Posture adjustment mechanism and image processing system

Abstract

To perform posture adjustment operations precisely in a short time in a posture adjustment mechanism.SOLUTION: A posture adjustment mechanism adjusts the posture of an apparatus to be supported, and comprises a first member, a second member, and a third member. The second member is pivotally supported by the first member rotatably in a first rotation direction. The third member is pivotally supported by the second member rotatably in the first rotation direction with a worm gear including a worm wheel and a first worm therebetween.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an attitude adjustment mechanism and an image processing system, and more particularly to an attitude adjustment mechanism that adjusts the attitude of an apparatus to be adjusted via a worm gear. [Background technology]

[0002] Attitude adjustment mechanisms that adjust the attitude of adjustable devices are known. Such attitude adjustment mechanisms can mount the adjustable devices. The attitude adjustment mechanisms can adjust the attitude of the mounted adjustable devices in at least one rotational direction and maintain the adjusted attitude. Examples of adjustable devices include optical devices such as cameras and laser emitters.

[0003] Also known is an attitude adjustment mechanism that includes a gear mechanism. This type of attitude adjustment mechanism uses gears with different numbers of teeth that mesh with each other. This type of mechanism reduces the rotation speed of the adjusted device, enabling precise attitude adjustment. For example, Patent Document 1 discloses an attitude adjustment mechanism that adjusts the attitude of a camera unit mounted on a pan rotation shaft member by transmitting the rotation of a drive motor to a pan rotation shaft member while decelerating it via gears. Patent Document 2 also discloses a tilt mechanism that tilts a camera by transmitting the rotation of a motor via gears. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-178942 [Patent Document 2] Japanese Patent Application Laid-Open No. 2010-107772 Summary of the Invention [Problem to be solved by the invention]

[0005] When adjusting the attitude using an attitude adjustment mechanism equipped with a gear mechanism, the rotational speed of the device being adjusted decreases due to the gear mechanism. As a result, the time required to make large changes to the attitude increases. Furthermore, when the attitude of the device being adjusted is changed infrequently, a manual attitude adjustment mechanism that can be configured at low cost may be used. When using a manual attitude adjustment mechanism, the attitude is manually adjusted and then fixed in place. In particular, when using such a manual attitude adjustment mechanism, the reduction in the rotational speed of the device being adjusted increases the time and effort required to make large changes to the attitude.

[0006] An object of the present disclosure is to provide an attitude adjustment mechanism that enables attitude adjustment work to be performed accurately and in a short time. [Means for solving the problem]

[0007] An attitude adjustment mechanism according to an embodiment of the present disclosure has the following configuration: That is, the attitude adjustment mechanism adjusts the attitude of a supported device, and is characterized by comprising a first member, a second member, and a third member, wherein the second member is axially supported to be rotatable in a first rotational direction relative to the first member via a first rotating shaft member, and the third member is axially supported to be rotatable in the first rotational direction relative to the second member via a worm gear including a worm wheel and a first worm. [Effects of the Invention]

[0008] The attitude adjustment mechanism can perform the attitude adjustment work accurately and in a short time. [Brief explanation of the drawings]

[0009] [Figure 1] An external view of the attitude adjustment mechanism equipped with a camera unit. [Figure 2] FIG. 2 is a perspective view of an attitude adjustment mechanism according to an embodiment. [Figure 3] FIG. 3 is a schematic diagram of a first rotating unit and a second rotating unit. [Figure 4] FIG. 3 is a schematic diagram of a first rotating unit and a second rotating unit. [Figure 5] FIG. 3 is a schematic diagram of a first rotating unit and a second rotating unit. [Figure 6] FIG. 10 is a diagram showing an example of a worm gear. [Figure 7] FIG. 10 is a diagram illustrating backlash in a worm gear. [Figure 8] FIG. 2 is a perspective view of an attitude adjustment mechanism according to an embodiment. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. 1 is a diagram showing an example of the configuration of a system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the claims. Although multiple features are described in the embodiments, not all of these multiple features are necessarily essential, and multiple features may be combined arbitrarily. Furthermore, in the accompanying drawings, the same reference numerals are used to designate the same or similar components, and redundant explanations will be omitted.

[0011] FIG. 1 shows an attitude adjustment mechanism 100 according to one embodiment. The attitude adjustment mechanism 100 is a support device on which, for example, an adjustable device can be mounted. The attitude adjustment mechanism 100 is sometimes called a camera platform. The attitude adjustment mechanism 100 can change the attitude (e.g., tilt direction, rotation direction, and / or pan direction) of the mounted adjustable device. The attitude adjustment mechanism 100 is mounted with an optical device (a camera unit 70 in this embodiment) as the adjustable device. Note that the adjustable device is not limited to an optical device. For example, the adjustable device may be a measuring instrument or a light-emitting device. FIG. 2(A) is a perspective view of the attitude adjustment mechanism 100 from the lens side of the camera unit 70. FIG. 2(B) is a perspective view of the attitude adjustment mechanism 100 from the opposite side.

[0012] As shown in FIG. 1 and FIGS. 2(A) and (B), the attitude adjustment mechanism 100 includes a pedestal 10. The pedestal 10 has a base portion 11 and a support portion 12. The base portion 11 is fixed to the surface on which it is installed. For convenience, in the following description, the side of the attitude adjustment mechanism 100 on which the base portion 11 is located will be referred to as the lower side. However, it is not necessary to install the attitude adjustment mechanism 100 so that the base portion 11 is on the lower side. For example, the pedestal 10 may be installed on a wall surface, a ceiling, or the like.

[0013] The attitude adjustment mechanism 100 according to this embodiment can adjust the attitude of a supported device (e.g., a camera unit 70). As shown in FIG. 2A, the attitude adjustment mechanism 100 includes a base 10 (first member), a tilt base 21 (second member), and a rotation base 60 (third member). The tilt base 21 is axially supported on the base 10 so as to be rotatable in a first rotation direction. For example, the tilt base 21 is connected to the base 10 via a first rotation unit (described later). The rotation base 60 is axially supported on the tilt base 21 so as to be rotatable in the first rotation direction. For example, the rotation base 60 is connected to the tilt base 21 via a second rotation unit (described later). In this specification, the combination of the first rotation unit and the second rotation unit may be referred to as a rotation direction adjustment unit. In this specification, rotation includes rotation within a small angle range, such as less than 90° or less than 10°.

[0014] On the other hand, in another embodiment, the tilt base 21 may be connected to the pedestal 10 via a second rotating part. Also, the rotation base 60 may be connected to the tilt base 21 via a first rotating part. In such an embodiment, the attitude adjustment mechanism 100 includes the pedestal 10 (third member), the tilt base 21 (second member), and the rotation base 60 (first member).

[0015] In this embodiment, the attitude adjustment mechanism 100 can adjust the attitude of the supported device in the up / down tilt direction (tilt direction: T) relative to the base 10 using at least one rotation direction adjustment unit included in the attitude adjustment mechanism 100. That is, in this embodiment, the first rotation direction is the tilt direction. In this embodiment, the first rotation unit performs coarse adjustment of the attitude in the tilt direction. Furthermore, the second rotation unit performs precise adjustment of the tilt direction. In one embodiment, the direction of rotation via the first rotation unit and the direction of rotation via the second rotation unit exactly match. That is, the rotation axis of the rotation via the first rotation unit and the rotation axis of the rotation via the second rotation unit are parallel to or match. However, the direction of rotation via the first rotation unit and the direction of rotation via the second rotation unit do not necessarily have to exactly match. In one embodiment, the direction of rotation via the first rotation unit has a component in the first rotation direction (e.g., tilt direction), and the direction of rotation via the second rotation unit has a component in the first rotation direction (e.g., tilt direction).

[0016] However, the attitude adjustment mechanism 100 according to another embodiment may adjust the attitude of the device in a direction other than the tilt direction. For example, the attitude adjustment mechanism 100 may adjust the attitude of the device in a rotation direction. Furthermore, the attitude adjustment mechanism 100 may have multiple rotation units for adjusting the attitude of the device in different directions. For example, the attitude adjustment mechanism 100 shown in FIG. 2(A) has rotation axis members 62d and 62e above the rotation direction adjustment unit for the tilt direction for adjusting the attitude of the device in the left-right tilt direction (rotation direction: R). Furthermore, the rotation direction adjustment unit according to this embodiment may be used for rotation along an axis other than the tilt direction.

[0017] Next, the first and second rotating units will be described with reference to Figures 3(A) and (B), 4(A) and (B), and 5(A) and (B). Figures 3(A) and (B) are perspective views showing the first and second rotating units provided in the attitude adjustment mechanism 100. Figure 4(A) is a side view showing the first and second rotating units. Figure 4(B) is a cross-sectional view at the rotation center of the first and second rotating units.

[0018] First, the first rotating unit will be described. FIG. 5(A) is a schematic diagram showing the first rotating unit. As shown in FIG. 5(A), the tilt base 21 is axially supported by the support unit 12 of the pedestal 10 so as to be rotatable in the tilt direction. In this embodiment, the first rotating unit includes rotating shaft members 13a and 13b, which are first rotating shaft members. The rotating shaft members 13a and 13b connect the support unit 12 and the tilt base 21. That is, the tilt base 21 is axially supported by the support unit 12 so as to be rotatable by the support unit 12 via the rotating shaft members 13a and 13b. The rotating shaft members 13a and 13b connect the support unit 12 and the tilt base 21 so that the tilt base 21 can rotate in a first rotation direction relative to the support unit 12 in accordance with an external force applied to the support unit 12 or the tilt base 21. In this embodiment, the first rotating unit does not include a reduction mechanism such as a gear. With this configuration, when adjusting the attitude, tilt base 21 can be rotated relative to support portion 12 by manually moving tilt base 21.

[0019] More specifically, the support portion 12 is perpendicular to the rotation axis in the first rotation direction and has a pair of side plates 12a and 12b connected to each other. The pair of side plates 12a and 12b are parallel to each other. The side plates 12a and 12b protrude upward relative to the base portion 11. The support portion 12 may be a plate-like member having a bottom plate 12c connected to the base portion 11 and the side plates 12a and 12b bending and extending from the bottom plate 12c. The tilt base 21 is also perpendicular to the rotation axis in the first rotation direction and has a pair of side plates 21a and 21b connected to each other. The pair of side plates 21a and 21b are parallel to each other. The tilt base 21 may be a plate-like member having a top plate 21c and the side plates 21a and 21b bending and extending from the top plate 21c.

[0020] The side plate 12a of the support unit 12 and the side plate 21a of the tilt base 21 are rotatably connected to each other via the rotation shaft member 13a. In this way, the side plate 12a is rotatably connected to the side plate 21a along the rotation axis in the first rotation direction. For example, the side plate 12a of the support unit 12 and the side plate 21a of the tilt base 21 may have concentric shaft holes. In this case, the rotation shaft member 13a is inserted into the shaft holes of the side plate 12a and the side plate 21a. In addition, the side plate 12b of the support unit 12 and the side plate 21b of the tilt base 21 are rotatably connected to each other via the rotation shaft member 13b. In this way, the side plate 12b is rotatably connected to the side plate 21b along the rotation axis in the first rotation direction. Similarly, the rotation shaft member 13b can be inserted into the concentric shaft holes of the side plate 12b and the side plate 21b. 4(B), the side plates 21a and 21b of the tilt base 21 are arranged outside and parallel to the side plates 12a and 12b of the support part 12. The side plates 21a and 21b of the tilt base 21 are in surface contact with the side plates 12a and 12b of the support part 12.

[0021] Furthermore, the attitude adjustment mechanism 100 may have a fixing mechanism that fixes the support unit 12 and the tilt base 21 to each other. For example, the fixing mechanism can fix the tilt angle between the support unit 12 and the tilt base 21. In the example shown in FIG. 4(A), the fixing mechanism includes mounting holes 21d and 21e provided in the tilt base 21 and a bolt hole provided in the support unit 12. The fixing mechanism may further include bolts 101a and 101b. For example, the side plate 21a of the tilt base 21 is formed with mounting holes 21d and 21e, each of which has an arc shape centered on the rotating shaft member 13a. Furthermore, the side plate 12a of the support unit 12 is formed with two bolt holes spaced a predetermined distance from the rotating shaft member 13a. This predetermined distance corresponds to the radius of the arc. Then, the tilt base 21 can be fixed to the support portion 12 by fastening bolts 101a and 101b inserted through the mounting hole portion 21d or 21e of the side plate 21a and the bolt hole of the side plate 12a.

[0022] With the bolts 101a and 101b loosened, all of the components held by the tilt base 21, including the camera unit 70, rotate in the tilt direction. In attitude adjustment using the first rotating part, the camera unit 70 is manually moved so that it has the desired tilt angle relative to the base 10, thereby roughly adjusting the tilt angle. Then, the bolts 101a and 101b are tightened to fix the tilt angle relative to the support part 12. This adjustment can be performed so that the desired tilt angle is within the adjustment range using the second rotating part.

[0023] This first rotating unit is independent of the precision adjustment structure of the second rotating unit, which will be described later. Therefore, by loosening bolts 101a and 101b, tilt base 21 can be rotated manually. This allows for quick coarse adjustment of the posture.

[0024] Next, the second rotating unit will be described. The second rotating unit can be used to more precisely adjust the attitude of the camera unit 70, which has been adjusted to have an approximately desired tilt angle by adjustment in the first rotating unit. In this embodiment, the rotation base 60 is axially supported rotatably in a first rotation direction relative to the tilt base 21 via a worm gear including a worm wheel and a worm. FIG. 5(B) is a schematic diagram showing the second rotating unit. The second rotating unit includes a worm gear. This worm gear has a worm wheel 24 and a first gear unit 30 including a worm.

[0025] The second rotating unit shown in FIG. 5(B) rotates together with the tilt base 21 in accordance with the adjustment of the tilt direction by the first rotating unit. In this embodiment, the rotation axis of the support unit 12 relative to the tilt base 21 coincides with the rotation axis of the rotation base 60 relative to the tilt base 21. For example, as shown in FIG. 4(B), spacers 22a and 22b are fixed to the side plates 21a and 21b of the tilt base 21. A worm wheel 24 is rotatably fitted to the spacer 22a via a bushing 26a. In the example of FIG. 5(B), the rotation axis of the worm wheel 24 is coaxial with the rotation axis of the rotating shaft member 13a. For this reason, the spacer 22a is connected to the rotating shaft member 13a. A spacer 27 is rotatably fitted to the spacer 22b via a bushing 26b.

[0026] Furthermore, as shown in FIG. 4(A), a first gear unit 30 is fixed to the tilt base 21. The first gear unit 30 has a worm. The teeth of the worm mesh with the worm wheel 24. Therefore, the worm wheel 24 can be rotated by rotation of the worm. Note that the connection between the support part 12 and the tilt base 21 by the worm gear is not limited to this example. For example, the worm wheel 24 may be fixed to the tilt base 21, and the first gear unit 30 may be fixed to the rotation base 60.

[0027] The first gear unit 30 will be further described. The first gear unit 30 has a drive shaft member 31. A worm tooth portion 31a is formed on the drive shaft member 31. In this way, the drive shaft member 31 corresponds to a worm. The worm wheel 24 meshes with the worm tooth portion 31a. Due to this meshing, when the drive shaft member 31 rotates, the worm wheel 24 also rotates according to the set reduction ratio. A large reduction ratio can generally be set for a worm gear. For example, if the reduction ratio is set to 1:50, when the worm rotates once, the worm wheel rotates 1 / 50 of a rotation (360 / 50 = 7.2°). In this way, precise angle adjustment is possible by using a worm gear.

[0028] As the worm wheel 24 rotates, the rotation base 60 (not shown in FIGS. 3(A) and 3(B) and 4(A) and 4(B)) fixed to the worm wheel 24 also rotates, as will be described later. Therefore, by rotating the drive shaft member 31, the tilt angle of the rotation base 60 and the device fixed thereto can be precisely adjusted.

[0029] The first gear unit 30 further has a first worm fixing mechanism. The first worm fixing mechanism fixes the rotation of the drive shaft member 31. For this purpose, the first worm fixing mechanism can clamp the drive shaft member 31. The first worm fixing mechanism can include a shaft fixing portion 33. The first worm fixing mechanism can further include a fixing bolt 33a.

[0030] In the example shown in Fig. 4(A), the first gear unit 30 has shaft support portions 32a and 32b that pivotally support the drive shaft member 31, and a shaft fixing portion 33 that fixes the drive shaft member 31. The shaft support portions 32a and 32b are fixed to the tilt base 21. The drive shaft member 31 can be inserted into openings in the shaft support portions 32a and 32b so that the drive shaft member 31 passes through the openings. In addition, bearings (not shown) are inserted into each of the shaft support portions 32a and 32b. In this way, the shaft support portions 32a and 32b pivotally support the drive shaft member 31 so that it can rotate.

[0031] A recess 31b for fitting a tool is formed at the end of the drive shaft member 31. In this embodiment, the recess 31b has a hexagonal recess shape. In this case, the drive shaft member 31 can be rotated using a tool such as a hexagonal wrench. However, the shape of the recess 31b and the method for rotating the drive shaft member 31 are not particularly limited. For example, the drive shaft member 31 may be a Phillips screw.

[0032] The shaft fixing portion 33 is also fixed to the tilt base 21. The shaft fixing portion 33 has a pair of arms that hold the drive shaft member 31 in between. A fixing bolt 33a can be inserted into the pair of arms. When the fixing bolt 33a is not fastened, the pair of arms grip the shaft portion of the drive shaft member 31 in a sliding fit state. When the fixing bolt 33a is fastened, the pair of arms grip the shaft portion of the drive shaft member 31 in a fixed state so that the shaft portion of the drive shaft member 31 does not rotate. In this way, by fastening the fixing bolt 33a, the shaft portion of the drive shaft member 31 is fixed to the tilt base 21.

[0033] In this embodiment, the tilt angle is adjusted by rotating the drive shaft member 31. After adjusting the angle, the shaft portion of the drive shaft member 31 is fixed using the shaft fixing portion 33. According to this embodiment, the angle is roughly adjusted using the first rotating portion, and then the angle is adjusted using the second rotating portion. Specifically, the worm wheel 24 is rotated by rotating the drive shaft member 31 of the first gear unit 30. At this time, the rotation of the worm wheel 24 is decelerated, allowing for precise angle adjustment.

[0034] Furthermore, the worm gear can be configured so that even if force is applied to the worm wheel side in the meshed state, the worm side will not rotate. Therefore, during precision adjustment, the camera unit 70, which is the device to be adjusted and fixed to the worm wheel 24, is prevented from accidentally rotating due to its own weight, external force, or the like. Furthermore, there is no need to support the camera unit 70 during precision adjustment. Thus, according to this embodiment, the attitude of the camera unit 70 can be adjusted simply by rotating the drive shaft member 31. Furthermore, stopping the rotation of the drive shaft member 31 also stops the camera unit 70. This makes it easier to adjust the attitude of the camera unit 70, reducing the number of work steps.

[0035] Furthermore, the rotation of the worm wheel 24 is decelerated relative to the rotation of the drive shaft member 31. Therefore, even if the drive shaft member 31 shifts in the rotational direction when it is fixed, the effect on the attitude of the camera unit 70 is greatly reduced according to the reduction ratio. This reduces the possibility that the camera unit 70 will be fixed at an angle that is significantly deviated from the desired angle after the attitude is adjusted. This also prevents an increase in the number of steps required to readjust the attitude.

[0036] In this way, the attitude of the camera unit 70 can be precisely adjusted using the second rotating unit. Meanwhile, as already described, the attitude of the camera unit 70 can be quickly and coarsely adjusted using the first rotating unit. Therefore, according to this embodiment, the attitude adjustment work can be performed precisely and in a short time. In the configuration of this embodiment, the first gear unit 30 and the drive shaft member 31 can be fixed to a member such as the tilt base 21. In this case, assembly accuracy is more easily improved compared to when the drive shaft member 31 is movably provided so that the engagement between the drive shaft member 31 and the worm wheel 24 can be released. Furthermore, since the positional relationship between the drive shaft member 31 and the worm wheel 24 can be more precisely fixed, backlash in the engagement of the worm gears can be more easily reduced.

[0037] The rotation base 60 will be further described below. The camera unit 70 is connected to the rotation base 60. As shown in FIGS. 2(A) and 2(B), the rotation base 60 is perpendicular to the rotation axis of the first rotation direction and has a pair of side plates 60a and 60b connected to each other. The side plates 60a and 60b are parallel to each other. The rotation base 60 also has a top plate 60c. The side plates 60a and 60b protrude downward from the top plate 60c. In this example, the side plates 60a and 60b are arranged outside the side plates 21a and 21b of the tilt base 21 and parallel to the side plates 21a and 21b.

[0038] Here, one of the side plates of the tilt base 21, the side plate 21a, and one of the side plates of the rotation base 60, the side plate 60a, are connected via a worm gear. Specifically, the side plate 60a is fixed to the worm wheel 24. In the example shown in FIG. 2(A), the worm wheel 24 is fixed to the side plate 60a so as to be concentric with the rotation axis of the first rotation direction. The worm wheel 24 is also rotatably connected to the side plate 21a around the rotation shaft member 13a. The drive shaft member 31 is fixed to the side plate 21a so as to mesh with the worm wheel 24.

[0039] Furthermore, side plate 21b, which is the other side plate of tilt base 21, and side plate 60b, which is the other side plate of rotation base 60, are connected via a second rotating shaft member that follows a rotation axis in a first rotation direction. Specifically, side plate 60b is fixed to spacer 27. Furthermore, spacer 27 is connected to spacer 22b fixed to side plate 21b so as to be rotatable about the rotation axis in the first rotation direction. Note that the first rotating shaft member that rotatably connects pedestal 10 and tilt base 21 may be the same as the second rotating shaft member that rotatably connects tilt base 21 and rotation base 60.

[0040] With this configuration, the rotation base 60 rotates in the tilt direction relative to the tilt base 21 in conjunction with the rotation of the worm wheel 24 and the spacer 27. Note that a gap can be provided between the upper plate 60c of the rotation base 60 and the upper plate 21c of the tilt base 21 so that the rotation base 60 does not interfere with the tilt base 21 during rotation.

[0041] In this configuration, the camera unit 70 may be fixed to the upper plate 60c of the rotation base 60. Meanwhile, the attitude adjustment mechanism 100 may further include a rotation unit for the rotation direction. The attitude adjustment mechanism 100 shown in FIGS. 2(A) and 2(B) further includes a camera mounting plate 61 (fourth member). The camera mounting plate 61 is axially supported on the rotation base 60 so as to be rotatable in a second rotation direction different from the first rotation direction. Specifically, the camera mounting plate 61 is axially supported by rotation shaft members 62d and 62e so as to be rotatable in the second rotation direction. In this embodiment, the second rotation direction is the rotation direction. The rotation shaft members 62d and 62e are attached to the rotation base 60.

[0042] For example, the rotation base 60 has a pair of side plates 60d and 60e that are perpendicular to the rotation axis of the second rotation direction and are connected to each other. The side plates 60d and 60e are parallel to each other. The side plates 60d and 60e may protrude upward from the top plate 60c. The camera mounting plate 61 also has a pair of side plates 61d and 61e that are perpendicular to the rotation axis of the second rotation direction and are connected to each other. The side plates 61d and 61e are parallel to each other. The side plates 61d and 61e may protrude downward from the top plate 61c of the camera mounting plate 61. In the example shown in FIG. 2(A), the side plates 61d and 61e of the camera mounting plate 61 are arranged outside the side plates 60d and 60e of the rotation base 60 and parallel to the side plates 60d and 60e. The side plates 61d and 61e of the camera mounting plate 61 are in surface contact with the side plates 61d and 61e of the rotation base 60. The camera unit 70 can be fixed to the top plate 61c. For example, a camera mounting hole is provided in the top plate 61c shown in FIG. 2(A).

[0043] The side plate 61d of the camera mounting plate 61 and the side plate 60d of the rotation base 60 are rotatably connected to each other via a rotation shaft member 62d. For example, the rotation shaft member 62d can be inserted into concentric shaft holes formed in the side plates 61d and 60d. Similarly, the side plate 61e of the camera mounting plate 61 and the side plate 60e of the rotation base 60 are rotatably connected to each other via a rotation shaft member 62e. For example, the rotation shaft member 62e can be inserted into concentric shaft holes formed in the side plates 61e and 60e.

[0044] As described above, the rotation portion in the rotation direction includes the rotation shaft members 62d and 62e. The rotation portion in the rotation direction may also have a fixing mechanism that fixes the rotation angle between the rotation base 60 and the camera mounting plate 61. For example, two arc-shaped mounting holes are formed in the side plate 61d of the camera mounting plate 61, each centered on the rotation shaft member 62d. Furthermore, two bolt holes corresponding to the mounting holes are formed in the side plate 60d of the rotation base 60. The camera mounting plate 61 can be fixed to the rotation base 60 by fastening bolts 101d and 101e inserted through the mounting holes of the side plate 61d and the bolt holes of the side plate 60d.

[0045] In such an attitude adjustment mechanism 100, the rotation direction can be adjusted while supporting the camera unit 70. After adjustment, the attitude of the camera unit 70 can be fixed by tightening the bolts 101d and 101e.

[0046] 2(A) and 2(B), a member that rotates in a second rotation direction (camera mounting plate 61) is provided on top of members that rotate in a first rotation direction (tilt base 21 and rotation base 60), but the order in which the members are arranged is not particularly limited. For example, the second pedestal may be axially supported relative to pedestal 10 so as to be rotatable in the rotation direction. The support form of the second pedestal by pedestal 10 may be similar to the support form of the camera mounting plate 61 by rotation base 60, which has already been described. In this case, the tilt base 21 may be axially supported relative to the second pedestal so as to be rotatable in the tilt direction. The support form of the tilt base 21 by the second pedestal may be similar to the support form of the tilt base 21 by pedestal 10, which has already been described.

[0047] (Posture fixation using the second gear unit) Below, a configuration will be described in which an additional worm is used to more precisely adjust the attitude of the camera unit 70. In such an embodiment, the worm gear includes an auxiliary shaft member 41 that is different from the drive shaft member 31 and can mesh with the worm wheel 24. In the embodiment described below, the worm gear includes a second gear unit 40 that includes a worm, in addition to the worm wheel 24 and the first gear unit 30. The auxiliary shaft member 41 corresponds to the worm. Here, the first gear unit 30 performs precise attitude adjustment in the tilt direction. Furthermore, the second gear unit 40 reduces attitude changes due to backlash in the meshing of the worm gear in the first gear unit 30. However, in the present disclosure, providing such a second gear unit 40 is not essential.

[0048] The second gear unit will be described with reference to FIGS. 3(A) and 3(B), 4(A) and 4(B), 5(A) and 5(B), 6(A) to 6(G), and 7. Generally, a gap is provided in the meshing of worm gears as a backlash to ensure smooth rotation. For example, as shown in FIG. 7, a gap c1 exists between the worm tooth portion 31a of the drive shaft member 31 and the worm wheel 24. Therefore, if an external force Rc is applied to the worm wheel 24 after adjusting the tilt orientation using the first gear unit 30 and fixing the drive shaft member 31 using the shaft fixing portion 33, the worm wheel 24 may move. In this case, the orientation of the camera unit 70 also changes in the tilt direction. For example, if the camera unit 70 is equipped with a telephoto lens, the image is likely to change significantly due to the orientation change caused by the movement of the worm wheel 24. In this embodiment, the second gear unit 40 is used to suppress such orientation changes of the camera unit 70.

[0049] As shown in FIGS. 3A and 4A, the second gear unit 40 includes an auxiliary shaft member 41, shaft supports 42a and 42b, and a shaft fixing portion 43. The auxiliary shaft member 41 has a worm tooth portion 41a that meshes with the worm wheel 24. The shaft supports 42a and 42b support the auxiliary shaft member 41. The shaft supports 42a and 42b are fixed to the tilt base 21. A bearing (not shown) is inserted into each of the shaft supports 42a and 42b, which rotatably support the auxiliary shaft member 41. Similar to the drive shaft member 31, a recess 41b for fitting a tool is formed at the end of the auxiliary shaft member 41. That is, the auxiliary shaft member 41 can be rotated using a tool such as a hexagonal wrench. The shaft fixing portion 43 is also fixed to the tilt base 21.

[0050] The second gear unit 40 further has a second worm fixing mechanism. The second worm fixing mechanism fixes the rotation of the auxiliary shaft member 41. To this end, the second worm fixing mechanism can clamp the auxiliary shaft member 41. The second worm fixing mechanism may include a shaft fixing portion 43. The second worm fixing mechanism may further include a fixing bolt 43a. The shaft fixing portion 43 clamps the auxiliary shaft member 41 and has a pair of arms into which the fixing bolt 43a can be inserted. Similar to the shaft fixing portion 33, the shaft fixing portion 43 grips the shaft portion of the auxiliary shaft member 41 in a sliding fit state when the fixing bolt 43a is not fastened. Furthermore, when the fixing bolt 43a is fastened, the shaft fixing portion 43 grips the shaft portion of the auxiliary shaft member 41 in a fixed state so that the shaft portion of the auxiliary shaft member 41 does not rotate.

[0051] In one embodiment, the auxiliary shaft member 41 and the worm wheel 24 can be switched between a meshed state and a non-meshed state. FIGS. 6A to 6F are views showing only the worm wheel 24 and the auxiliary shaft member 41 of the second gear unit. The worm teeth portion 41a formed on the auxiliary shaft member 41 has a tooth shape that meshes with the teeth of the worm wheel 24. Meanwhile, the worm teeth portion 41a is notched in a portion of the rotational direction of the auxiliary shaft member 41. For example, in the example shown in FIGS. 6B and 6C, when viewed from the axial direction of the auxiliary shaft member 41, the worm teeth portion 41a has a notch 41c in a range of approximately 90 degrees with respect to the rotational axis of the auxiliary shaft member 41. In other words, the teeth that mesh with the worm wheel 24 are provided only on a portion of the circumference of the auxiliary shaft member 41 in the rotational direction of the auxiliary shaft member 41. The remaining portion of the circumference of the auxiliary shaft member 41 does not have teeth that mesh with the worm wheel 24.

[0052] Therefore, by rotating the auxiliary shaft member 41 along the rotation axis of the auxiliary shaft member 41, it is possible to switch between a state in which the auxiliary shaft member 41 and the worm wheel 24 mesh with each other and a state in which they do not mesh with each other. In other words, the rotation position of the auxiliary shaft member 41 can control whether the worm teeth portion 41a meshes with the teeth of the worm wheel 24. For example, as shown in FIGS. 6(D) and 6(E), when the auxiliary shaft member 41 is rotated so that the cutout portion 41c of the auxiliary shaft member 41 faces the worm wheel 24, the worm teeth portion 41a does not mesh with the worm wheel 24. Therefore, the auxiliary shaft member 41 does not affect the rotation of the worm wheel 24. In this state, the tilt attitude can be adjusted using the first gear unit 30.

[0053] Next, as shown in FIGS. 6(F) and 6(G), the auxiliary shaft member 41 is rotated so that the worm teeth 41a formed on the auxiliary shaft member 41 come into contact with the teeth of the worm wheel 24. For example, the auxiliary shaft member 41 can be rotated in a direction (Rc) that reduces the gap c1 shown in FIG. 7. Alternatively, the auxiliary shaft member 41 may be rotated so as to apply a force to the worm wheel 24 in the direction opposite to Rc. By engaging the worm teeth 41a with the teeth of the worm wheel 24 in this manner, the worm wheel 24 is fixed by the worm teeth 31a of the drive shaft member 31 and the worm teeth 41a of the auxiliary shaft member 41. This makes it possible to suppress movement of the worm wheel 24 due to backlash between the worm teeth 31a and the worm wheel 24. Therefore, according to this embodiment, it is possible to suppress changes in the attitude of the camera unit 70 due to its own weight, external forces, or the like after adjusting the tilt direction.

[0054] In a configuration like this embodiment where it is possible to control whether the worm tooth portion 41a meshes with the teeth of the worm wheel 24, the first gear unit 30 can be moved independently of the second gear unit 40. In other words, it is not necessary to rotate the auxiliary shaft member 41 while rotating the drive shaft member 31. For this reason, the configuration of this embodiment is suitable for manually operating the attitude adjustment mechanism 100.

[0055] The configuration of the second gear unit for reducing posture changes due to backlash is not limited to the above configuration. A second gear unit 80 according to another embodiment will be described below with reference to Figures 8(A) and (B), 9(A) and (B), and 10(A) and (B). A description of the configuration already described will be omitted. In this embodiment, the distance between the auxiliary shaft member 81, which corresponds to the worm, and the worm wheel 24 is adjustable.

[0056] Fig. 8(A) is a perspective view of the attitude adjustment mechanism 100 from the lens side of the camera unit 70. Fig. 8(B) is a perspective view of the attitude adjustment mechanism 100 from the opposite side. Fig. 9(A) is a perspective view showing the first and second rotating units. Figs. 10(A) and (B) are side views showing the first and second rotating units.

[0057] FIG. 9(B) shows a second gear unit 80. The second gear unit 80 includes an auxiliary shaft member 81. The second gear unit 80 also includes shaft supports 82a and 82b and a shaft fixing portion 83, which are similar to the shaft supports 42a and 42b and the shaft fixing portion 43. The auxiliary shaft member 81 is rotatably supported by the shaft supports 82a and 82b, similar to the auxiliary shaft member 41. A recess 81b for fitting a tool is formed at the end of the auxiliary shaft member 81, similar to the auxiliary shaft member 41. The auxiliary shaft member 81 also includes a worm tooth portion 81a that meshes with the tooth portion of the worm wheel 24. In this embodiment, the worm tooth portion 81a is provided around the entire periphery of the auxiliary shaft member 81. As such, in this embodiment, it is not necessary to provide a notch similar to the notch 41c in the worm tooth portion 81a.

[0058] On the other hand, the auxiliary shaft member 81 is rotatably supported by a slide base 85. The slide base 85 is a plate-shaped member and functions as a support member for the auxiliary shaft member 81. Specifically, the shaft support portions 82a and 82b and the shaft fixing portion 83 are fixed to one surface of the slide base 85. The slide base 85 is supported by the tilt base 21 so as to be movable in the radial direction of the worm wheel 24. In this example, the slide base 85 is slidable in both the +Y and −Y directions (up and down directions). The distance between the worm wheel 24 and the slide base 85 can be changed by moving the slide base 85. Then, by changing the distance between the worm wheel 24 and the slide base 85, it is possible to change whether or not the teeth of the worm wheel 24 and the worm teeth portion 81a mesh with each other.

[0059] In the example of FIG. 9(B), guide holes 85a and 85b are formed in the slide base 85. The slide base 85 is sandwiched between guide pins 92a and 92b (not shown in FIG. 9(B)) inserted into the guide holes 85a and 85b and the tilt base 21 so as to be slidable in the +Y and −Y directions. Furthermore, the slide base 85 is biased in the +Y direction away from the worm wheel 24 by biasing members 93a and 93b fixed to the tilt base 21. Also, mounting holes 85c and 85d are formed in the slide base 85. By fastening bolts 104a and 104b inserted into the mounting holes 85c and 85d, the slide base 85 can be fixed to slide relative to the tilt base 21. The guide hole 85a and the mounting hole 85c can be provided at one end of the slide base 85 along the axial direction of the auxiliary shaft member 81. The guide hole 85b and the mounting hole 85d can be provided at the other end of the slide base 85 along the axial direction of the auxiliary shaft member 81.

[0060] 10(A), when adjusting the attitude in the tilt direction by the first gear unit 30, the biasing members 93a and 93b bias the slide base 85 in the +Y direction, so that the teeth of the worm wheel 24 and the worm teeth 81a are not engaged with each other. In this state, by rotating the drive shaft member 31 of the first gear unit 30, the worm wheel 24 is rotated, and the attitude in the tilt direction is adjusted.

[0061] Thereafter, the slide base 85 of the second gear unit 80 is moved toward the worm wheel 24. Specifically, as shown in FIG. 10(B), the slide base 85 is pushed in the -Y direction, which is opposite to the biasing direction, to bring the worm teeth portion 81a of the auxiliary shaft member 81 into mesh with the worm wheel 24. At this time, the rotational position of the auxiliary shaft member 81 can be adjusted so that the worm teeth portion 81a properly meshes with the worm wheel 24. Thereafter, the slide base 85 is fixed to the tilt base 21 using bolts 104a and 104b.

[0062] The guide holes 85a and 85b of the slide base 85 can be configured so that the guide pins 92a and 92b abut against the edges of the guide holes 85a and 85b when the slide base 85 is moved toward the worm wheel 24. With this configuration, the target movement position of the slide base 85 becomes clear.

[0063] Next, similarly to the auxiliary shaft member 41, the auxiliary shaft member 81 is rotated, whereby the worm tooth portion 31a of the drive shaft member 31 and the worm tooth portion 81a of the auxiliary shaft member 81 fix the worm wheel 24.

[0064] According to this embodiment, it is possible to simplify the processing of the worm gear because there is no need to cut out the worm tooth portion 81a of the auxiliary shaft member 81 included in the second gear unit 80. Note that since the second gear unit 80 is mainly used to fix the worm wheel 24, making the auxiliary shaft member 81 movable does not have much effect on the accuracy of attitude control.

[0065] (System with attitude adjustment mechanism) The above-described attitude adjustment mechanism can be applied to an imaging system. The imaging system can be, for example, a system that generates a virtual viewpoint image, a system that generates three-dimensional shape data of an object, or a surveillance camera system. In these imaging systems, a camera unit or an imaging device can be mounted on the above-described attitude adjustment mechanism.

[0066] An imaging system according to one embodiment will be described with reference to FIG. 11 . The system 800 includes one or more sets 810, each set 810 including the above-described attitude adjustment mechanism 100 and an imaging device 811 supported by the attitude adjustment mechanism. The imaging device is, for example, the above-described camera unit 70. The multiple sets 810 can be arranged to surround an imaging target space 802. An object 803 can be placed in the imaging target space 802. In this system 800, each imaging device 811 generates multiple images by capturing images. The system 800 also includes a generation device 820 that performs image processing using the captured images generated by the imaging device 811.

[0067] For example, if the system 800 is a system that generates three-dimensional shape data of an object, the generation device 820 generates three-dimensional shape data of an object 803 present in an imaging target space 802 based on multiple images generated by multiple imaging devices 811. The generation device 820 can generate the three-dimensional shape data of the object 803 according to, for example, a volume intersection method.

[0068] Furthermore, when the system 800 is a virtual viewpoint image generation system, the generation device 820 generates a virtual viewpoint image corresponding to a specified virtual viewpoint based on multiple images generated by the imaging device 811. The virtual viewpoint image is an image generated based on multiple images of the imaged space based on image capture by multiple imaging devices and a specified virtual viewpoint. The virtual viewpoint image represents how the imaged space appears from the virtual viewpoint. For example, the generation device 820 can first generate three-dimensional shape data of an object 803 existing in the imaged space 802. Then, the generation device 820 can determine the color of each position of the object indicated by the three-dimensional shape data based on the color of the corresponding position in the image generated by the imaging device 811. Furthermore, the generation device 820 can generate a virtual viewpoint image by rendering the colored three-dimensional shape data in accordance with the specified virtual viewpoint.

[0069] Note that these systems 800 may have another imaging device (for example, a camera unit) in addition to the imaging device 811 fixed to the attitude adjustment mechanism 100. The other imaging device may be a camera unit that does not rotate in the pan direction or tilt direction. Alternatively, the other imaging device may be a camera unit that rotates in the pan direction or tilt direction. Furthermore, the other imaging device may be fixed to a camera platform having a mechanism different from that of the attitude adjustment mechanism 100.

[0070] The disclosure of the present specification includes the following attitude adjustment mechanism and imaging system. (Item 1) An attitude adjustment mechanism for adjusting the attitude of a supported device, the attitude adjustment mechanism comprising a first member, a second member, and a third member; the second member is pivotally supported by a first rotary shaft member to be rotatable in a first rotation direction relative to the first member, The third member is rotatably supported in the first rotation direction relative to the second member via a worm gear including a worm wheel and a first worm. An attitude adjustment mechanism characterized by: (Item 2) The attitude adjustment mechanism described in item 1, characterized in that the first rotating shaft member connects the first member and the second member so that the second member can rotate in the first rotation direction relative to the first member in response to an external force on the first member or the second member. (Item 3) 3. The attitude adjustment mechanism according to item 2, further comprising a fixing mechanism for fixing the second member and the first member to each other. (Item 4) 4. The attitude adjustment mechanism according to any one of items 1 to 3, wherein the worm gear further comprises a first worm fixing mechanism that fixes the rotation of the first worm by clamping the shaft of the first worm. (Item 5) the second member has a pair of second side plates that are perpendicular to the rotation axis in the first rotation direction and are connected to each other; the third member has a pair of third side plates that are perpendicular to the rotation axis in the first rotation direction and are connected to each other; one of the second side plates and one of the third side plates are connected via the worm gear, The other of the second side plate and the other of the third side plate are connected via a second rotating shaft member that follows the rotation axis of the first rotation direction. 5. The attitude adjustment mechanism according to any one of items 1 to 4, (Item 6) the worm wheel is fixed to the one of the third side plates so as to be concentric with a rotation axis of the first rotation direction, The first worm is fixed to the one of the second side plates so as to mesh with the worm wheel. 6. The attitude adjustment mechanism according to item 5, (Item 7) the first member has a pair of first side plates that are perpendicular to a rotation axis in the first rotation direction and are connected to each other; One of the first side plates is rotatably connected to one of the second side plates along a rotation axis in the first rotation direction, and the other of the first side plates is rotatably connected to the other of the second side plates along a rotation axis in the first rotation direction. 7. The attitude adjustment mechanism according to any one of items 5 to 6, (Item 8) a first rotating shaft member connecting the one of the first side plates and the one of the second side plates, 8. The attitude adjustment mechanism described in item 7, wherein the worm wheel is rotatably connected to the one of the second side plates around the first rotating shaft member. (Item 9) 9. The attitude adjustment mechanism according to any one of items 1 to 8, wherein a rotation axis of the first member relative to the second member and a rotation axis of the third member relative to the second member coincide with each other. (Item 10) 10. The attitude adjustment mechanism according to any one of items 1 to 9, wherein the worm gear includes a second worm that is different from the first worm and can mesh with the worm wheel. (Item 11) Item 11. The attitude adjustment mechanism according to item 10, characterized in that the second worm and the worm wheel can be switched between a meshed state and a non-meshed state. (Item 12) Item 12. The attitude adjustment mechanism according to item 11, characterized in that the second worm and the worm wheel can be switched between a meshed state and a disengaged state by rotating the second worm along the rotation axis of the second worm. (Item 13) Item 13. The attitude adjustment mechanism according to item 12, wherein the second worm has a worm tooth portion that meshes with the worm wheel, and the worm tooth portion is notched in a portion of the rotation direction of the second worm. (Item 14) Item 12. The attitude adjustment mechanism according to item 11, wherein the distance between the second worm and the worm wheel is adjustable. (Item 15) Item 15. The attitude adjustment mechanism described in item 14, characterized in that the second worm is rotatably supported on a support member, and the support member is supported on the second member so as to be movable in the radial direction of the worm wheel. (Item 16) 16. The attitude adjustment mechanism according to any one of items 10 to 15, further comprising a second worm fixing mechanism that fixes the rotation of the second worm by clamping the shaft of the second worm. (Item 17) 17. The attitude adjustment mechanism according to any one of items 1 to 16, further comprising a fourth member rotatably supported in a second rotational direction different from the first rotational direction relative to the first member or the third member. (Item 18) One or more sets of an attitude adjustment mechanism according to any one of items 1 to 17 and an imaging device supported by the attitude adjustment mechanism; an image processing device that performs image processing using the captured image generated by the imaging device; An imaging system comprising:

[0071] The present disclosure is not limited to the above-described embodiments, and various modifications and variations can be made without departing from the spirit and scope of the present disclosure. Accordingly, the following claims are appended to apprise the public of the scope of the present disclosure. [Explanation of symbols]

[0072] 10: pedestal, 11: base portion, 12: support portion, 13a, b: rotation shaft member, 21: tilt base, 24: worm wheel, 30: first gear unit, 31: drive shaft member, 40: second gear unit, 41: auxiliary shaft member, 60: rotation base, 61: camera mounting plate, 100: attitude adjustment mechanism

Claims

1. An attitude adjustment mechanism for adjusting the attitude of a supported device, the attitude adjustment mechanism comprising a first member, a second member, and a third member; the second member is pivotally supported by a first rotary shaft member to be rotatable in a first rotation direction relative to the first member, The third member is rotatably supported in the first rotation direction relative to the second member via a worm gear including a worm wheel and a first worm. An attitude adjustment mechanism characterized by:

2. 2. The attitude adjustment mechanism of claim 1, wherein the first rotating shaft member connects the first member and the second member so that the second member can rotate in the first rotation direction relative to the first member in accordance with an external force applied to the first member or the second member.

3. The attitude adjustment mechanism according to claim 2 , further comprising a fixing mechanism for fixing the second member and the first member to each other.

4. 2. The attitude adjustment mechanism according to claim 1, wherein the worm gear further comprises a first worm fixing mechanism that fixes the rotation of the first worm by clamping the shaft of the first worm.

5. the second member has a pair of second side plates that are perpendicular to the rotation axis in the first rotation direction and are connected to each other; the third member has a pair of third side plates that are perpendicular to the rotation axis in the first rotation direction and are connected to each other; one of the second side plates and one of the third side plates are connected via the worm gear, The other of the second side plate and the other of the third side plate are connected via a second rotating shaft member that follows the rotation axis of the first rotation direction.

2. The attitude adjustment mechanism according to claim 1, wherein:

6. the worm wheel is fixed to the one of the third side plates so as to be concentric with a rotation axis of the first rotation direction, The first worm is fixed to the one of the second side plates so as to mesh with the worm wheel.

6. The attitude adjustment mechanism according to claim 5, wherein:

7. the first member has a pair of first side plates that are perpendicular to a rotation axis in the first rotation direction and are connected to each other; One of the first side plates is rotatably connected to one of the second side plates along a rotation axis in the first rotation direction, and the other of the first side plates is rotatably connected to the other of the second side plates along a rotation axis in the first rotation direction.

6. The attitude adjustment mechanism according to claim 5, wherein:

8. a first rotating shaft member connecting the one of the first side plates and the one of the second side plates, The attitude adjustment mechanism according to claim 7 , wherein the worm wheel is rotatably connected to the one of the second side plates around the first rotary shaft member.

9. 2. The attitude adjustment mechanism according to claim 1, wherein a rotation axis of the first member relative to the second member coincides with a rotation axis of the third member relative to the second member.

10. 2. The attitude adjustment mechanism according to claim 1, wherein the worm gear includes a second worm that is different from the first worm and that can mesh with the worm wheel.

11. 11. The attitude adjustment mechanism according to claim 10, wherein the second worm and the worm wheel can be switched between an engaged state and a disengaged state.

12. 12. The attitude adjustment mechanism according to claim 11, wherein the second worm and the worm wheel can be switched between a meshed state and a disengaged state by rotating the second worm along the rotation axis of the second worm.

13. 13. The attitude adjustment mechanism according to claim 12, wherein a worm tooth portion of the second worm that meshes with the worm wheel is notched at a portion in the rotational direction of the second worm.

14. 12. The attitude adjustment mechanism according to claim 11, wherein the distance between the second worm and the worm wheel is adjustable.

15. 15. The attitude adjustment mechanism according to claim 14, wherein the second worm is rotatably supported on a support member, and the support member is supported on the second member so as to be movable in the radial direction of the worm wheel.

16. 11. The attitude adjustment mechanism according to claim 10, further comprising a second worm fixing mechanism that fixes the rotation of the second worm by clamping the shaft of the second worm.

17. 2. The attitude adjustment mechanism according to claim 1, further comprising a fourth member rotatably supported relative to the first member or the third member in a second rotational direction different from the first rotational direction.

18. One or more sets of an attitude adjustment mechanism according to any one of claims 1 to 17 and an imaging device supported by the attitude adjustment mechanism; an image processing device that performs image processing using the captured image generated by the imaging device; An imaging system comprising:

Images