持部件342的控制电路。控制电路通过控制第一保持部件312、第二保持部件322、第三保持部件332和第四保持部件342，来控制摄像装置100相对于摄像装置100的支撑体的姿势。
图6是第一支撑部件310和第一保持部件312的立体图。第一保持部件312包括旋转体314、外壳400和锁定部件490。旋转体314通过第一保持部件312内部包括的电机进行旋转。外壳400通过螺丝401、螺丝402、螺丝403以及螺丝404固定于旋转体314。
第一支撑部件310具有沿z轴方向从第一端部410朝向第二端部420延伸的形状。第一支撑部件310在第一端部410固定于摄像装置100。第一支撑部件310在第一端部410包括固定于摄像装置100的固定面418。在固定面418设置有用于将第一支撑部件310固定到摄像装置100的固定部411、固定部412、固定部413以及固定部414。在固定面418设置有用于在与摄像装置100之间传送电信号和电力的端子部440。
第一支撑部件310包括可拆装第一线缆600的安装部250。安装部250设于第一支撑部件310的第二端部420。第二端部420是在滚转轴302方向上与第一端部410相反侧的端部。
第一支撑部件310包括安装第一线缆600的第一连接器210。第一连接器210设置于安装部250。第一连接器210包括多个电端子。第一连接器210是插座。第一连接器210例如为USB Type-C(注册商标)端子。第一连接器210设于相对于俯仰轴301，与第三保持部件332的位置相反的一侧。第一连接器210向z轴方向开口。因此，第一线缆600所包括的端子部成为沿着z轴插入到第一连接器210的状态。第一连接器210的电端子连接到端子部440所包括的电端子。
第一支撑部件310包括第一固定部220，该第一固定部220固定第一线缆600所包括的第二固定部件624。第一固定部220设于安装部250。第一固定部220是螺丝孔。第一固定部220包括内螺纹部。关于第一线缆600的详细结构将在后面叙述。
第一支撑部件310包括盖部件290。盖部件290覆盖第一连接器210和第一固定部220。盖部件290覆盖安装部250。盖部件290可以是至少覆盖第一连接器210的部件。
第一支撑部件310包括活动支撑盖部件290的盖支撑部292。盖支撑部292设于安装部250。盖支撑部292可以是活动支撑盖部件290的支撑孔。
在安装部250中，第一连接器210设于盖支撑部292和第一固定部220之间。盖支撑部292、第一连接器210以及第一固定部220在与z轴以及俯仰轴301垂直的方向上，按照接近测距装置20的顺序依次设置盖支撑部292、第一连接器210、第一固定部220。这样，第一固定部220设于比第一连接器210远离设有测距装置20的位置更远位置。即，第一固定部220设于比第一连接器210更远离测距装置20的位置。因此，在安装第一线缆600到安装部250时，容易操作第一线缆的第二固定部件624。另外，连接测距装置20和第一连接器210的第一线缆600的操作变得容易。
第一支撑部件310沿着z轴方向贯穿外壳400与旋转体314之间的开口450。第一支撑部件310可以沿z轴方向相对于第一保持部件312移动。如图3所示，第一支撑部件310上形成有导槽317。导槽317形成在沿着z轴方向的方向上。第一支撑部件310能够在第一保持部件312嵌入导槽317的状态下，沿z轴方向相对于第一保持部件312相对移动。导槽317是用于调整第一支撑部件310在与俯仰轴301交叉的方向上支撑摄像装置100的位置的调整机构的一个示例。
锁定部件490根据用户的操作，在将外壳400按压在第一支撑部件310上的锁定状态和解除了锁定状态的锁定解除状态之间进行切换。在通过锁定部件490处于锁定解除状态的情况下，第一支撑部件310能够沿z轴方向相对于第一保持部件312相对移动。在通过锁定部件490处于锁定状态的情况下，第一支撑部件310不能沿z轴方向相对于第一保持部件312相对移动，并且第一支撑部件310沿z轴方向相对于第一保持部件312被定位。
相机170的质量根据安装在摄像装置100上的镜头装置190的质量而变化。通过调整第一支撑部件310由第一保持部件312保持的位置，可以使相机170的重心位置靠近俯仰轴301。另外，通过调整第一支撑部件310由第一保持部件312保持的位置，可以使相机170的重心位置靠近偏航轴303。由此，可以减小与俯仰轴301相关的惯性力矩和与偏航轴303相关的惯性力矩。另外，为了维持相机170的姿势，可以降低对万向节300施加的负荷。另外，通过使第一支撑部件310沿z轴正方向移动，能够确保在摄像装置100的第三支撑部件330侧的面104上安装用于调整相机170的重心位置的配重的空间。
图7省略了外壳400图示地示出第一支撑部件310和第一保持部件312的立体图。第一支撑部件310上刻有指示第一保持部件312保持第一支撑部件310的位置的刻度线470和刻度线472。刻度线470和刻度线472形成于第一支撑部件310，是指示第一保持部件312保持第一支撑部件310的位置的指示器的一个示例。通过固定于外壳400上的板421或板422与刻度线470之间的位置关系，示出第一保持部件312保持第一支撑部件310的位置。另外，通过固定于外壳400的板423与刻度线472之间的位置关系，示出第一保持部件312保持第一支撑部件310的位置。用户可以通过刻度线470或刻度线472读取第一保持部件312保持第一支撑部件310的位置。
图8是第一线缆600的正视图和俯视图以及关于斜投影面的两个投影图。图9是第一线缆600的立体图。
第一线缆600是带连接器的线缆。作为一个示例，第一线缆600用作连接测距装置20和第一支撑部件310的线缆。第一线缆600包括线缆部602、第一连接器610、第二连接器620、第一固定部件614和第二固定部件624。第一连接器610设于线缆部602的一端，第二连接器620设于线缆部602的另一端。
第一连接器610包括第一壳体611和从第一壳体611的第一面631沿第一方向延伸的第一端子部612。第一端子部612包括多个电端子。第一端子部612为插头。第一端子部612例如为USB Type-C(注册商标)端子。第一端子部612可以插入测距装置20所包括的USB Type-C(注册商标)插座中。
线缆部602从第一壳体611的第二面632向与第一方向交叉的第二方向延伸。第一壳体611包括在第一面631和第二面632之间与第一方向斜交叉的第三面633。
第一壳体611包括从第一面631到第二面632与第二方向斜交叉的第四面634以及第三面633。第四面634和第三面633按照从第一面631到第二面632，第四面634、第三面633的顺序设置。
第一面631相对于第二面632倾斜。也就是说，第一面631是朝向与第二面632不同方向的面。当第一端子部612沿着与第一面631垂直的方向延伸，并且线缆部602沿着与第二面632垂直的方向延伸时，第一端子部612延伸的方向成为与线缆部602延伸的方向斜交叉的方向。这样，线缆部602从第二面632向与第一端子部612延伸的第一方向斜交叉的方向延伸。
第一固定部件614是用于将第一连接器610固定于测距装置20的部件。第一固定部件614在第一壳体611中设置于包括第四面634的部位，第一端子部612向沿着从第一面631延伸的第一方向的方向从第一壳体611延伸。
第一固定部件614包括螺丝部615和操作部616。螺丝部615设置为从第一壳体611向第一端子部612侧延伸。螺丝部615被插入到测距装置20所包括的内螺纹部。操作部616设置为从第一壳体611向第三面633侧延伸。操作部616是接受旋转第一固定部件614的用户操作的部件。当第一连接器610被安装在测距装置20所包括的连接器的状态下，用户旋转操作部616时，螺丝部615拧入测距装置20所包括的内螺纹部。由此，第一连接器610被固定于测距装置20。
接着，对第二连接器620进行说明。第二连接器620包括与第一连接器610相同的结构。因此，有时省略第二连接器620的详细描述。
第二连接器620包括第二壳体621和第二端子部622，第二端子部622从第二壳体621的第五面635向第三方向延伸。第二端子部622包括多个电端子。第二端子部622为插头。第二端子部622例如可以插入到第一连接器 210中。第二端子部622例如为USB Type-C(注册商标)端子。
线缆部602从第二壳体621的第六面636向与第三方向交叉的第四方向延伸。第二壳体621包括在第五面635和第六面636之间与第三方向斜交叉的第七面637。
第二壳体621包括从第五面635到第六面636与第二方向斜交叉的第八面638以及第七面637。第八面638和第七面637按照从第五面635到第六面636，第八面638、第七面637顺序设置。
第五面635相对于第六面636倾斜。也就是说，第五面635是朝向与第六面636不同方向的面。当第二端子部622向与第五面635垂直的方向延伸，并且线缆部602向与第六面636垂直的方向延伸时，第二端子部622从第五面635延伸的方向是与线缆部602从第六面636延伸的方向斜交叉的方向。这样，线缆部602从第六面636向与第二端子部622延伸的第三方向斜交叉的方向延伸。
如图8所示，当第二面632与第六面636相对布置时，线缆部602可以在第二面632与第六面636之间呈直线状连接。在第二面632与第六面636相对布置，线缆部602处于第二面632与第六面636之间呈直线状连接的状态的情况下，第一端子部612相对于线缆部602的延伸方向的延长线，位于与第二端子部622相同的一侧。因此，第一端子部612延伸的第一方向和第二端子部622延伸的第三方向所成的角度小于180°。因此，作为整体，第一线缆600以在由第一线缆600连接的设备之间呈弧状连接的形状容易连接。由于第一线缆600具有这样的形状，当在第一线缆600上，测距装置20与第一支撑部件310连接的状态下，万向节300使相机170旋转时，第一线缆600可能难以干扰万向节300。另外，第一方向和第二方向所成的角度可以与第三方向和第四方向所成的角度相同。
第二固定部件624是用于将第二连接器620固定于第一支撑部件310的部件。第二固定部件624设于第二壳体621中包括第八面638的部位，第二端子部622向沿着从第五面635延伸出的第三方向的方向从第二壳体621延伸。
第二固定部件624包括螺丝部625和操作部626。螺丝部625设置为从第一壳体611向第二端子部622侧延伸。螺丝部625插入到万向节300的第一支撑部件310所包括的第一固定部220中。操作部626设置为从第二壳体 621向第七面637侧延伸。操作部626是接受使第二固定部件624旋转的用户操作的部件。图10示出将第一线缆600的第二连接器620安装到第一支撑部件310的情况。当在第二端子部622插入到第一连接器210的状态下，用户旋转操作部626时，螺丝部625被拧入第一固定部220所包括的内螺纹部。由此，第二连接器620固定于第一支撑部件310。
第一线缆600的第一连接器610在第一端子部612的一侧包括第一固定部件614。此外，第二连接器620的第二端子部622的一侧包括第二固定部件624。因此，由于第一线缆600的插入方向是唯一的，所以能够抑制由于误插而导致的第一线缆600与万向节300的干扰、或产生电气上的故障。
图11示出用第一线缆600将第一支撑部件310与测距装置20连接、用第二线缆700将镜头电机30与第二支撑部件320连接的状态。另外，结合图6至图9等，对用于将第一线缆600安装到第一支撑部件310及测距装置20的结构进行了说明。因此，对该结构省略说明。首先，关于将第二线缆700安装到第二支撑部件320的结构，主要说明与第一支撑部件310的安装部250的结构的不同点。此外，第二线缆700包括与第一线缆600相同的结构。因此，省略对第二线缆700的结构的说明。图12示出图11的AA截面的一部分。
第二支撑部件320包括与第一支撑部件310相同的结构。与第一支撑部件310的安装部250一样，第二支撑部件320包括安装有第二线缆700所包括的第二连接器的第二端子722的第二连接器810、固定第二线缆700所包括的第二连接器的第二固定部件724的第二固定部件820、以及支撑盖部件294的盖支撑部892的安装部850。但是，第二支撑部件320的第二连接器810、第二固定部820以及盖支撑部892分别相对于z轴设于与第一支撑部件310的第一连接器210、第一固定部220以及盖支撑部292对称的位置上。即，在第一支撑部件310上，沿第一连接器210、第一固定部220以及盖支撑部292的排列方向观察时，第二支撑部件320的第二连接器810、第二固定部820以及盖支撑部892按照第二固定部820、第二连接器810以及盖支撑部892的顺序排列。即，在第二支撑部件320中，第二固定部820设于比第二连接器810远离设置镜头电机30的位置的位置。即，用于固定第二线缆700的第二固定部820设于比第二连接器810更远离镜头电机30的位置。因此，第一固定部220相对于俯仰轴301位于第一侧，第二固定部820相对 于俯仰轴301位于相反侧的第二侧。因此，在将第二线缆700安装到第二支撑部件320时，容易操作第二线缆的第二固定部件724。另外，连接镜头电机30和第二支撑部件320的第二线缆700的操作变得容易。
例如，如图11所示，当第一线缆600的第一连接器610连接到测距装置20时，第一线缆600的线缆部分602沿着从第一连接器610接近俯仰轴301的方向延伸。即，与从第一连接器610向沿着第一端子部612的延伸方向延伸的情况相比，第一线缆600的线缆部602向沿着镜头装置190的外周的方向延伸。因此，能够防止线缆部602从第一保持部件312、第二保持部件322、测距装置20以及镜头电机30中距离俯仰轴301最远的部位向外侧突出。第二线缆700也同样地，能够防止第二线缆700的线缆部分702向外侧突出。
图13示出摄像系统10由支撑体900支撑的状态。如上所述，万向节300能够使相机170独立地围绕俯仰轴301、滚动轴302、偏航轴303旋转。第一线缆600可以连接第一支撑部件310和测距装置20来向测距装置20供给电力。第二线缆700能够连接第二支撑部件320和镜头电机30，来向镜头电机30供给电力。因此，在摄像装置100中搭载了测距装置20和镜头电机30等外部设备的情况下，能够向外部设备供给电力。即使在万向节300使摄像装置100旋转的情况下，第一连接器210和测距装置20之间的位置关系也不变化，第二连接器810和镜头电机30之间的位置关系也不变化。因此，能够减轻施加于第一线缆600和第二线缆700的负荷。根据本实施方式，通过在万向节300的支撑部件上设置电端子，能够提高电力供给的自由度。
另外，测距装置20和镜头电机30设于俯仰轴301的周围。因此，即使将摄像装置100绕俯仰轴301和滚转轴302旋转，测距装置20和镜头电机30等外部设备也不会干扰万向节300。
如上所述，在第一线缆600与测距装置20连接的情况下，第一线缆600的线缆部602沿着镜头装置190的外周方向延伸。此外，第一线缆600的第一连接器610包括相对于第一端子部612的延伸方向倾斜的第三面633。因此，例如，如图13所示，即使在由第一线缆600电性且机械连接测距装置20和第一支撑部件310的状态下，万向节300使相机170绕俯仰轴301和滚转轴302旋转的情况下，也能够抑制线缆部602和第一连接器610与第四保持部件342接触。对于第二线缆700也同样地，即使在由第二线缆700电性 且机械连接镜头电机30和第二支撑部件320的状态下，万向节300使相机170旋转的情况下，也能够抑制线缆部702和第二连接器720与第四保持部件342接触。
上述摄像装置100可以搭载于移动体上。摄像装置100可以搭载于如图14所示的无人驾驶航空器(UAV)上。UAV1000可以包括UAV主体1020、万向节300、多个摄像装置1060以及摄像装置100。UAV1000为由推进部推进的移动体的一个示例。移动体的概念是指除UAV之外，包括在空中移动的飞机等飞行体、在地面上移动的车辆、在水上移动的船舶等。
UAV主体1020包括多个旋翼。多个旋翼为推进部的一个示例。UAV主体1020通过控制多个旋翼的旋转而使UAV1000飞行。UAV本体1020例如采用4个旋转翼，使UAV1000飞行。旋翼的数量不限于四个。另外，UAV1000也可以是没有旋翼的固定翼机。
摄像装置100为对包含在期望的摄像范围内的被摄体进行拍摄的摄像用相机。万向节300可旋转地支撑摄像装置100。万向节300为支撑机构的一个示例。例如，万向节300使用致动器以俯仰轴可旋转地支撑摄像装置100。万向节300使用致动器进一步分别以滚转轴和偏航轴为中心可旋转地支撑摄像装置100。万向节300可通过使摄像装置100以偏航轴、俯仰轴以及滚转轴中的至少1个为中心旋转，来改变摄像装置100的姿势。
多个摄像装置1060是为了控制UAV1000的飞行而对UAV1000的周围进行拍摄的传感用相机。两个摄像装置1060可以设置于UAV1000的机头、即正面。并且，其它两个摄像装置1060可以设置于UAV1000的底面。正面侧的两个摄像装置1060可以成对，起到所谓的立体相机的作用。底面侧的两个摄像装置1060也可以成对，起到立体相机的作用。可以根据由多个摄像装置1060所摄像的图像来生成UAV1000周围的三维空间数据。UAV1000所包括的摄像装置1060的数量不限于四个。UAV1000包括至少一个摄像装置1060即可。UAV1000也可以在UAV1000的机头、机尾、侧面、底面及顶面分别包括至少一个摄像装置1060。摄像装置1060中可设定的视角可大于摄像装置100中可设定的视角。摄像装置1060也可以包括单焦点镜头或鱼眼镜头。
远程操作装置1600与UAV1000通信，对UAV1000进行远程操作。远程操作装置1600可以与UAV1000进行无线通信。远程操作装置1600向 UAV1000发送示出上升、下降、加速、减速、前进、后退、旋转等与UAV1000的移动有关的各种指令的指示信息。指示信息包括例如使UAV1000的高度上升的指示信息。指示信息可以示出UAV1000应该位于的高度。UAV1000进行移动，以位于从远程操作装置1600接收的指示信息所示出的高度。指示信息可以包括使UAV1000上升的上升指令。UAV1000在接受上升指令的时段上升。在UAV1000的高度已达到上限高度时，即使接受上升指令，也可以限制UAV1000上升。
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。
应该注意的是，权利要求书、说明书以及说明书附图中所示的装置、系统、程序以及方法中的动作、过程、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、说明书以及说明书附图中的操作流程，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。
【符号说明】
10 摄像系统
20 测距装置
22 测距装置保持部件
30 镜头电机
32 镜头电机保持部件
100 摄像装置
170 相机
190 镜头装置
210 第一连接器
220 第一固定部
250 安装部
290 盖部件
292 盖支撑部
294 盖部件
300 万向节
301 俯仰轴
302 滚转轴
303 偏航轴
310 第一支撑部件
312 第一保持部件
314 旋转体
317 导槽
320 第二支撑部件
322 第二保持部件
330 第三支撑部件
332 第三保持部件
340 第四支撑部件
342 第四保持部件
400 外壳
401 螺丝
402 螺丝
403 螺丝
404 螺丝
410 第一端部
411、412、413、414 固定部
418 固定面
420 第二端部
421、422、423 板
440 端子部
450 开口
470、472 刻度线
490 锁定部件
600 线缆
602 线缆部
610 第一连接器
611 第一壳体
612 第一端子部
614 第一固定部件
615 螺丝部
616 操作部
620 第二连接器
621 第二壳体
622 第二端子部
624 第二固定部件
625 螺丝部
626 操作部
631 第一面
632 第二面
633 第三面
634 第四面
635 第五面
636 第六面
637 第七面
638 第八面
700 线缆
702 线缆部
720 第二连接器
724 第二固定部件
810 第二连接器
820 第二固定部
850 安装部
892 盖支撑部
900 支撑体
1000 UAV
1020 UAV主体
1060 摄像装置
1600 远程操作装置

Claims (14)

  1. 一种可旋转地支撑搭载物的支撑机构，
    其特征在于，包括
    支撑所述搭载物的第一支撑部件以及
    可绕第一轴旋转地保持所述第一支撑部件的第一保持部件，
    所述第一支撑部件包括第一连接器，所述第一连接器安装有用于与安装于所述搭载物的第一设备连接的第一线缆。
  2. 根据权利要求1所述的支撑机构，其特征在于，
    所述第一支撑部件包括第一固定部，所述第一固定部固定所述第一线缆所包括的第一固定部件。
  3. 根据权利要求2所述的支撑机构，其特征在于，
    所述第一保持部件包括至少覆盖所述第一连接器的盖部件，
    所述第一支撑部件包括用于活动支撑所述盖部件的盖支撑部。
  4. 根据权利要求2或3所述的支撑机构，其特征在于，
    所述第一固定部设置在比所述第一连接器更远离设置所述第一设备的位置的位置。
  5. 根据权利要求1或2所述的支撑机构，其特征在于，
    所述第一支撑部件包括调整机构，所述调整机构用于在与所述第一轴交叉的方向上调整支撑所述搭载物的位置。
  6. 根据权利要求1或2所述的支撑机构，其特征在于，
    所述第一支撑部件和所述第一保持部件中的至少一个形成有表示所述第一保持部件保持所述第一支撑部件的位置的指示器。
  7. 根据权利要求1或2所述的支撑机构，其特征在于，
    还包括支撑所述搭载物的第二支撑部件以及可绕所述第一轴旋转地保持所述第二支撑部件的第二保持部件，
    所述第二支撑部件包括第二连接器，所述第二连接器安装有用于与安装于所述搭载物的第二设备连接的第二线缆。
  8. 根据权利要求7所述的支撑机构，其特征在于，
    所述第一支撑部件包括第一固定部，所述第一固定部固定所述第一线缆所包括的固定部件，
    所述第二支撑部件包括第二固定部，所述第二固定部固定所述第二线缆所包括的固定部件，
    所述第一固定部相对于第一轴位于第一侧，所述第二固定部相对于第一轴位于第二侧。
  9. 根据权利要求1或2所述的支撑机构，其特征在于，
    包括支撑所述第一保持部件的第三支撑部件以及
    可绕第二轴旋转地保持所述第三支撑部件的第三保持部件。
  10. 根据权利要求9所述的支撑机构，其特征在于，
    所述第一连接器设于相对于所述第一轴与所述第三保持部件的位置相反的一侧。
  11. 根据权利要求9所述的支撑机构，其特征在于，
    包括支撑所述第三保持部件的第四支撑部件以及可绕所述第三轴旋转地保持所述第四支撑部件的第四保持部件。
  12. 根据权利要求1或2所述的支撑机构，其特征在于，
    所述搭载物是摄像装置，
    所述第一设备是可拆装于所述摄像装置的外部设备。
  13. 根据权利要求12所述的支撑机构，其特征在于，
    所述外部设备是向所述摄像装置输出测距信息的测距装置和驱动所述摄像装置中设置的镜头装置所包括的镜头的驱动装置中的至少一个。
  14. 一种摄像系统，其特征在于，包括：
    根据权利要求12所述的支撑机构以及所述摄像装置。
PCT/CN2021/121170 2020-10-19 2021-09-28 支撑机构及摄像系统 WO2022083426A1 (zh)

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