High-precision displacement device

Abstract

A device for high-precision displacement of a tool is described. In particular, embodiments provide a device for adjusting the position of a tool. The device includes a threaded shaft having a first end and a second end and a shaft axis extending from the first end to the second end, and a motor that actuates the threaded shaft to move in the direction of the shaft axis. In some examples, the motor is operably coupled to the threaded shaft. The device includes a cradle coupled to a camera, and a bearing assembly coupled to the threaded shaft and the cradle. In some examples, the bearing assembly allows movement of the cradle relative to the threaded shaft. Movement of the cradle allows the position of the camera to be adjusted.

Description

[Background technology]

[0001] (background) A virtual environment presents a user with a three-dimensional computer-generated image that is perceived in the same way as a real image is perceived. That is, the user perceives the three-dimensional computer-generated image according to the position of the image and their viewing direction. The image is generated based on the position and orientation of the user (e.g., the user's head) in space. This position can be tracked by a spatial sensor, a camera, or a combination of both. In augmented reality (AR), the three-dimensional computer-generated image overlays the real environment as perceived by the user. Any minor error in tracking the user or in positioning the computer-generated image can result in a false sense of perspective, which can lead to a misalignment of the computer-generated image with the real environment. Therefore, it may be desirable to minimize or eliminate positioning and tracking errors in AR systems. Summary of the Invention [Means for solving the problem]

[0002] (summary) Embodiments of the present disclosure are generally directed to high-precision displacement devices. More specifically, embodiments are directed to at least one apparatus and / or at least one system for adjusting the position of a camera or sensor. The apparatus and / or system can include a threaded shaft, a motor, a cradle, and a bearing assembly.

[0003] One aspect of the disclosure features a device for adjusting a position of a camera. The device can include a threaded shaft having a first end and a second end and a shaft axis extending therebetween, a motor actuating the threaded shaft to move it in the direction of the shaft axis, the motor operably coupled to the threaded shaft, a cradle coupled to the camera, and a bearing assembly coupled to the threaded shaft and the cradle, the bearing assembly allowing movement of the cradle relative to the threaded shaft, wherein movement of the cradle allows the position of the camera to be adjusted.

[0004] Implementations can optionally include one or more of the following features.

[0005] In some embodiments, the threaded shaft is a screw. In some embodiments, the screw is a fine adjustment screw.

[0006] In some embodiments, the fine adjustment screw includes about 80 to about 100 threads per inch.

[0007] In some embodiments, the device includes a camera positional accuracy of about 0.1 microns (μm) to about 1 μm.

[0008] In some embodiments, the bearing assembly includes a first bearing and a second bearing that mount a threaded shaft to a linear bearing that is coupled to the pedestal, thereby allowing rotation of the pedestal.

[0009] In some embodiments, a stabilizer bar couples the linear bearing to the pedestal.

[0010] In some embodiments, the bearing assembly includes a third bearing and a fourth bearing axially mounted on the threaded shaft, the third and fourth bearings configured to allow rotation of the threaded shaft while reducing friction between an outer surface of the threaded shaft and inner surfaces of the third and fourth bearings.

[0011] In some embodiments, the camera is removably coupled to a bracket on the cradle.

[0012] In some embodiments, the bearing assembly includes a spring for biasing the bearing assembly along the shaft axis, the spring being generally coaxial with the shaft.

[0013] In some embodiments, the device further comprises a thrust bearing coupling the threaded shaft to the spring.

[0014] In some embodiments, the threaded shaft is spring loaded axially against a surface of the bearing assembly.

[0015] In some embodiments, the position of the one or more cameras includes an angular position, a linear position relative to the shaft axis, or a combination thereof.

[0016] In some embodiments, the motor actuates a threaded shaft to rotate relative to a camera axis, the camera axis being perpendicular to and transverse to the shaft axis.

[0017] In some embodiments, the device further comprises a threaded nut coupling the threaded shaft to the cradle.

[0018] Another aspect of the disclosure features a device for adjusting the position of one or more cameras. The device can include first and second threaded shafts having first and second ends and a shaft axis extending therebetween, first and second motors actuating the first and second threaded shafts to move them in the direction of the shaft axis, the first and second motors being operably coupled to the first and second threaded shafts, a cradle coupled to the one or more cameras, and first and second bearing assemblies coupled to the first and second threaded shafts and the cradle, the first and second bearing assemblies enabling movement of the cradle relative to the first and second threaded shafts, where movement of the cradle enables the position of the one or more cameras to be adjusted.

[0019] In some embodiments, the first and second threaded shafts are first and second screws.

[0020] In some embodiments, the first and second screws are fine adjustment screws.

[0021] In some embodiments, the fine adjustment screw includes about 80 to about 100 threads per inch.

[0022] In some embodiments, the device includes a camera positional accuracy of about 0.1 microns (μm) to about 1 μm.

[0023] In some embodiments, the first and second bearing assemblies include first and second bearings that mount the first and second threaded shafts to linear bearings that are coupled to the pedestal, thereby allowing rotation of the pedestal.

[0024] In some embodiments, a stabilizer bar couples the linear bearing to the pedestal.

[0025] In some embodiments, the first and second bearing assemblies include a third bearing and a fourth bearing axially mounted on the first and second threaded shafts, the third and fourth bearings configured to allow rotation of the first and second threaded shafts while reducing friction between outer surfaces of the first and second threaded shafts and inner surfaces of the third and fourth bearings.

[0026] In some embodiments, the one or more cameras are removably coupled to a bracket on the cradle.

[0027] In some embodiments, the first and second bearing assemblies include springs for biasing the first and second bearing assemblies along the shaft axis, the springs being generally coaxial with the first and second threaded shafts.

[0028] In some embodiments, the device further includes a thrust bearing that attaches the first and second threaded shafts to the spring.

[0029] In some embodiments, the first and second threaded shafts are spring loaded axially against surfaces of the first and second bearing assemblies.

[0030] In some embodiments, the position of the one or more cameras includes an angular position, a linear position relative to the shaft axis, or a combination thereof.

[0031] Another aspect of the disclosure features an automated system for adjusting a position of a camera, the automated system including: a threaded shaft having a first end and a second end and a shaft axis extending therebetween; a motor actuating the threaded shaft to move in the direction of the shaft axis, the motor operably coupled to the threaded shaft; a cradle coupled to the camera; and a bearing assembly coupled to the threaded shaft and the cradle, the bearing assembly enabling movement of the cradle relative to the threaded shaft, wherein movement of the cradle allows a position of the camera to be adjusted; and a computing device comprising: a processor operably coupled to the device; and a non-transitory computer-readable storage medium with a computer program including instructions executable by the processor to cause the processor to: i) calculate a displacement of the threaded shaft along the shaft axis that results in a desired position of the camera along the shaft axis; and ii) output the displacement of the threaded shaft to the motor.

[0032] In some embodiments, the camera position includes an angular position that defines an initial angle of the camera.

[0033] In some embodiments, the position of the camera comprises a linear position relative to the shaft axis.

[0034] In some embodiments, the processor further calculates a desired angle of the camera relative to an initial angle of the camera based on the displacement of the threaded shaft.

[0035] In some embodiments, the processor further calculates a desired linear position of the camera relative to the initial linear position of the camera based on the displacement of the threaded shaft.

[0036] In some embodiments, the threaded shaft is a screw.

[0037] In some embodiments, the screw is a fine adjustment screw.

[0038] In some embodiments, the fine adjustment screw includes about 80 to about 100 threads per inch.

[0039] In some embodiments, the device includes a camera positional accuracy of about 0.1 microns (μm) to about 1 μm.

[0040] In some embodiments, the bearing assembly includes a first bearing and a second bearing that mount a threaded shaft to a linear bearing that is coupled to the pedestal, thereby allowing rotation of the pedestal.

[0041] In some embodiments, a stabilizer bar couples the linear bearing to the pedestal.

[0042] In some embodiments, the bearing assembly includes a third bearing and a fourth bearing axially mounted on the threaded shaft, the third and fourth bearings configured to allow rotation of the threaded shaft while reducing friction between an outer surface of the threaded shaft and inner surfaces of the third and fourth bearings.

[0043] In some embodiments, the camera is removably coupled to a bracket on the cradle.

[0044] In some embodiments, the bearing assembly includes a spring for biasing the bearing assembly along the shaft axis, the spring being generally coaxial with the shaft.

[0045] In some embodiments, the system further includes a thrust bearing coupling the threaded shaft to the spring.

[0046] In some embodiments, the threaded shaft is spring loaded axially against a surface of the bearing assembly.

[0047] It should be understood that the aspects and features according to the present disclosure may include any combination of the aspects and features described herein, i.e., the aspects and features according to the present disclosure are not limited to the combinations of aspects and features specifically described herein, but also include any combination of the aspects and features provided.

[0048] As used herein, use of the term "about" refers to an amount near the amount described by about 10%, 5%, or 1%, including increments therein. For example, "about" can mean a range that includes a particular value and a range extending from 10% below the particular value to 10% above the particular value.

[0049] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below. Other features and advantages of the disclosure will be apparent from the description and drawings, and from the claims. The present invention provides, for example, the following. (Item 1) 1. A device for adjusting the position of a camera, said device comprising: a threaded shaft having a first end and a second end and a shaft axis extending therebetween; a motor that actuates the threaded shaft to move it in the direction of the shaft axis, the motor being operably coupled to the threaded shaft; a cradle coupled to the camera; a bearing assembly coupled to the threaded shaft and the pedestal, the bearing assembly allowing movement of the pedestal relative to the threaded shaft; Equipped with The movement of the cradle allows the position of the camera to be adjusted. (Item 2) Item 10. The device of item 1, wherein the threaded shaft is a screw. (Item 3) Item 3. The device of item 2, wherein the screw is a fine adjustment screw. (Item 4) Item 4. The device of item 3, wherein the fine adjustment screw has about 80 to about 100 threads per inch. (Item 5) Item 10. The device of item 1, wherein the device has a positional accuracy of the camera of about 0.1 microns (μm) to about 1 μm. (Item 6) Item 1. The device of item 1, wherein the bearing assembly comprises a first bearing and a second bearing that mount the threaded shaft to a linear bearing coupled to the pedestal, thereby enabling rotation of the pedestal. (Item 7) 7. The device of claim 6, wherein a stabilizer bar couples the linear bearing to the pedestal. (Item 8) 7. The device of claim 6, wherein the bearing assembly comprises a third bearing and a fourth bearing axially mounted on the threaded shaft, the third and fourth bearings configured to allow rotation of the threaded shaft while reducing friction between an outer surface of the threaded shaft and inner surfaces of the third and fourth bearings. (Item 9) Item 10. The device of item 1, wherein the camera is removably coupled to a bracket on the cradle. (Item 10) Item 10. The device of item 1, wherein the bearing assembly includes a spring for biasing the bearing assembly along the shaft axis, the spring being generally coaxial with the shaft. (Item 11) Item 11. The device of item 10, further comprising a thrust bearing coupling the threaded shaft to the spring. (Item 12) Item 11. The device of item 10, wherein the threaded shaft is spring loaded axially against a surface of the bearing assembly. (Item 13) Item 10. The device of item 1, wherein the positions of the one or more cameras comprise angular positions, linear positions relative to the shaft axis, or a combination thereof. (Item 14) Item 10. The device of item 1, wherein the motor actuates the threaded shaft to rotate relative to a camera axis, the camera axis being perpendicular to and transverse to the shaft axis. (Item 15) Item 10. The device of item 1, further comprising a threaded nut coupling the threaded shaft to the cradle. (Item 16) 1. A device for adjusting the position of one or more cameras, said device comprising: first and second threaded shafts having first and second ends and a shaft axis extending therebetween; first and second motors that actuate the first and second threaded shafts to move them in the direction of the shaft axis, the first and second motors being operably coupled to the first and second threaded shafts; a cradle coupled to the one or more cameras; first and second bearing assemblies coupled to the first and second threaded shafts and the pedestal, the first and second bearing assemblies enabling the movement of the pedestal relative to the first and second threaded shafts; Equipped with The movement of the cradle allows the position of the one or more cameras to be adjusted. (Item 17) Item 17. The device of item 16, wherein the first and second threaded shafts are first and second screws. (Item 18) Item 18. The device of item 17, wherein the first and second screws are fine adjustment screws. (Item 19) Item 19. The device of item 18, wherein the fine adjustment screw has about 80 to about 100 threads per inch. (Item 20) Item 17. The device of item 16, wherein the device comprises a positional accuracy of the camera of about 0.1 microns (μm) to about 1 μm. (Item 21) Item 17. The device of item 16, wherein the first and second bearing assemblies comprise first and second bearings that mount the first and second threaded shafts to linear bearings coupled to the pedestal, thereby enabling rotation of the pedestal. (Item 22) Item 22. The device of item 21, wherein a stabilizer bar couples the linear bearing to the pedestal. (Item 23) Item 17. The device of item 16, wherein the first and second bearing assemblies comprise third and fourth bearings axially mounted on the first and second threaded shafts, the third and fourth bearings configured to allow rotation of the first and second threaded shafts while reducing friction between outer surfaces of the first and second threaded shafts and inner surfaces of the third and fourth bearings. (Item 24) Item 17. The device of item 16, wherein the one or more cameras are removably coupled to a bracket on the cradle. (Item 25) Item 17. The device of item 16, wherein the first and second bearing assemblies include springs for biasing the first and second bearing assemblies along the shaft axis, the springs being generally coaxial with the first and second threaded shafts. (Item 26) Item 26. The device of item 25, further comprising a thrust bearing that attaches the first and second threaded shafts to the spring. (Item 27) Item 26. The device of item 25, wherein the first and second threaded shafts are spring loaded axially against surfaces of the first and second bearing assemblies. (Item 28) Item 17. The device of item 16, wherein the positions of the one or more cameras comprise angular positions, linear positions relative to the shaft axis, or a combination thereof. (Item 29) 1. An automated system for adjusting a camera position, said automated system comprising: A device, a threaded shaft having a first end and a second end and a shaft axis extending therebetween; a motor that actuates the threaded shaft to move it in the direction of the shaft axis, the motor being operably coupled to the threaded shaft; a cradle coupled to the camera; a bearing assembly coupled to the threaded shaft and the pedestal, the bearing assembly allowing movement of the pedestal relative to the threaded shaft; Equipped with a device, wherein the movement of the cradle allows the position of the camera to be adjusted; a computing device comprising: a processor operatively coupled to the device; and a non-transitory computer-readable storage medium with a computer program comprising instructions executable by the processor to cause the processor to: i) calculate a displacement of the threaded shaft along the shaft axis that results in a desired position of the camera along the shaft axis; and ii) output the displacement of the threaded shaft to the motor; An automated system comprising: (Item 30) 30. The automated system of claim 29, wherein the position of the camera comprises an angular position that defines an initial angle of the camera. (Item 31) Item 31. The automated system of item 30, wherein the position of the camera comprises a linear position relative to the shaft axis. (Item 32) 30. The automated system of claim 29, wherein the processor further calculates a desired angle of the camera relative to the initial angle of the camera based on the displacement of the threaded shaft. (Item 33) Item 33. The automated system of item 32, wherein the processor further calculates a desired linear position of the camera relative to an initial linear position of the camera based on the displacement of the threaded shaft. (Item 34) 30. The device of item 29, wherein the threaded shaft is a screw. (Item 35) Item 35. The device of item 34, wherein the screw is a fine adjustment screw. (Item 36) Item 36. The device of item 35, wherein the fine adjustment screw has about 80 to about 100 threads per inch. (Item 37) 30. The device of claim 29, wherein the device comprises a positional accuracy of the camera of about 0.1 microns (μm) to about 1 μm. (Item 38) 30. The device of claim 29, wherein the bearing assembly comprises a first bearing and a second bearing that mount the threaded shaft to a linear bearing coupled to the pedestal, thereby allowing rotation of the pedestal. (Item 39) Item 39. The device of item 38, wherein a stabilizer bar couples the linear bearing to the pedestal. (Item 40) Item 39. The device of item 38, wherein the bearing assembly comprises a third bearing and a fourth bearing axially mounted on the threaded shaft, the third and fourth bearings configured to allow rotation of the threaded shaft while reducing friction between an outer surface of the threaded shaft and inner surfaces of the third and fourth bearings. (Item 41) 30. The device of claim 29, wherein the camera is removably coupled to a bracket on the cradle. (Item 42) 30. The device of claim 29, wherein the bearing assembly includes a spring for biasing the bearing assembly along the shaft axis, the spring being generally coaxial with the shaft. (Item 43) Item 43. The device of item 42, further comprising a thrust bearing coupling the threaded shaft to the spring. (Item 44) Item 43. The device of item 42, wherein the threaded shaft is spring loaded axially against a surface of the bearing assembly. [Brief explanation of the drawings]

[0050] [Figure 1] FIG. 1 shows a perspective view of an exemplary displacement device according to an embodiment of the present disclosure.

[0051] [Figure 2] FIG. 2 illustrates a bottom view of an exemplary displacement device, according to an embodiment of the present disclosure.

[0052] [Figure 3] FIG. 3 shows a cross-sectional view of an exemplary displacement device along line AA in FIG. 2, according to an embodiment of the present disclosure.

[0053] [Figure 4] FIG. 4 illustrates a cross-sectional view of an exemplary bearing assembly included within an exemplary displacement device, according to an embodiment of the present disclosure.

[0054] [Figure 5] FIG. 5 shows a perspective view of an exemplary displacement device including two sets of bearing assemblies, a motor, a threaded shaft, and a pedestal according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0055] (Detailed explanation) In AR systems, one of the main sources of error in tracking a user's position and / or orientation comes from the flexibility of the AR system (e.g., six-degrees-of-freedom (6DoF) transformations between sensors, known as extrinsic properties), which affects the exact sensor-to-sensor relationship. To counter this source of error, there is a need to simulate real-life scenarios in which sensors are deformed while the AR system is in use. Capturing the exact deformation (i.e., ground truth extrinsic properties) of each sensor at each time is essential for this evaluation. The devices and systems disclosed herein provide a method for both deforming and simultaneously recording the deformation with high accuracy (e.g., high micron and arc minute accuracy) while the AR system is actively being used.

[0056] Embodiments of the present disclosure are directed to high-precision displacement devices and systems. In particular, embodiments provide devices that perform high-precision displacement of cameras or sensors that can be mounted onto the body of a device. In some embodiments, a distinct advantage of high-precision displacement devices is that they can reduce or eliminate potential tracking and / or positioning errors in augmented reality (AR) systems. Displacement devices consistent with the present disclosure can control the position, angle, or both of an mounted tool (e.g., a sensor, camera, or a combination of both) with high precision. For example, a high-precision displacement device of the present disclosure is capable of sub-arc-minute deformation in rotation and sub-millimeter deformation in translation of an mounted tool (e.g., a sensor, camera, or a combination of both), and can further be part of or a wearable device. Current methods for positioning tools (e.g., sensors or cameras) used in AR systems achieve accuracy at the arc-minute and millimeter scales or below; however, these methods typically use large, heavy, and expensive displacement devices that are generally used in optical communication applications and are not suitable for use as part of portable and / or wearable devices or systems (e.g., AR devices or systems). In some embodiments, an additional advantage of the high-accuracy displacement device of the present disclosure is its small, lightweight, and inexpensive characteristics, which enable it to be portable or part of a portable device or system (e.g., an AR device or system, or a robotic arm). Furthermore, current displacement devices that can achieve arc-minute and millimeter deformations can typically only provide either rotational or displacement deformations. In contrast, in some embodiments, the high-accuracy displacement device of the present disclosure provides both rotational and displacement deformations that can be simultaneously actuated and controlled. In some embodiments, the high-accuracy displacement device of the present disclosure can be part of a portable and / or wearable data collection system.

[0057] FIG. 1 shows a perspective view of an exemplary displacement device 100 according to one or more embodiments of the present disclosure. As shown in the example of FIG. 1, the displacement device 100 can include various components for adjusting the position of a tool (e.g., a camera, a sensor, or a combination of both). In some embodiments, the displacement device 100 can achieve a tool position accuracy of about 0.1 microns (μm) to about 1 μm. In this example, the displacement device 100 is coupled to a first camera 108a and a second camera 108b. In some embodiments, the exemplary displacement device of the present disclosure is coupled to one or more sensors. In some examples, the one or more sensors can include a head-mounted display sensor, an inertial sensor, a magnetic tracking sensor, an optical tracking sensor, an acoustic tracker sensor, an accelerometer, a gyroscope, a wireless tracking sensor, or any combination thereof. In some embodiments, the exemplary displacement device of the present disclosure is coupled to one or more lasers, which enable the displacement device to track and / or adjust the angular and / or linear position of a tool (e.g., a camera). The displacement device 100 may include a pedestal 102, which may be coupled to a first bearing assembly 106a and a second bearing assembly 106b. The pedestal 102 may be configured to support a tool (e.g., a camera, a sensor, or a combination of both). In some examples, the pedestal 102 has a generally square shape with sides measuring between about 140 millimeters (mm) and about 150 mm. In some embodiments, the pedestal 102 has a rectangular shape, a circular shape, or any other suitable shape that may accommodate the remaining components of the displacement device. In some embodiments, a tool may be mounted onto the pedestal 102. For example, the pedestal 102 may include a mounting bracket 112 configured to attach the tool to the pedestal 102. The mounting bracket 112 may be attached to a bottom surface of the pedestal 102, as shown in FIG. 1 . In some embodiments, the mounting bracket is configured to attach the tool to the pedestal 102 via fasteners (e.g., screws). In some embodiments, the tool is removably coupled to the pedestal via a mounting bracket 112 .The first and second bearing assemblies 106a and 106b may be coupled to the first and second motors 104a and 104b, respectively.

[0058] FIG. 2 shows a bottom view of an exemplary displacement device 100 in accordance with one or more embodiments of the present disclosure. First and second bearing assemblies 106a and 106b and first and second motors 104a and 104b can be attached to a bottom surface of a cradle 102, as shown in this example in FIG. 2. For example, the cradle 102 can include one or more holes that can receive one or more fasteners for removable attachment of various components (e.g., the bearing assemblies and motors). In some embodiments, the bearing assemblies and motors are reversibly attached to the cradle 102. In some examples, the bearing assemblies and motors are attached to the cradle 102 via fasteners (e.g., screws). The first bearing assembly 106a can be arranged generally parallel to the second bearing assembly 106b on the opposite side of the cradle 102, as shown in FIG. 2. However, any other suitable arrangement of bearing assemblies can be included within the design of this exemplary displacement device. The first and second bearing assemblies 106a and 106b allow movement of the cradle 102 relative to the first and second threaded shafts 110a and 110b. The threaded shafts 110a and 110b (and therefore their shaft axes 136, respectively) can be parallel to one another, as shown in FIG. 2 . Movement of the cradle 102 further allows the position of a tool (e.g., a camera 108, a sensor, or a combination of both) to be adjusted. The displacement device 100 can further include a first threaded shaft 110a and a second threaded shaft 110b, as shown in this example, having a shaft axis 136 extending along its length. The first and second threaded shafts 110a and 110b can be disposed within and coupled to the first and second bearing assemblies 106a and 106b, respectively. The first and second motors 104a and 104b are configured to actuate the first and second threaded shafts 110a and 110b, respectively, and are thus operably coupled to the first and second threaded shafts 110a and 110b.

[0059] In some embodiments, the threaded shafts 110a and 110b include high-density threads that allow for increased motor accuracy. The high-density threads of the threaded shafts 110a and 110b allow the devices of the present disclosure to achieve sub-arc minute deformations in rotation and sub-millimeter deformations in translation. The first and second threaded shafts 110a and 110b can be screws. In some embodiments, the screws are adjustment screws (e.g., fine adjustment screws). In some examples, the threaded shafts 110a and 110b are screws with threads in the range of about 40 to about 100 threads per inch (TPI). In some examples, the first and second threaded shafts 110a and 110b have a pitch of about 80 TPI. In some examples, the fine adjustment screws are screws with a pitch in the range of about 0.025 inches (in.) per rotation to about 0.01 inches per rotation (e.g., about 0.0125 inches per rotation). In some embodiments, first and second threaded shafts 110a and 110b are fine adjustment screws, ultra-fine adjustment screws, or a combination thereof. In some examples, the ultra-fine adjustment screws are screws with threads in a range of about 100 to about 508 threads per inch (TPI) (e.g., about 127, 200, or 254 TPI). In some examples, the ultra-fine adjustment screws are screws with a pitch in a range of about 0.01 inches (in.) per revolution to about 0.001 inches per revolution (e.g., 0.0079, 0.005, 0.0039, or 0.00197 inches per revolution). In some examples, first and second threaded shafts 110a and 110b have a pitch of about 0.0125 inches per revolution. The first and second threaded shafts 110a and 110b can have a length ranging from about 0.375 inches to about 4 inches (e.g., 0.5, 0.75, 0.85, 1, 1.16, 1.5, 2, 3 inches, or more). In some embodiments, the first and second threaded shafts 110a and 110b have a length of about 3 inches.The first and second threaded shafts 110a and 110b can have a diameter ranging from about 0.1875 inches to about 1 inch (e.g., 0.5, 0.75, 0.85 inches, or more). In some examples, the first and second threaded shafts 110a and 110b have a diameter of about 0.25 inches. In some embodiments, the first and second threaded shafts 110a and 110b can be machined from stainless steel (e.g., 303 stainless steel). The first and second threaded shafts 110a and 110b can include a ball-shaped tip configured to provide single-point contact with the surface being displaced. In some embodiments, the ball-shaped tip can be constructed using stainless steel. In some embodiments, the ball-shaped tip contacts a stainless steel plate to prevent wear.

[0060] 3 shows a perspective cross-sectional view of an exemplary displacement device 100 taken along line AA in FIG. 2 in accordance with an embodiment of the present disclosure. The displacement device 100 can include a linear bearing 144 coupled to the cradle 102 via a first cradle plate 116 and a second cradle plate 118. In some embodiments, the linear bearing 144 is a telescoping slide. The linear bearing 144 can include a telescoping slide that provides horizontal translation along a linear bearing axis 160. The linear bearing 144 can allow rotation of the cradle 102. For example, without the linear bearing 144, a rigid material would prevent rotation and overly constrain the system. In some examples, the cradle 102 rotates about a rotation axis 134. The first cradle plate 116 and the second cradle plate 118 can each have a "C" shaped end (i.e., a clevis bracket) suitable for coupling to the first bearing clamp 142a and the second bearing clamp 142b, as shown in the embodiment of FIG. 3. In this manner, the first cradle plate 116 and the second cradle plate 118 can couple the linear bearing 144 to the first and second bearing assemblies 106a and 106b. Furthermore, the first cradle plate 116 and the second cradle plate 118 can couple the first and second bearing assemblies 106a and 106b to the cradle 102. The stabilizer bar 114 can couple the linear bearing 144 to the cradle 102 via the first cradle plate 116. That is, the stabilizer bar 114 is coupled to the first cradle plate 116 and further coupled to the stabilizer bushing 128. The stabilizer bushing 128 includes top and bottom surfaces that may be machined from acetal plastic (e.g., Delrin) or other suitable material. The stabilizer bushing 128 includes an opening that receives the stabilizer bar 114, allowing movement of the stabilizer bar in the horizontal direction, as indicated by double-headed arrow 164 in FIG. 3. In doing so, the stabilizer bar 114 prevents potential movement constraints of the pedestal 102 in the axial direction. In some embodiments, the stabilizer bar 114 may be made of stainless steel or other suitable material.In some embodiments, the first cradle plate 116 and the second cradle plate 118 can be made of aluminum (eg, 6061-T6 aluminum), stainless steel, plastic, or other suitable material.

[0061] The first bearing assembly 106a may be substantially similar in construction and function to the second bearing assembly 106b. For example, the first and second bearing assemblies 106a and 106b may include similar components arranged in a substantially identical manner. The first and second bearing assemblies 106a and 106b may be coupled to the first and second motors 104a and 104b via a motor coupling 132. As shown in FIG. 3 , the second bearing assembly 106b includes a second bearing clamp 142b that couples the first and second bearings 122a and 122b to the first and second cradle plates 116 and 118. The first and second bearings 122a and 122b may be attached to a linear bearing 144 that further couples the threaded shaft 110 to the cradle 102 via the first and second cradle plates 116 and 118.

[0062] As shown in the close-up view of the first bearing clamp 142a in FIG. 3 , the pin 124 extends through the first bearing 122a and is held in place vertically via the first and second set screws 126a, 126b. The first set screw 126a presses the pin 124 down toward the axis of rotation 134. The second set screw 126b is positioned perpendicular to the first set screw 126a to prevent the first set screw 126a from loosening. In some embodiments, the second set screw 126b adds stability and supports the first set screw 126a. The first bearing clamp 142a is crimped around the first bearing 122a using fasteners (e.g., screws) through slots in its upper surface to securely hold the bearing in place.

[0063] The first and second bearing assemblies 106a and 106b may include bearing mounts 138. The bearing mounts 138 are generally disposed perpendicular to the shaft axis. In other words, the bearing mounts 138 may be generally aligned with the rotational axis 134. The bearing mounts 138 have continuous vertical through-holes 166 into which two separate pins 124 are press-fit to act as bearing shafts for the first and second bearings 122a and 122b. One or more nuts 130 are fastened to help secure the threaded shaft 110 to the bearing mounts 124. In some embodiments, the nuts 130 may be made of brass or other suitable material. The pins 124 may be received by recesses 166 in the bearing mounts 138. The pin 124 extends from the recess 166 into the bore of the first bearing 122a and ultimately abuts an end portion of the first set screw 126a. In some embodiments, the pin 124 can be made of stainless steel or another suitable material. In some examples, the first and second bearing clamps 142a and 142b can be made of stainless steel, plastic, or another suitable material. In some examples, the bearing mount 138 can be made of aluminum or another suitable material. In this example, the components attached to both end portions of the bearing mount 138 can be substantially similar to one another. For example, the bearing mount 138 can receive a substantially similar pin 134 in both of its recesses 166, and the first and second bearings 122a and 122b can be substantially similar in construction and attached to the bearing mount 138 and bearing clamps in a substantially similar manner.

[0064] FIG. 4 shows a cross-sectional view of an exemplary bearing assembly 106 included in an exemplary displacement device according to an embodiment of the present disclosure. The displacement device of the present disclosure can include a threaded shaft 110 having a first end 168a, a second end 168b, and a shaft axis 136 extending therebetween. The bearing assembly 106 can be coupled to the threaded shaft 110 as shown in FIG. 4. A motor 104 actuates rotation of the threaded shaft 110 about the shaft axis 136, as indicated by the curved arrow. The motor 104 can be operably coupled to the threaded shaft 110 via a motor coupling 132 and a shaft coupling 150. For example, the motor 104 can be coupled to the motor coupling 132, further coupled to the shaft coupling 150, and further coupled to the threaded shaft 110, as shown in this example.

[0065] The motor coupling 132 can include a hub that couples to the motor 104 on one end and another hub that couples to the shaft coupling 150 on the other end. In some embodiments, the motor coupling 132 is an Oldham coupling. In some embodiments, the motor coupling 132 is a high parallel misalignment flexible shaft coupling. In some embodiments, the motor coupling 132 is made of aluminum or other suitable material. The motor coupling 132 can reduce or eliminate potential parallel misalignment of the threaded shaft 110. The motor coupling 132 can further include a pressure screw to axially secure the hub onto the motor 104 and shaft coupling 150.

[0066] The shaft coupling 150 can include first and second hubs 152a and 152b, respectively, with a disk 154 sandwiched intermediate the first hub 152a and the second hub 152b. In some embodiments, the shaft coupling 150 is a Schmidt coupling. In some examples, the shaft coupling 150 is a high-angular-misalignment flexible shaft coupling. In some embodiments, the shaft coupling 150 is made of aluminum or another suitable material. The shaft coupling 150 can reduce or eliminate potential angular misalignment of the threaded shaft 110. The shaft coupling 150 can further include a press screw to axially secure the first and second hubs 152a and 152b and the disk 154 onto the threaded shaft 110. In some embodiments, the shaft coupling 150 can be uniformly press-fitted around the first end 168 of the threaded shaft 110 for intact retention.

[0067] Most of the remaining components of the bearing assembly 106 can be housed within a bearing assembly housing 158, as shown in FIG. 4 . For example, the third bearing 122c and the fourth bearing 122d can be disposed within the bearing assembly housing 158. The shaft coupling 150 can be coupled to the third bearing 122c via the coupling 170. The third and fourth bearings 122c and 122d can be axially attached to the threaded shaft 110. In other words, the threaded shaft 110 can extend from the shaft coupling 150 into the bores of the third and fourth bearings 122c and 122d. The first nut 130a, the third nut 130c, and the fourth nut 130d can help secure the third and fourth bearings 122c and 122d to the threaded shaft 110. The third and fourth bearings 122c and 122d can be configured to allow rotation of the threaded shaft 110 while reducing friction between the outer surface of the threaded shaft and the third and fourth bearings. Thus, in some embodiments, the third and fourth bearings 122c and 122d allow substantially frictionless rotation of the threaded shaft 110 about the shaft axis 136.

[0068] As described elsewhere herein, the bearing assembly 106 can include a bearing clamp 142 and a bearing mount 138 that are orthogonally mounted to the threaded shaft 110. The adjuster 156 and the second nut 130b can be axially coupled to the threaded shaft 110, while the bearing mount 138 can also be coupled to the threaded shaft 110. The bearing assembly 106 can include a spring 140 disposed within a spring housing 160. The spring 140 can bias the bearing assembly 106, including the threaded shaft 110, along the shaft axis 136. The spring 140 can be generally coaxial with the threaded shaft 110 and can couple the threaded shaft 110 via a thrust bearing 172. In some examples, the threaded shaft 110 is spring-loaded axially against a surface of the bearing assembly 106. In some embodiments, the surface is an inner surface of the end cap 146. In some embodiments, the surface is a disk that abuts the inner surface of the end cap 146. For example, the distal end 168b of the threaded shaft 110 can contact the inner surface of the end cap 146. The end cap 146 can be attached to the housing 158 via a first screw 148a and a second screw 148b.

[0069] In some embodiments, the exemplary displacement device includes only one bearing assembly, one threaded shaft, one motor, and one pedestal. In other examples, the displacement device includes two bearing assemblies, two threaded shafts, two motors, and one pedestal. In further embodiments, the exemplary displacement device 200 can include four bearing assemblies (106a, 106b, 106c, and 106d), four threaded shafts, four motors (104a, 104b, 104c, and 104d), and two pedestals (102a and 102b), as shown in FIG. 5 . The displacement device 200 can include first, second, and third mounting brackets 112a, 112b, and 112c that can couple one or more tools (e.g., one, two, or three cameras, sensors, or a combination of both) to the displacement device 200.

[0070] In some embodiments, the exemplary displacement device can be part of an automated system for adjusting the position of a tool (e.g., a camera, a sensor, or a combination of both). The automated system can further include a computing device including a processor operably coupled to the exemplary displacement device of the present disclosure. The automated system can include a non-transitory computer-readable storage medium with a computer program including instructions executable by the processor. These instructions can cause the processor, for example, to i) calculate a rotation of the threaded shaft along the shaft axis that results in a desired position of the camera along the shaft axis, and ii) output the rotation of the threaded shaft to a motor.

[0071] In some embodiments, the position of a tool (e.g., a camera) includes an angular position that can define an initial angle of a tool mounted on an exemplary displacement device of the present disclosure. The angle of the tool (e.g., a camera) can be defined by the camera axis 174 and the shaft axis 136. For example, when the tool is perpendicular to the shaft axis 136 (i.e., parallel to the camera axis 174), the angle of the tool (e.g., a camera) is 0 degrees. As shown in FIG. 5 , the camera axis 174 traverses perpendicularly to the shaft axis 136. The position of the mounted tool can include a linear position relative to the shaft axis. In some examples, the processor of the automated system can calculate the desired angle of the tool relative to the initial angle of the tool based on the rotation of the screw. In further embodiments, the processor can further calculate the desired linear position of the mounted tool relative to the initial linear position of the tool based on the displacement of the threaded shaft. Thus, control of the rotation of a threaded shaft (e.g., a fine adjustment screw) on the sub-millimeter and sub-arc minute scale can enable a user to control the linear and angular position of a tool mounted on an exemplary displacement device of the present disclosure with high accuracy. In some embodiments, high accuracy, as used herein, can be defined as a positional accuracy in the range of about 0.1 microns (μm) to about 1 μm.

[0072] While this specification contains many specific details, these should not be construed as limitations on the scope of the disclosure or what may be claimed, but rather as examples of features associated with particular embodiments. Certain features described within this specification in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments separately or in any suitable subcombination. Furthermore, while features may be described above as acting in a combination and even initially claimed as such, in some examples, one or more features from a claimed combination may be deleted from that combination, and the claimed combination may be directed to a subcombination or a variation of the subcombination.

[0073] Several embodiments have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the present disclosure. For example, the various structures shown above may be used with elements rearranged, positioned differently, oriented differently, added, and / or removed. Accordingly, other embodiments are within the scope of the following claims.

Claims

1. 1. A device for adjusting the position of a camera, said device comprising: a threaded shaft having a first end and a second end and a shaft axis extending between the first end and the second end; a motor that actuates the threaded shaft to move it in the direction of the shaft axis, the motor being operably coupled to the threaded shaft; a cradle coupled to the camera; a bearing assembly coupled to the threaded shaft and the pedestal, the bearing assembly including first and second bearings that mount the threaded shaft to linear bearings coupled to the pedestal, thereby allowing rotation of the pedestal, and the bearing assembly allowing movement of the pedestal relative to the threaded shaft; Equipped with The movement of the cradle allows the position of the camera to be adjusted.

2. The device of claim 1 , wherein the threaded shaft is a screw.

3. The device of claim 2 , wherein the screw is a fine adjustment screw.

4. The device of claim 3 , wherein the fine adjustment screw comprises about 80 to about 100 threads per inch.

5. The device of claim 1 , wherein the device comprises a positional accuracy of the camera of about 0.1 microns (μm) to about 1 μm.

6. The device of claim 1 , wherein a stabilizer bar couples the linear bearing to the pedestal.

7. 2. The device of claim 1, wherein the bearing assembly comprises a third bearing and a fourth bearing axially mounted on the threaded shaft, the third bearing and the fourth bearing configured to allow rotation of the threaded shaft while reducing friction between an outer surface of the threaded shaft and an inner surface of the third bearing and the fourth bearing.

8. The device of claim 1 , wherein the camera is removably coupled to a bracket of the cradle.

9. The device of claim 1 , wherein the bearing assembly includes a spring for biasing the bearing assembly along the shaft axis, the spring being generally coaxial with the shaft.

10. The device of claim 9 , further comprising a thrust bearing coupling the threaded shaft to the spring.

11. The device of claim 9 , wherein the threaded shaft is spring loaded axially against a surface of the bearing assembly.

12. The device of claim 1 , wherein the position of the camera comprises an angular position, a linear position relative to the shaft axis, or a combination thereof.

13. The device of claim 1 , wherein the motor actuates the threaded shaft to rotate relative to a camera axis, the camera axis being perpendicular to and transverse to the shaft axis.

14. The device of claim 1 , further comprising a threaded nut coupling the threaded shaft to the cradle.

15. The device comprises: an additional threaded shaft having a first end and a second end and an additional shaft axis extending between the first end and the second end; an additional motor that actuates the additional threaded shaft to move in the direction of the additional shaft axis, the additional motor being operably coupled to the additional threaded shaft; an additional cradle coupled to an additional camera; an additional bearing assembly coupled to the additional threaded shaft and the additional pedestal, the additional bearing assembly comprising a first additional bearing and a second additional bearing that mount the additional threaded shaft to an additional linear bearing coupled to the additional pedestal, thereby allowing rotation of the additional pedestal, and the additional bearing assembly allowing movement of the additional pedestal relative to the additional threaded shaft; Furthermore, The device of claim 1 , wherein the movement of the additional cradle allows the position of the additional camera to be adjusted.

16. The device of claim 15 , wherein the additional threaded shaft is a first screw.

17. 17. The device of claim 16, wherein the first screw is a fine adjustment screw.

18. 18. The device of claim 17, wherein the fine adjustment screw comprises about 80 to about 100 threads per inch.

19. The device of claim 15, wherein the device comprises a positional accuracy of the additional camera of about 0.1 microns (μm) to about 1 μm.

20. 16. The device of claim 15, wherein the additional bearing assembly comprises a third additional bearing axially mounted on the additional threaded shaft, the third additional bearing configured to allow rotation of the additional threaded shaft while reducing friction between an outer surface of the additional threaded shaft and an inner surface of the third additional bearing.

21. The device of claim 15 , wherein the additional camera is removably coupled to an additional bracket of the additional cradle.

22. 16. The device of claim 15, wherein the additional bearing assembly comprises a spring for biasing the additional bearing assembly along the additional shaft axis, the spring being generally coaxial with the additional threaded shaft.

23. 23. The device of claim 22, further comprising a thrust bearing that attaches the additional threaded shaft to the spring.

24. 23. The device of claim 22, wherein the additional threaded shaft is spring loaded axially against a surface of the additional bearing assembly.

25. The device of claim 15 , wherein the position of the additional camera comprises an angular position, a linear position relative to the additional shaft axis, or a combination thereof.

26. 1. An automated system for adjusting the position of a camera, comprising: The automated system comprises a device and a computing device; The device comprises: a threaded shaft having a first end and a second end and a shaft axis extending between the first end and the second end; a motor that actuates the threaded shaft to move it in the direction of the shaft axis, the motor being operably coupled to the threaded shaft; a cradle coupled to the camera; a linear bearing coupled to the pedestal; a bearing assembly coupled to the threaded shaft and the pedestal, the bearing assembly including first and second bearings that mount the threaded shaft to the linear bearing, thereby allowing rotation of the pedestal, and the bearing assembly allowing movement of the pedestal relative to the threaded shaft; Equipped with the movement of the cradle allows the position of the camera to be adjusted; 1. An automated system comprising: a computing device operatively coupled to the device; and a non-transitory computer-readable storage medium with a computer program including instructions executable by the processor to cause the processor to: i) calculate a displacement of the threaded shaft along the shaft axis that results in a desired position of the camera along the shaft axis; and ii) output the displacement of the threaded shaft to the motor.

27. 27. The automated system of claim 26, wherein the position of the camera comprises an angular position that defines an initial angle of the camera.

28. 28. The automated system of claim 27, wherein the position of the camera comprises a linear position relative to the shaft axis.

29. 28. The automated system of claim 27, wherein the processor further calculates a desired angle of the camera relative to the initial angle of the camera based on the displacement of the threaded shaft.

30. 30. The automated system of claim 29, wherein the processor further calculates a desired linear position of the camera relative to an initial linear position of the camera based on the displacement of the threaded shaft.

31. 27. The device of claim 26, wherein the threaded shaft is a screw.

32. 32. The device of claim 31, wherein the screw is a fine adjustment screw.

33. 33. The device of claim 32, wherein the fine adjustment screw comprises about 80 to about 100 threads per inch.

34. 27. The device of claim 26, wherein the device comprises a positional accuracy of the camera of about 0.1 microns (μm) to about 1 μm.

35. 27. The device of claim 26, wherein a stabilizer bar couples the linear bearing to the pedestal.

36. 27. The device of claim 26, wherein the bearing assembly comprises a third bearing and a fourth bearing axially mounted on the threaded shaft, the third bearing and the fourth bearing configured to allow rotation of the threaded shaft while reducing friction between an outer surface of the threaded shaft and an inner surface of the third bearing and the fourth bearing.

37. 27. The device of claim 26, wherein the camera is removably coupled to a bracket of the cradle.

38. 27. The device of claim 26, wherein the bearing assembly includes a spring for biasing the bearing assembly along the shaft axis, the spring being generally coaxial with the shaft.

39. 39. The device of claim 38, wherein the device further comprises a thrust bearing coupling the threaded shaft to the spring.

40. 39. The device of claim 38, wherein the threaded shaft is spring loaded axially against a surface of the bearing assembly.

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