阅读说明：本技术 相机设备、相机系统和程序 (Camera apparatus, camera system and program ) 是由 越智正明 于 2018-04-17 设计创作，主要内容包括：本发明提供了相机设备、相机系统和程序,能够在不改变相机设备自身的规格的情况下扩展相机设备的应用范围。驱动单元(30)驱动用于保持图像捕获单元(3)的可动单元,使得可动单元相对于固定单元移动。检测单元(160)检测固定单元或可动单元中的至少一个的运动。驱动控制单元(111)基于检测单元(160)的检测结果来控制驱动单元(30)。第一接口(181)输出由图像捕获单元(3)生成的视频信号。第二接口(182)经由通信单元(140)将检测单元(160)的检测结果发送给通信终端(8)。第三接口(183)经由通信单元(140)从通信终端(8)接收驱动命令,以由驱动控制单元(111)控制驱动单元(30)。(The present invention provides camera apparatus, camera system and programs, and the application range of camera apparatus can be extended in the case where not changing the specification of camera apparatus itself.Driving unit (30) drives the mobile unit for keeping image capturing unit (3), so that mobile unit is mobile relative to fixed cell.Detection unit (160) detects the movement of at least one of fixed cell or mobile unit.Drive control unit (111) controls driving unit (30) based on the testing result of detection unit (160).First interface (181) exports the vision signal generated by image capturing unit (3).Second interface (182) is sent to communication terminal (8) via the testing result that communication unit (140) will test unit (160).Third interface (183) receives drive command from communication terminal (8) via communication unit (140), to control driving unit (30) by drive control unit (111).)

1. a kind of camera apparatus, comprising:

Image capturing unit, including imaging sensor；

Mobile unit is configured as described image capturing unit being maintained in the mobile unit；

Fixed cell is configured so that the mode that the mobile unit can move keeps the mobile unit；

Driving unit is configured as driving the mobile unit, so that the mobile unit is mobile relative to the fixed cell；

Detection unit is configured as detecting the movement of at least one of the fixed cell or the mobile unit；

Drive control unit is configured as controlling the driving unit based on the testing result of the detection unit；

Communication unit can be communicated with communication terminal；

First interface is configured as exporting the vision signal generated by described image capturing unit；

Second interface is configured as the testing result of the detection unit being sent to the communication eventually via the communication unit End；And

Third interface is configured as receiving drive command from the communication terminal via the communication unit, by the driving Control unit controls the driving unit.

2. camera apparatus according to claim 1, further includes:

Image capture control unit is configured as control described image capturing unit；And

4th interface is configured as receiving image capture order from the communication terminal via the communication unit, by described Image capture control unit controls described image capturing unit.

3. camera apparatus according to claim 1 or 2, wherein

The first interface is configured as that the vision signal is sent to the communication terminal via the communication unit.

4. camera apparatus according to any one of claim 1 to 3, wherein

The mobile unit is configured to relative to the fixed cell from by translation direction, inclined direction and rolling square It is moved at least two directions selected into the group of composition.

5. camera apparatus according to any one of claim 1 to 4, wherein

The drive control unit is configured as by being controlled the driving unit based on the testing result of the detection unit, To drive up the mobile unit in the side for the vibration for reducing described image capturing unit.

6. camera apparatus according to any one of claim 1 to 5, wherein

The detection unit includes gyro sensor, and the gyro sensor is configured as detecting the angle of the fixed cell At least one of speed or the angular speed of the mobile unit.

7. camera apparatus according to any one of claim 1 to 6, wherein

The detection unit includes relative position detection unit, and the relative position detection unit is configured as detecting described movable Relative position of the unit relative to the fixed cell.

8. a kind of camera system, comprising:

Camera apparatus according to any one of claim 1 to 7；And

Communication terminal,

The communication terminal is configured as: by executing the detection based on detection unit via with the communication of the camera apparatus As a result at least one of the generation processing of detection processing or generation drive command, to be grasped in conjunction with the camera apparatus Make.

9. a kind of program is designed to allow to be communicated with camera apparatus according to any one of claim 1 to 7 Computer system as being worked with lower unit:

Acquiring unit is configured as obtaining the testing result of detection unit from second interface；And

Order issue unit is configured as issuing drive command to third interface.

Technical field

The disclosure relates generally to camera apparatus, camera system and programs, and relate more specifically to drive and be used for Keep camera apparatus, camera system and the program of the mobile unit of image capturing unit.

Background technique

Have been proposed in the art not only with capture subject image original function but also have it is various its The camera apparatus (image capture device) (for example, with reference to patent document 1) of his additional function.

Patent document 1 is taught (such as gently to be tapped by the operation that user is deliberately generated in camera apparatus to vibration The tapping operation of the shell of camera apparatus) (such as camera apparatus is put with the other kinds of vibration of user and unintentional generation The vibration generated when on the table) it mutually distinguishes to prevent the faulty operation of camera apparatus.That is, the camera of patent document 1 is set It is standby with the following functions: in response to, to the tapping operation of camera apparatus, starting in the case where no operating physical is switched to strike Hit the processing (such as terminating sleep pattern) of the type of operation distribution.

Function possessed by camera apparatus depends on the specification of camera apparatus itself, therefore usually in the design of camera apparatus It is fixed with the fabrication stage.That is, once securing the specification of camera apparatus, then it is difficult to add to camera apparatus later each Kind optional function.However, having increasing need for adding various other function to camera apparatus to expand the application range of camera apparatus Energy.

Reference listing

Patent document

Patent document 1:JP 2012-146156 A

Summary of the invention

In view of foregoing background, therefore, purpose of this disclosure is to provide a kind of camera apparatus, a kind of camera system and a kind of journeys Sequence, they are configured or designed to extend the application model of camera apparatus in the case where not changing the specification of camera apparatus itself It encloses.

Camera apparatus according to the one side of the disclosure includes image capturing unit, mobile unit, fixed cell, driving list Member, detection unit, drive control unit, communication unit, first interface, second interface and third interface.Image capturing unit packet Include imaging sensor.Mobile unit keeps image capturing unit on it.Fixed cell is so that the side that mobile unit can move Formula keeps mobile unit.Driving unit drives mobile unit, so that mobile unit is mobile relative to fixed cell.Detection unit inspection Survey the movement of at least one of fixed cell or mobile unit.Drive control unit is controlled based on the testing result of detection unit Driving unit processed.Communication unit can be communicated with communication terminal.First interface exports the view generated by image capturing unit Frequency signal.Second interface is sent to communication terminal via the testing result that communication unit will test unit.Third interface is via logical Believe that unit receives drive command from communication terminal to control driving unit by drive control unit.

Camera system according to another aspect of the present disclosure includes: above-mentioned camera apparatus；And communication terminal.Communication terminal It is configured as: detection processing or generation by executing the testing result based on detection unit via the communication with camera apparatus At least one of generation processing of drive command, thus with the camera apparatus binding operation.

The department of computer science for allowing to be communicated with camera apparatus is designed to according to the program of the another aspect of the disclosure System works as acquiring unit and order issue unit.Acquiring unit obtains the testing result of detection unit from second interface. Order issue unit issues drive command to third interface.

Detailed description of the invention

Fig. 1 is the block diagram for showing the configuration of camera system according to the exemplary embodiment of the disclosure；

The A of Fig. 2 is the schematic diagram for showing the concept of first specific example of camera system；The B of Fig. 2 is to show camera system Second specific example concept schematic diagram；

The A of Fig. 3 is the perspective view of camera apparatus included by camera system；The B of Fig. 3 is the plan view of camera apparatus；

Fig. 4 is the sectional view along X1-X1 plane of camera apparatus；

Fig. 5 is the decomposition perspective view of camera apparatus；And

Fig. 6 is the decomposition perspective view of mobile unit included by camera apparatus.

Specific embodiment

(1) it summarizes

As shown in Figure 1, camera system 100 accoding to exemplary embodiment includes camera apparatus 1 and communication terminal 8.

Camera apparatus 1 includes image capturing unit 3 and the driving unit 30 for driving mobile unit 10 (see the A of Fig. 3), Mobile unit 10 is used to keep image capturing unit 3 on it.Camera apparatus 1 further include: detection unit 160, for detecting The movement of camera apparatus 1；And drive control unit 111, it is single for controlling driving based on the testing result of detection unit 160 Member 30.This allows camera apparatus 1 to control driving unit 30 based on the testing result of detection unit 160, to be camera apparatus Provide the stabilizer of the undesirable vibration for reducing image capturing unit 3.

According to the camera apparatus 1 of the present embodiment further include: communication unit 140, for being communicated with communication terminal 8；With And interface (such as second interface 182 and third interface 183), allow camera apparatus 1 and 8 binding operation of communication terminal.Namely Say, the vision signal that camera apparatus 1 is not only generated by image capturing unit 3 with (passing through first interface 181) output this from Body original function, but also there is the other function for enabling camera apparatus 1 with 8 binding operation of communication terminal.Specifically, camera Equipment 1 includes second interface 182, and the testing result which is used to will test unit 160 is sent to logical via communication unit 140 Believe terminal 8.Camera apparatus 1 further includes third interface 183, which is used to receive via communication unit 140 from communication terminal 8 and drive Dynamic order, to control driving unit 30 by drive control unit 111.

That is, the camera system 100 according to the present embodiment allows by combining camera apparatus 1 with communication terminal 8 Operation is to execute desired function, so that even if the specification for not changing camera apparatus 1 itself also contributes to expanding camera apparatus 1 Application range.That is, the camera apparatus 1 is sent to by will test the testing result of unit 160 via second interface 182 Communication terminal 8 can be used for communication terminal 8 to be used in control driving unit 30, detection unit 160 testing result.In addition, The camera apparatus 1 from communication terminal 8 also by receiving the drive command of control driving unit 30 via third interface 183, to make Communication terminal 8 can control driving unit 30.Even if this also allows camera system using identical camera apparatus 1 System 100 its specification be fixed it is rear add various optional functions to camera apparatus 1, so that camera system 100 be enable to hold The more diverse function of row.

Thus, for example, allowing to develop by using family itself for executing required function by using the camera apparatus 1 Application Software Program, to execute any required function by camera apparatus 1.This make the application range of camera apparatus 1 according to Itself dynamic role at family is significantly extended, to help that camera system 100 is made to become more popular product.

(2) it configures

Next, the functional configuration that camera system 100 according to the present embodiment will be described in detail referring to Fig.1.Camera system 100 include camera apparatus 1 as described above and communication terminal 8.

Camera apparatus 1, which can be, for example moves (portable) camera, and including actuator 2 and image capturing unit 3.Figure As capturing unit 3 can be rotated on inclination, translation and rotating direction by actuator 2.Actuator 2 is used as stabilizer 2a, uses In the driving image capturing unit 3 on any desired direction of rotation, while reducing the undesirable vibration of image capturing unit 3 It is dynamic.

Camera apparatus 1 includes image capturing unit 3, driving unit 30, detection unit 160, drive control unit 111, leads to Believe unit 140, first interface 181, second interface 182 and third interface 183.In this embodiment, camera apparatus 1 further include can Moving cell 10 (see the A of Fig. 3), fixed cell 20 (see the A of Fig. 3) and the 4th interface 184.In the example depicted in fig. 1, camera is set Standby 1 further includes control unit 110, actuator unit 120, image capture control unit 150, operating unit 170 and storage unit 180.Driving unit 30, detection unit 160, drive control unit 111 and actuator unit 120 are formed together actuator 2.Movably Unit 10 keeps image capturing unit 3, and fixed cell 20 is so that the mode that mobile unit 10 can move keeps movable Unit 10.Mobile unit 10 and fixed cell 20 will be described in detail in " exemplary structure of (4) camera apparatus " part later.

Image capturing unit 3 includes imaging sensor 3a (see Fig. 4).Image capturing unit 3 will be imaging sensor 3a's The Video Quality Metric generated on image capture face is the vision signal as electric signal.In addition, for that will be produced by imaging sensor 3a Raw electric signal (vision signal) is transferred to the Image Processor Circuits being arranged in outside image capturing unit 3 (as exemplary External circuit) multiple cables be electrically connected with image capturing unit 3 by connector.

Driving unit 30 drives mobile unit 10, so that mobile unit 10 is mobile relative to fixed cell 20.Such as later will Be described in detail in " exemplary structure of (4) camera apparatus " part, driving unit 30 be for by make coil be powered come Drive the electromagnetic driver of mobile unit 10.Mobile unit 10 keeps image capturing unit 3.Therefore, mobile unit 10 is driven Driving unit 30 moves together image capturing unit 3 with mobile unit 10.

In this embodiment, mobile unit 10 (image capturing unit 3) be configured as relative to fixed cell 20 can from It is moved at least two directions selected in the group being made of translation direction, inclined direction and rotating direction.As later will be It is described in detail in " exemplary structure of (4) camera apparatus " part, the optical axis 1a around image capturing unit 3 of mobile unit 10 " rotating direction " is referred to as below the direction of motion of (see the A of Fig. 3) rotation.The movement that mobile unit 10 is rotated around X-axis below Direction is known as " translation direction ".Mobile unit 10 is known as " inclined direction " around the direction of motion that Y-axis rotates below.Movable single Member 10 is not driven optical axis 1a, X of the image capturing unit 3 in the state that unit 30 drives (that is, state shown in the A of Fig. 3) Axis and Y-axis are perpendicular to one another.

Detection unit 160 detects the movement of at least one of fixed cell 20 or mobile unit 10.Specifically, for example, Detection unit 160 acts on mesh by using the motion sensor senses of such as acceleration transducer or gyro sensor etc The acceleration or its angular speed of (at least one of fixed cell 20 or mobile unit 10) are marked, to detect " movement " of target. As it is used herein, " movement " of target includes the direction of motion, travel speed, rotation angle and the posture (orientation) of target.

In the present embodiment, detection unit 160 includes gyro sensor 130, relative position detection unit 131 and detection Processing unit 112.Gyro sensor 130 detects in the angular speed of fixed cell 20 or the angular speed of mobile unit 10 at least One of.Relative position detection unit 131 detects relative position of the mobile unit 10 relative to fixed cell 20.In the embodiment In, gyro sensor 130 is mounted on printed circuit board 90 (see the A of Fig. 3) included in fixed cell 20, solid to detect The angular speed of order member 20.Each of gyro sensor 130 and relative position detection unit 131 will test result output To detection processing unit 112.

Detection processing unit 112 executes the output signal of gyro sensor 130 or relative position detection unit 131 pre- Fixed signal processing.Detection processing unit 112 may be implemented as the function of such as control unit 110.Control unit 110 includes As the microcontroller of its main constituent element, which includes processor and memory, and control unit 110 passes through Processor is set to execute the program that is stored in its memory to execute the function of drive control unit 111 He other units.Program It can be stored in advance in memory.Alternatively, which can also download via the telecommunication line of such as internet etc, or Person distributes later on the storage medium for having stored in such as storage card etc.

Control unit 110 also has the function as drive control unit 111.Drive control unit 111 is by driving Unit 30 is controlled, to drive mobile unit 10.

Drive control unit 111 controls driving unit 30 based on the testing result of detection unit 160.Drive control unit 111 generate for the driving signal for driving mobile unit 10 in each direction in inclination, translation and rotating direction.Driving control Driving signal is output to actuator unit 120 by unit 111 processed.Driving signal is the letter generated by pulse width modulation (PWM) Number, and for driving mobile unit 10 by changing duty ratio with optional frequency.

It (is retouched later based on the angular speed detected by gyro sensor 130 and by being used as relative position detection unit 131 State) Magnetic Sensor 92 testing result, detection processing unit 112 execute signal processing, with compensation for example produced by camera shake The vibration of raw camera shooting capturing unit 3.Specifically, based on the testing result by gyro sensor 130 and by Magnetic Sensor 92 The testing result of (relative position detection unit 131), detection processing unit 112 calculate the rotation angle of image capturing unit 3.It drives Dynamic control unit 111 indicates that actuator unit 120 controls driving unit 30, so that the rotation of mobile unit 10 is by detection Manage the rotation angle that unit 112 obtains.This allows actuator 2 to be used as stabilizer 2a.

The frequency (frequency i.e. corresponding with change in duty cycle rate) of driving signal is high enough that actuator 2 is used as and stablizes Device 2a, and can for example fall into the range of several Hz to tens Hz.That is, passing through the inspection based on detection unit 160 It surveys result to control driving unit 30, drive control unit 111 makes actuator 2 be used as stabilizer 2a, catches to reduce image Obtain the undesirable vibration of unit 3.When make actuator 2 be used as stabilizer 2a when, driving signal suitably have 40 to 50Hz or Smaller frequency.

In addition, drive control unit 111 also have according to from the received drive command of communication terminal 8 come to driving unit 30 The ability controlled.By driving when according to from the received drive command of communication terminal 8 to control driving unit 30 The driving signal that control unit 111 generates will hereinafter be referred to as " signal for control ".Stablize when being used as actuator 2 The driving signal generated when device 2a by drive control unit 111 will hereinafter be referred to as " for vibrating the signal of decaying ".

In this case, if for control signal frequency fall into from 100Hz to 300Hz in the range of, can Haptic stimulus is provided with the vibration by mobile unit 10 for user.On the other hand, if the frequency of the signal for control is fallen In the range of entering from 1kHz to 8kHz, then the vibration of mobile unit 10 can generate audible sound.In this case, audible sound It can be the voice of human speakers sending.Audible sound needs not be voice, is also possible to buzzer, melody or any other conjunction Suitable sound.When mobile unit 10 is vibrated, fixed cell 20 is also vibrated with the Vibration Synchronization of mobile unit 10.Namely It says, the vibration of mobile unit 10 causes the vibration of entire camera apparatus 1.

If the frequency of the signal for control is higher than the frequency of the signal for vibrating decaying, drive control unit 111 can export the signal for vibrating decaying and the signal for control so that the two signals are superposed on one another, therefore, example Such as when actuator 2 is operated as stabilizer 2a, mobile unit 10 is allowed to be driven by the signal for control.That is, At least one of the signal of the output of drive control unit 111 for vibrating the signal of decaying and for control is as driving letter Number.The frequency of signal for control or can also be lower than with the overlapping frequency ranges of the signal for vibrating decaying For vibrating the frequency of the signal of decaying.

Actuator unit 120 is drive circuit, for making according to from the received driving signal of drive control unit 111 Driving unit 30 is run.That is, actuator unit 120 is by providing driving power to driving unit 30 according to driving signal To drive mobile unit 10.

Communication unit 140 and communication terminal 8 wirelessly communicate.For example, the communication between communication unit 140 and communication terminal 8 It can beOr meet the low-power wireless electric standard (such as specific low-power wireless electric standard) for not needing licensing Wireless communication.For this low-power radio, defined in various countries the frequency band used according to desired use, antenna power with And other special parameters.For example, defining the low of the radio wave for requiring to use 920MHz frequency range or 420MHz frequency range in Japan Powered radio standard.

Operating unit 170 has the ability for the operational order for receiving user.Operating unit 170 is implemented as single or multiple Mechanical switch, and receive the operational order for " starting to capture image " or " stopping capture image ".Alternatively, for example, behaviour Making unit 170 also may be implemented as touch screen panel.

Image capture control unit 150 controls image capturing unit 3.For example, when the receiving of operating unit 170 " starts to capture When the operational order of image ", image capture control unit 150 controls image capturing unit 3 so that image capturing unit 3 starts to catch Obtain image.Specifically, image capture control unit 150 starts to process the vision signal exported by imaging sensor 3a.Another party Face, when operating unit 170 receives the operational order of " stopping capture image ", image capture control unit 150 controls image and catches Unit 3 is obtained so that image capturing unit 3 completes (stopping) capture image.Image capture control unit 150 also has will be by image The video data that capturing unit 3 captures is output to the ability of first interface 181 (being described later on).In this embodiment, image is caught Control unit 150 is obtained as the function of control unit 110 to realize, control unit 110 includes microcontroller as its main group At element.That is, drive control unit 111, detection processing unit 112 and image capture control unit 150 are implemented as Single microcontroller.Optionally, image capture control unit 150 can be implemented as and drive control unit 111 and detection processing The separated another microcontroller of unit 112.In addition, image capture control unit 150 also has video data (vision signal) It is stored in the internal memory (such as storage unit 180) of camera apparatus 1 or is stored in storage medium (such as storage card) Ability.

The ability for the vision signal that there is first interface 181 output to be generated by image capturing unit 3.In the present embodiment, First interface 181 obtains the video data (vision signal) captured by image capturing unit 3 from image capture control unit 150. First interface 181, which also has, transmits the video data (vision signal) captured by image capturing unit 3 via communication unit 140 The ability of logger, display equipment or any other external equipment outside to camera apparatus 1.In addition, first interface 181 goes back quilt It is configured to that the video data (vision signal) captured by image capturing unit 3 is sent to communication terminal via communication unit 140 8。

Second interface 182 is configured as being sent to communication via the testing result that communication unit 140 will test unit 160 eventually End 8.In the present embodiment, the output signal of gyro sensor 130 or relative position detection unit 131 is by detection processing unit 112 carry out the signal processing of predefined type, are then supplied to as the testing result of detection unit 160 from second interface 182 logical Believe terminal 8.

Third interface 183 is configured as receiving drive command by drive control from communication terminal 8 via communication unit 140 Unit 111 controls driving unit 30.In this embodiment, third interface 183 receives the control of agreement according to the rules from communication terminal 8 System order is used as drive command.The drive command that third interface 183 receives is output to drive control unit 111.This allows to drive Dynamic control unit 111 utilizes the signal for control according to drive command to control driving unit 30.

4th interface 184 is configured as receiving image capture order from communication terminal 8 via communication unit 140, by scheming As capture control unit 150 controls image capturing unit 3.In this embodiment, the 4th interface 184 receives root from communication terminal 8 According to the control command of regulation agreement as image capture order.The image capture order that 4th interface 184 receives is output to figure As capture control unit 150.This allows image capture control unit 150 to control image capturing unit 3 according to image capture order, So that such as image capturing unit 3 starts or terminates (stopping) image capture.Therefore, image capture control unit 150 can not only Enough operational orders received according to operating unit 170, but also can be ordered according to from the received image capture of communication terminal 8 It enables, to control image capturing unit 3.

Storage unit 180 is implemented as from can by read-only memory (ROM), random access memory (RAM), electric erasable The equipment selected in the group of program read-only memory (EEPROM) and other storage equipment compositions.

Next, the configuration that communication terminal 8 will be described.

Communication terminal 8 can be the mobile communication terminal of such as smart phone, tablet computer or wearable device etc. As shown in Figure 1, communication terminal 8 includes terminal side communication unit 81, camera-terminal interface 82 and user interface 83.

Communication terminal 8 is the computer system for including central processing unit (CPU) and memory.By in computer system It is middle that dedicated application software is installed and starts the application software, allow computer system (communication terminal 8) to be used as camera-terminal and connects 82 (including acquiring unit 821 and order issue units 822) of mouth.Application software (program) can be stored in advance in memory In.Alternatively, which can also download via the telecommunication line of such as internet etc, or such as deposit having stored in Distribute after on the storage medium of card storage etc.

Terminal side communication unit 81 is communicated with camera apparatus 1 (communication unit 140).User interface 83 is for example including touch Shield panel display, and information is presented to the user of communication terminal 8 over the display, and receives to input by touch operation User operational order.Alternatively, can also information for example be presented to user in a voice form in user interface 83, and receives The operational order of user as voice input.

Camera-terminal interface 82 is that camera apparatus 1 and communication terminal 8 is allowed to be bonded to each other the interface of operation.Camera-terminal The function of interface 82 execution acquiring unit 821 and order issue unit 822.Acquiring unit 821 is configured as from second interface 182 Obtain the testing result of detection unit 160.Order issue unit 822 is configured as issuing drive command to third interface 183.

Communication terminal 8 further includes motion sensor, vibrator and other optional equipments.This allows communication terminal 8 and has The camera apparatus 1 of detection unit 160 is used in the same manner motion sensor to detect acceleration or its angle for being applied to communication terminal 8 Speed.In addition, this also allows communication terminal 8 to vibrate with the camera apparatus 1 with actuator 2 similarly by vibrator.

(3) it operates

Next, the B of A and Fig. 2 referring to Fig. 2 are described how to be operated according to the camera system 100 of the present embodiment.Note Meaning, the B of the A and Fig. 2 of Fig. 2 are only for showing the schematic diagram of the exemplary application of camera system 100.Therefore, in these attached drawings On shape, size and the relative position of each component that show may with it is actual different.

Basic operation according to the camera system 100 of the present embodiment is for example to be come by making actuator 2 be used as stabilizer 2a Reduce video blur caused by the vibration (such as shake) of (or compensation) camera apparatus 1 due to caused by the hand shaking as user.It is logical Crossing, which makes drive control unit 111, controls driving unit 30 based on the testing result of detection unit 160, and Lai Zhihang makes actuator 2 Therefore this basic operation as stabilizer 2a can execute the basic operation by camera apparatus 1 in itself.That is, i.e. Make user that movement have occurred in the case where carrying camera apparatus 1, the fuzzy of video that camera apparatus 1 is shot still is mended It repays.Such camera apparatus 1 can be worn on such as head, arm of user by user as so-called " wearable camera " It in certain physical feelings of portion or waist etc or is worn on the clothes of user, and can be by user for for example taking exercise When from the angle shot video of user.

In addition, since camera apparatus 1 and communication terminal 8 execute desired function, root by being bonded to each other operation It can be set by changing the application software being mounted in communication terminal 8 using same camera according to the camera system 100 of the present embodiment Standby 1 executes different functions.That is, camera apparatus 1 includes allowing camera apparatus 1 and 8 binding operation of communication terminal Interface (such as second interface 182 and third interface 183), so that camera system 100 be allowed to execute various function according to communication terminal 8 Energy.Therefore, various application software are installed in communication terminal 8 allows camera system 100 to add various expansions to above-mentioned basic operation It opens up function (additional).Some tools that extension function those of is executed according to the camera system 100 of the present embodiment will now be described Body example.

(3.1) first specific example

As shown in the A of Fig. 2, camera apparatus 1 and user U1 are implemented as according to the camera system 100A of first specific example Communication terminal 8 combination." applying A " as a application software has been mounted in the communication terminal 8 of user U1.

In camera system 100A, the video data (vision signal) at least captured by image capturing unit 3 is via One interface 181 is transferred to communication terminal 8 from camera apparatus 1.In addition, in camera system 100A, at least for keeping driving single The drive command that member 30 is controlled by drive control unit 111 is sent to camera apparatus 1 from communication terminal 8 via third interface 183.

" applying A " makes communication terminal 8 execute image procossing to from the received vision signal of camera apparatus 1, from video It extracts target T1 (for example, just in the people of snowboarding) and is used as subject image.Communication terminal 8 generates drive command and is driven with controlling Moving cell 30 makes the movement that extracted target T1 must be followed in video.In such a case, it is possible to be passed through by user U1 His or her communication terminal 8 is operated to specify target T1 manually, or can be automatically extracted by image procossing and input mesh Mark T1.This allows camera system 100A to execute the function of automatically tracking the target T1 shot by image capturing unit 3.

In addition, communication terminal 8 determines the optical axis 1a of image capturing unit 3 relative to Z axis in the first specific example Absolute coordinate system in orientation (hereinafter referred to as " absolute angle "), to track extracted target T1.In this case, phase Machine equipment 1 controls driving unit 30 so that drive control unit 111 executes basic operation, with the detection based on detection unit 160 As a result change orientation of the optical axis 1a of image capturing unit 3 relative to absolute angle.This, which allows camera system 100A to utilize, makes to cause Dynamic device 2 is used as this basic operation of stabilizer 2a to compensate the fuzzy of the video of the shooting of camera apparatus 1, while automatically tracking by scheming The target T1 shot as capturing unit 3.

(3.2) second specific example

As shown in the B of Fig. 2, camera apparatus 1 and user U2 are implemented as according to the camera system 100B of second specific example Communication terminal 8 combination." applying B " as a application software has been mounted in the communication terminal 8 of user U2.

In camera system 100B, at least the testing result of detection unit 160 is via second interface 182 from camera apparatus 1 is sent to communication terminal 8.In addition, controlling image capturing unit 3 by image capture single in camera system 100B The image capture order of 150 control of member is sent to camera apparatus 1 via the 4th interface 184 from communication terminal 8.

" applying B " makes communication terminal 8 based on the testing result of the detection unit 160 received from camera apparatus 1, determines and uses Whether family U2 performs any tapping operation to camera apparatus 1.As used herein, " tapping operation ", which refers to, for example uses hand Refer to that F1 gently taps the operation of camera apparatus 1.Tapping camera apparatus 1 is primary every time, the number (or tap and count) of tapping operation It just will increase one.For example, based on detecting that the number of tapping operation (hereinafter referred to as " strikes during three seconds a certain amount of time Hit number "), communication terminal 8 generates image capture order to control image capturing unit 3, and sends camera for the order and set Standby 1.For example, it is assumed that number of taps " twice " and the order of " start capture image " are associated, and number of taps " three times " and The order of " stopping capture image " is associated.In this case, when finding number of taps is twice, communication terminal 8 is generated It should start the image capture order of image capture.On the other hand, when finding number of taps is three times, communication terminal 8 is generated It should stop the image capture order of image capture.This allows camera system 100B to execute following functions: by camera apparatus 1 Tapping operation control image capturing unit 3.

Moreover, camera system 100B can be further provided with response (response) user U2's in the second specific example The additional function of tapping operation.In this case, order that driving unit 30 by the driving that drive control unit 111 controls It enables from communication terminal 8 via third interface 183 and is sent to camera apparatus 1.In this way, when communication terminal 8 detects user U2's When tapping operation, camera system 100B issues haptic stimulus by finger F 1 of the vibration via mobile unit 10 to user, or By issuing audible sound, to user's U2 returning response.

Alternatively, in the second specific example, the processing of detection tapping operation can be executed by camera apparatus 1.At this In the case of kind, communication terminal 8 is operated to specify pair between tapping operation (number of taps) and the drive command to be issued It should be related to.

Optionally, in the second specific example, communication terminal 8 can be configured as receiving in the same manner as camera apparatus 1 Tapping operation.Communication terminal 8 includes motion sensor as described above.Therefore, even if performing percussion behaviour to communication terminal 8 Make, communication terminal 8 can generate image capture order according to number of taps also to control image capturing unit 3, and image is caught It obtains order and is sent to camera apparatus 1.In this case, for example, its vibrator can be used to respond (response) in communication terminal 8 The tapping operation of user U2.

(3.3) other specific examples

Note that first specific example and second specific example are only the exemplary functions executed by camera system 100, and It is not necessarily to be construed as restrictive.On the contrary, camera system 100 can also be come using the application software being mounted in communication terminal 8 Execute following various other functions.

In one example, following function can also be performed in camera system 100: allowing user to use logical in his or she hand Letter terminal 8 remotely controls the camera apparatus 1 being arranged on tripod.In this case, at least make driving unit 30 by driving The drive command that dynamic control unit 111 controls is sent to camera apparatus 1 via third interface 183 from communication terminal 8.In addition, Also by the image capture order for controlling image capturing unit 3 by image capture control unit 150 via the 4th interface 184 Camera apparatus 1 is sent to from communication terminal 8.

In another example, following functions can also be performed in camera system 100: according to the current location of user come selectivity The camera apparatus 1 that ground instruction user is dressed only captures image when user passes by specified shooting area.For example, can be by leading to Letter terminal 8 estimates the current location of user using global positioning system (GPS).Specifically, in this case, communication terminal 8 send the image capture of " starting to capture image " when finding that the current location of user is fallen in shooting area to camera apparatus 1 Order, and " stopping capture image " is issued to camera apparatus 1 when finding that the current location of user is fallen in outside shooting area Image capture order.In this case, the image for controlling image capturing unit 3 by image capture control unit 150 Capture command is sent to camera apparatus 1 via the 4th interface 184 from communication terminal 8.

In another example, camera system 100 can also be for example, by amplifying the video screen module as caused by the hand shaking of photographer Paste is to execute shooting exercise function.In this case, at least the testing result of detection unit 160 via second interface 182 from Camera apparatus 1 is sent to communication terminal 8.In addition, the drive command for controlling driving unit 30 by drive control unit 111 Also camera apparatus 1 is sent to from communication terminal 8 via third interface 183.

In another example, camera system 100 can also execute and the function of cord phone between multiple camera apparatus 1 Similar call function.Specifically, when multiple camera apparatus 1 are connected to same communication terminal 8, first camera equipment 1 can be with The detection unit 160 of its own is used to detect the vibration of sound as its own, and then second camera equipment 1 can be by conduct The vibration of mobile unit 10 of the transmitted sound output of audible sound for its own.In this case, at least detection is single The testing result of member 160 is sent to communication terminal 8 from first camera equipment 1 via second interface 182.In addition, at least making to drive The drive command that unit 30 is controlled by drive control unit 111 is also sent to the second phase from communication terminal 8 via third interface 183 Machine equipment 1.

In another example, following functions can also be performed in camera system 100: by making image capturing unit 3 in image The shutter of capturing unit 3 is mobile relative to point light source in the case where opening, thus using the light issued from point light source captured Video in generate two-dimensional video.In this case, the driving for controlling driving unit 30 by drive control unit 111 Order is sent to second camera equipment 1 from communication terminal 8 via third interface 183.

In another example, the function of the controller for game console can also be performed in camera system 100.For example, When for example the fantasy sport game for using imaginary ping-pong bat is displayed on the game screen generated by communication terminal 8 When, camera apparatus 1 (rather than true racket) can be held in his or her hand by user, and brandish camera apparatus 1, all right As playing table tennis he or she.In this case, the camera apparatus 1 being held in user hand is brandished by game screen On the moving synchronously for racket that is held in virtual players hand simulated.In this case, communication terminal 8 is based on from camera apparatus The testing result of 1 received detection unit 160, to calculate the position of racket (camera apparatus 1), brandish speed and other parameters. In the specific application, in order to issue the user with the haptic stimulus for the impact for imitating ball impact racket (camera apparatus 1), at least make The drive command that driving unit 30 is controlled by drive control unit 111 is suitably sent from communication terminal 8 via third interface 183 To second camera equipment 1.

(4) exemplary structure of camera apparatus

Next, by A to Fig. 6 description referring to Fig. 3 according to the exemplary specific structure of the camera apparatus 1 of the present embodiment.

Image capturing unit 3 includes imaging sensor 3a, for forming quilt on the image capture face of imaging sensor 3a The lens 3b of subject image and lens barrel 3c for keeping lens 3b (see Fig. 4).Lens barrel 3c is caught from actuator 2 along image The optical axis 1a for obtaining unit 3 is prominent.When intercepting perpendicular to optical axis 1a, lens barrel 3c has circular cross section.Moreover, being connected to image Multiple cables of capturing unit 3 include co-planar waveguide or microstrip line.Alternatively, multiple cables may include all having equal length Filament coaxial cable.These cables are grouped into the bunch of cables 11 of predetermined quantity.

As shown in the A and Fig. 4 of Fig. 3, actuator 2 (camera apparatus 1) include upper ring 4, mobile unit 10, fixed cell 20, Driving unit 30 and printed circuit board 90.

Mobile unit 10 includes camera retainer 40, the first movable base 41 and the second movable base 42 (see Fig. 6).Movably Unit 10 is mounted in fixed cell 20, wherein there are certain intervals between mobile unit 10 and fixed cell 20.Movably Unit 10 is relative to fixed cell 20 around the optical axis 1a rotation (that is, rolling) of the lens of image capturing unit 3.

In the following description, it will be not driven mobile unit 10 (image capturing unit 3) that unit 30 drives here Position (that is, position shown in the A of Fig. 3 and other accompanying drawings) is defined as " neutral position ".It in the present embodiment, hereinafter, can The direction that optical axis 1a extends when moving cell 10 is located at neutral position is known as " Z-direction ".Z-direction is assembled with mobile unit 10 To the assembly direction alignment in fixed cell 20.In addition, lens barrel 3c is known as from actuator 2 along Z axis direction outstanding below " upward direction ".That is, the mobile unit 10 in neutral position can rotate about the z axis.Mobile unit 10 also relative to Fixed cell 20 is rotated around X-axis and Y-axis.In this case, X-axis and Y-axis are all perpendicular to Z axis.In addition, X-axis and Y-axis are hung down each other Directly.

In the following description, mobile unit 10 (image capturing unit 3) is defined herein around the direction that X-axis rotates For " translation direction ", and mobile unit 10 (image capturing unit 3) is defined herein as " inclining around the direction that Y-axis rotates Tilted direction ".In addition, mobile unit 10 (image capturing unit 3) is defined herein as " rolling around the direction of optical axis 1a rotation (rolling) Dynamic direction ".The detailed configuration of mobile unit 10 will be described later.Note that optical axis 1a and X-axis, Y-axis and Z axis are all virtual axis, And the arrow of expression X-axis, Y-axis and Z axis in figure is merely to illustrate that and shows, and is not block arrows.Should also Note that these directions are not necessarily to be construed as the direction that limitation uses camera apparatus 1.

Image capturing unit 3 is attached to camera retainer 40.It is movable that first movable base 41 and second will be described later The configuration of pedestal 42.The rotation of mobile unit 10 allows image capturing unit 3 also to rotate.

Fixed cell 20 includes coupling member 50 and main body 51 (see Fig. 5).

Coupling member 50 includes linear coupling bar 501 and loose mounting structure 502 (see Fig. 6).Coupling bar 501 has in its length The intermediate opening 503 cut of degree.Loose mounting structure 502 includes pedestal 504 and wall 505 (see Fig. 6).When from the upper of pedestal 504 Under direction when (that is, in the plan view) viewing, pedestal 504 has circular shape.The close image capturing unit 3 of pedestal 504 One surface (that is, its upper surface) is flat surfaces, and another surface of the separate image capturing unit 3 of pedestal 504 (that is, its Lower surface) it is spherical surface.The center portion of the upper surface of pedestal 504 has recess portion 506 (see Fig. 6).Wall 505 is from pedestal 504 Recess portion 506 around project upwards (see Fig. 6).The inner peripheral surface (facing the surface of recess portion 506) of wall 505 constitutes the second pine dress With surface 507 (will be described later) (see Fig. 4).The diameter of the periphery of wall 505 is approximately equal to the straight of the opening 503 of coupling bar 501 Diameter.Wall 505 is mounted in the opening 503 of coupling bar 501.

Main body 51 includes a pair of of protrusion 510.A pair of of protrusion 510 is arranged to perpendicular to Z axis and relative to X-axis and Y Axis forms facing with each other on the direction at 45 degree of angles.A pair of of protrusion 510 is also configured to be located at arranged first coil unit 52 And in the second gap between coil unit 53 (being described later on).Coupling member 50 is screwed onto main body 51, wherein second is movable Pedestal 42 is inserted in coupling member 50 itself between main body 51.Specifically, two longitudinal ends of coupling member 50 are twisted respectively Onto a pair of of protrusion 510 of main body 51.

There are two fixed parts 703 for the setting of main body 51, for two bunchs of cables 11 to be fixed to the upper (see the A and figure of Fig. 3 4).Two fixed parts 703 are arranged to not only vertical with Z axis but also vertical with a pair of of protrusion 510 direction facing with each other It is facing with each other on direction.Two fixed parts 703 are arranged to tilt relative to Z axis, so that between two fixed parts 703 Interval broadens towards image capturing unit 3 (see Fig. 5) in the Z-axis direction.Each of two fixed parts 703 include equal Be formed as the first component 704 and second component 705 of plate.Relevant bunch of cables 11 is partially sandwiched in 704 He of first component Between second component 705.

Fixed cell 20 includes a pair of of first coil unit 52 and a pair of second coil unit 53, so that 10 electricity of mobile unit Magnetic can drive and rotatable (see the B of Fig. 3).A pair of of first coil unit 52 is facing with each other in the Y-axis direction.A pair of second coil Unit 53 is facing with each other in the X-axis direction.A pair of of first coil unit 52 allows mobile unit 10 to rotate around X-axis.A pair second Coil unit 53 allows mobile unit 10 to rotate around Y-axis.

A pair of of first coil unit 52 includes respectively the first magnetic yoke 710 made of magnetic material, 720 and of driving coil 730 and magnetic yoke retainer 740 and 750 (see Fig. 5).Each first magnetic yoke 710 has circular shape, and center is by rotation center 460 (see Fig. 4) are limited.Driving coil 730 is formed each by conducting wire is wound around its associated first magnetic yoke 710, is made The winding direction of driving coil 730 is limited around X-axis (that is, the second coil unit 53 facing with each other direction), and one First driving magnet 620 (will be described later) is rotatably driven along rotating direction.As used herein, in the reality It applies in example, the winding direction of coil refers to the increased direction of the number of turns.In addition, magnetic yoke retainer 740 and 750 is fixed to by screw The two sides of first magnetic yoke 710.Hereafter, driving coil 720 each by winding conducting wire around its associated first magnetic yoke 710 and It is formed, so that its winding direction is limited around Z axis, and a pair of first driving magnet 620 is rotatably driven along translation direction. Then, a pair of of first coil unit 52 is attached by screws in main body 51, so as to the face each other when watching from image capturing unit 3 It is right.Specifically, each first coil unit 52 has along an end of Z axis (that is, the end opposite with image capturing unit 3 Portion), which is fixed by screws in main body 51.Each first coil unit 52 has another end along Z axis Portion (that is, closer to end of image capturing unit 3) is assembled in upper ring 4.

The second coil unit of a pair 53 includes respectively the second magnetic yoke 711 made of magnetic material, 721 and of driving coil 731 and magnetic yoke retainer 741 and 751 (see Fig. 5).Each second magnetic yoke 711 has circular shape, and center is by rotation center 460 (see Fig. 4) are limited.Driving coil 731 is individually to be formed and being wrapped in conducting wire in its associated second magnetic yoke 711 , so that its winding direction is limited around Y-axis (that is, first coil unit 52 facing with each other direction) and a pair second drives Magnet 621 (will be described later) is rotatably driven along rotating direction.In addition, magnetic yoke retainer 741 and 751 is solid by screw Determine to the two sides of the second magnetic yoke 711.Hereafter, driving coil 721 is led each by around its associated winding of second magnetic yoke 711 Line and formed so that its winding direction is limited around Z axis, and a pair of second driving magnet 621 is along inclined direction by rotatably Driving.Then, a pair of second coil unit 53 is attached by screws in main body 51, so as to when watching from image capturing unit 3 It is facing with each other.Specifically, each second coil unit 53 has along an end of Z axis (that is, opposite with image capturing unit 3 End), which is fixed by screws in main body 51.Each second coil unit 53 has along the another of Z axis A end (that is, closer to end of image capturing unit 3) is assembled in upper ring 4.

The camera retainer 40 for being already installed with image capturing unit 3 is fixed in the first movable base 41 by screw. Coupling member 50 is inserted between the first movable base 41 and the second movable base 42.

Printed circuit board 90 includes multiple (for example, being in the present embodiment four) Magnetic Sensors 92, is used for detection image Rotation position of the capturing unit 3 in translation and inclined direction.In this embodiment, Magnetic Sensor 92 may be implemented as example Hall element.However, this is only example, it should not be construed as restrictive.Alternatively, Magnetic Sensor 92 be also possible to for example using The sensor of magnetoresistive element or coil.

On printed circuit board 90, also it is assembled with for controlling the electricity for allowing to flow through driving coil 720,721,730 and 731 The circuit of flow and other circuits.The example for being assembled in other circuits on printed circuit board 90 includes with shown in FIG. 1 The circuit of the function of actuator unit 120 and gyro sensor shown in FIG. 1 130.It can be in printed circuit board 90 enterprising one Step building microcontroller or any other microprocessor.

Next, the detailed configuration that the first movable base 41 and the second movable base 42 will be described.

First movable base 41 includes main body 43, a pair of of holding part 44, loose mounting structure 45 and sphere 46 (see Fig. 6). Rigid element 12 is clipped in main body 43 itself between camera retainer 40 by main body 43, by fixed (holding) In of rigid element 12 In main body 43.The periphery of main body 43 is provided with opposed facing each holding part 44 (referring to Fig. 6).Each holding part 44 It is clamped between the side wall 431 of main body 43 at its own and keeps relevant bunch of cables 11 (see Fig. 4).Loose mounting structure 45 has In the Z-axis direction through the through-hole 451 of loose mounting structure 45 (see Fig. 4).The inner peripheral surface of through-hole 451 is taper, so that logical Hole 451 increases its diameter along Z axis on the direction far from image capturing unit 3.

Sphere 46 is assembled and is fixed in the through-hole 451 of loose mounting structure 45, and has the first loose assembly surface 461 Spherical surface as protrusion (see Fig. 4).Sphere 46 is assembled in loose mounting structure 502 by pine, thus in the first loose loader table Left between face 461 and the second loose assembly surface 507 (that is, inner peripheral surface of wall 505) of loose mounting structure 502 it is narrow between Gap.This allows coupling member 50 to be pivotally supported mobile unit 10 so that mobile unit 10 is rotatable.In this case, sphere 46 mass center defines the rotation center 460 of mobile unit 10.

Second movable base 42 supports the first movable base 41.Second movable base 42 includes rear yoke 610, the first drive of a pair Dynamic magnet 620 and a pair of second driving magnet 621 (see Fig. 6).Second movable base 42 further includes bottom plate 640, position detection magnetic Body 650 and retainer component 651 (see Fig. 6).

Yoke 610 includes pan portion and four fixations that the outer circumferential image capturing unit 3 from pan portion extends (that is, upwards) afterwards Portion's (arm).Two in four fixed parts are facing with each other along X-axis, and other two fixed parts are facing with each other along Y-axis.Edge Y-axis two fixed parts facing with each other face a pair of of first coil unit 52 respectively.Two fixed parts facing with each other along X-axis It Mian Dui not a pair of second coil unit 53.

A pair of first driving magnet 620 is individually secured to facing with each other along Y-axis in four fixed parts of rear yoke 610 Two fixed parts.A pair of second driving magnet 621 be individually secured in four fixed parts of rear yoke 610 along X-axis each other Two fixed parts faced.

By the electromagnetic drive of the first driving magnet 620 and first coil unit 52 and pass through the second driving magnet 621 With the electromagnetic drive of the second coil unit 53, allow mobile unit 10 (image capturing unit 3) translation direction, inclined direction and It is rotated on rotating direction.Specifically, by the electromagnetic drive of two driving coils 720 and two the first driving magnets 620 and Allow mobile unit 10 in translation direction by the electromagnetic drive of two driving coils 721 and two the second driving magnets 621 and It is rotated on inclined direction.Meanwhile passing through the electromagnetic drive of two driving coils 730 and two the first driving magnets 620 and logical The electromagnetic drive for crossing two driving coils 731 and two the second driving magnets 621 allows mobile unit 10 to revolve on rotating direction Turn.

Bottom plate 640 is non-magnetic member, and can be made of such as brass.Bottom plate 640 is attached to rear yoke 610 to limit The bottom (that is, bottom of the second movable base 42) of mobile unit 10.Bottom plate 640 is fixed by screws in rear yoke 610 and first In movable base 41.Bottom plate 640 is used as counterweight.Make rotation center 460 and mobile unit 10 as counterweight with bottom plate 640 Center of gravity is consistent.This is why when external force is applied to entire mobile unit 10, mobile unit 10 around X-axis turning moment and The reason of mobile unit 10 all reduces around the turning moment of Y-axis.This allows mobile unit 10 (or image capturing unit 3) with smaller Driving force be maintained at neutral position or rotated around X-axis and Y-axis.

One surface (that is, upper surface) of the close image capturing unit 3 of bottom plate 640 is flat surfaces, and table on this The center portion in face has protrusion 641.Protrusion 641 has recess portion 642 in end.The bottom of recess portion 642 is downward projection of Curved surface.Loose mounting structure 502 is than recess portion 642 closer to the positioning of 3 ground of image capturing unit (that is, loose mounting structure 502 is arranged Above recess portion 642) (referring to fig. 4).

Another surface (that is, lower surface) farther from image capturing unit 3 of bottom plate 640 is spherical surface, and under this The center portion on surface has recess portion.In the recess portion, position detection magnet 650 and retainer component 651 are disposed with (see figure 4).Retainer component 651 prevents the position detection magnet 650 in the recess portion for being arranged in bottom plate 640 from falling.

There are gap between the recess portion 642 and loose mounting structure 502 of bottom plate 640 (see Fig. 4).The recess portion 642 of bottom plate 640 Bottom and the lower surface of base portion 504 of loose mounting structure 502 be curved surface facing with each other.The gap is sufficiently wide, to permit Even if perhaps when loose mounting structure 502 is contacted with bottom plate 640, the first driving magnet 620 and the second driving magnet 621 also due to its The magnetism of itself and return to its home position.Therefore, even if image capturing unit 3 is moved along Z axis, mobile unit 10 (image capturing unit 3) still is able to return to its home position.

Position detection magnet 650 is based on for four Magnetic Sensors 92 that printed circuit board 90 is arranged to sense relative to four magnetic The relative position of device 92, to detect relative rotation (movement) of the mobile unit 10 relative to fixed cell 20.That is, four Magnetic Sensor 92 forms at least part of relative position detection unit 131, for detecting mobile unit 10 relative to fixed single The relative position of member 20.That is, position detection magnet 650 changes its position as mobile unit 10 rotates (movement), from And lead to the variation for being applied to the magnetic force of four Magnetic Sensors 92.Four Magnetic Sensors 92 detect this variation of magnetic force, and Calculate the Two Dimensional Rotating angle relative to X-axis and Y-axis.This allows four magnetic sensors 92 to detect mobile unit 10 in inclination peace Move the rotation angle on direction.

In addition, camera apparatus 1 further includes another Magnetic Sensor separated with four Magnetic Sensors 92, which is passed Sensor is for detecting rotation (that is, rotation of image capturing unit 3) of the mobile unit 10 around optical axis 1a, that is, movable for detecting Rotation of the unit 10 on rotating direction.Note that the sensor for detecting rotation of the mobile unit 10 on rotating direction is not It must be Magnetic Sensor, such as be also possible to gyro sensor or capacitance sensor.It is alternatively possible to using mobile unit 10 is made Attempt the power that origin (that is, stable point) is returned under the action of the magnetic pull generated between mobile unit 10 and fixed cell 20 (utilize so-called " magnet spring ") estimates rotation of the mobile unit 10 on rotating direction.That is, camera apparatus 1 It can the DC component (low frequency point based on the signal or driving signal for being output to driving coil 730 and 731 from actuator unit 120 Amount), to estimate relative rotation (movement) of the mobile unit 10 relative to fixed cell 20 on rotating direction.

In this case, a pair of first driving magnet 620, which is used as, attracts magnet, thus in a pair of first driving magnet 620 and the first magnetic attraction is generated between the first magnetic yoke 710 of the first driving magnet 620.Equally, a pair second drives magnetic Body 621 also serves as attraction magnet, thus in a pair of second driving magnet 621 and in face of the second magnetic yoke of the second driving magnet 621 The second magnetic attraction is generated between 711.The direction vector of each first magnetic attraction is parallel to rotation center 460, relevant The center line that the mass center of one the first magnetic yoke 710 and the mass center of relevant first driving magnet 620 link together.Each The direction vector of second magnetic attraction is parallel to the mass center and relevant one of rotation center, relevant second magnetic yoke 711 The center line that the mass center of a second driving magnet 621 links together.

First magnetic attraction and the second magnetic attraction become fixed cell 20 and produce relative to the sphere 46 of loose mounting structure 502 Raw normal force.Moreover, the magnetic attraction of mobile unit 10 limits in the Z-axis direction when mobile unit 10 is in neutral position Resultant vector is determined.This dynamic balance between first magnetic attraction, the second magnetic attraction and resultant vector is similar to balance and plays Have the dynamic configuration of (balancing toy), and mobile unit 10 is allowed to be stably rotated in three axis directions.

In this embodiment, a pair of of first coil unit 52, a pair of second coil unit 53, a pair of first driving magnet 620 are formed together driving unit 30 with a pair of second driving magnet 621.Driving unit 30 includes: the first driving unit, is used for Mobile unit 10 is rotated on translation direction；Second driving unit, in an inclined direction rotating mobile unit 10；And third Driving unit, for rotating mobile unit 10 on rotating direction.First driving unit includes in a pair of of first coil unit 52 Included the first magnetic yoke of a pair 710 and a pair of of driving coil 720 and a pair of first driving magnet 620.Second driving unit Including included the second magnetic yoke of a pair 711 in a pair of second coil unit 53 and a pair of of driving coil 721 and a pair second Driving magnet 621.Third driving unit includes a pair of first driving magnet 620, a pair of second driving magnet 621, a pair first Magnetic yoke 710, a pair of second magnetic yoke 711, a pair of of driving coil 730 and a pair of of driving coil 731.

The camera apparatus 1 of present embodiment is powered by while to a pair of of driving coil 720 and a pair of of driving coil 721, To allow mobile unit 10 two-dimensionally to rotate (that is, translation and inclination).In addition, camera apparatus 1 to a pair also by driving simultaneously Coil 730 and a pair of of driving coil 731 are powered, to allow mobile unit 10 (to roll) around optical axis 1a rotation.

(5) modification

Note that above-described embodiment is only the example of the various embodiments of the disclosure, and it is not necessarily to be construed as restricted 's.It, can be according to design alternative or any other factor in various ways on the contrary, without departing from the scope of the invention Easily modify embodiment.In addition, the function of the communication terminal 8 of camera system 100 can also for example be implemented as computer journey Sequence, the storage medium or camera control method for storing the program.(computer) program according to one aspect is designed to enable Enough computer systems (communication terminal 8) communicated with camera apparatus 1 are used as the journey of acquiring unit 821 and order issue unit 822 Sequence.Acquiring unit 821 obtains the testing result of detection unit 160 from second interface 182.Order issue unit 822 orders driving Order is supplied to third interface 183.

Next, the modification that the above exemplary embodiments will be enumerated one by one.It can be with note that will be described below any modification It is appropriately combined.

For example, communication terminal 8 needs not be the mobile communication of such as smart phone, tablet computer or wearable device etc Terminal, but it is also possible to be mounted on the special information terminal of fixed position, personal computer or such as smart television etc The communication terminal of connectable to network.

Communication means between camera apparatus 1 (communication unit 140) and communication terminal 8 needs not be wireless communication, and can also To be wire communication.Optionally, camera apparatus 1 (communication unit 140) and communication terminal 8 can wirelessly and via cable that This communication.In this case, for example, vision signal can be transferred to communication terminal 8 from camera apparatus 1 via cable, and Drive command and other signals can be transmitted wirelessly to communication terminal 8 from camera apparatus 1.In addition, (the communication of camera apparatus 1 Unit 140) and communication terminal 8 need not be configured as directly communicating with each other, but also can be configured as via such as relay Etc another equipment communicate with one another indirectly.

It can be the case where not changing the specification of camera apparatus 1 itself according to the camera apparatus 1 of the above exemplary embodiments The application range of lower extension camera apparatus 1.However, this is only example, it should not be construed as restrictive.Optionally, camera apparatus 1 The specification of itself can change.

Furthermore, it is possible to suitably omit operating unit 170 from camera apparatus 1.Even if operating unit 170 is omitted, pass through Make detection unit 160 receive user operational order (passing through tapping operation) or from communication terminal 8 receive order (such as driving life Enable and image capture order), camera apparatus 1 still can be by user's operation, as described above.

In the above-described embodiments, gyro sensor 130 is set for printed circuit board 90.But this configuration is only example, It should not be construed as restrictive.Alternatively, or (rather than printed circuit board 90) elsewhere in fixed cell 20 is set Set gyro sensor 130.In addition alternatively, it also may instead be fixed cell 20 and gyro sensor 130 be set, but be Gyro sensor 130 is arranged in mobile unit 10.

In addition, in the above-described embodiments, detection unit 160 includes that gyro sensor 130 is used as example.However, this is only It is example, should not be construed as restrictive.Alternatively, detection unit 160 may also include 3-axis acceleration sensor.In addition, phase To the necessary constituent element of the not instead of camera apparatus 1 of position detection unit 131, can suitably omit.

In addition, in the above-described embodiment, the mobile unit 10 of camera apparatus 1 is configured to along three axis directions (that is, translation direction, inclined direction and rotating direction) rotation.But this configuration is only example, should not be construed as restricted 's.The mobile unit 10 of camera apparatus 1 only need in three axis directions at least two on it is rotatable.

Camera apparatus 1 even from above-described embodiment includes Magnetic Sensor 92, and Magnetic Sensor 92 is nor camera apparatus 1 Necessary constituent element.When being not provided with Magnetic Sensor 92, camera apparatus 1 for example can be based on the inspection of gyro sensor 130 Result is surveyed to obtain the rotation angle of the displacement for correcting image capturing unit 3.

In addition, in the above-described embodiments, sphere 46 is configured as assembling and being fixed to the through-hole 451 of loose mounting structure 45 In.But this configuration is only example, should not be construed as restrictive.Alternatively, sphere 46, which also can be configured as, is fixed to pine In the recess portion 506 of mounting structure 502.In this case, the inner peripheral surface of the through-hole 451 of loose mounting structure 45 corresponds to first Loose assembly surface, and the spherical surface of the protrusion from loose mounting structure 502 sphere 46 outstanding corresponds to the second loose loader table Face.Loose dress is assembled to by pine from the spherical surface (the second loose assembly surface) of the protrusion of the sphere 46 of loose 502 protrusion of mounting structure With in component 45, thus through-hole of the spherical surface (the second loose assembly surface) of the protrusion in sphere 46 with loose mounting structure 45 Narrow gap is left between 451 inner peripheral surface (the first loose assembly surface).

In addition, in the above-described embodiments, mobile unit 10 is pivotally supported by the coupling member 50 of fixed cell 20, so that Mobile unit 10 is rotatable.However, this is not that fixed cell 20 is allowed to keep mobile unit 10 so that mobile unit 10 can revolve Turn unique configuration of (removable).Alternatively, mobile unit 10 can be with raised partial spherical surface, and can be by Fixed cell 20 with recess portion is pivotably supported, and at least part of mobile unit 10 is assemblied in the recess portion by pine.In In this case, the recess portion of the raised partial spherical surface and fixed cell 20 of mobile unit 10 is point contact with one another or line connects Touching, to allow mobile unit 10 to rotate around the center of the partial spherical surface of protrusion.For allowing fixed cell 20 to keep movable This structure of unit 10, for example, the structure described in WO 2013/168391A1 can be used.

Note that the attached drawing referred in the foregoing description of exemplary embodiment (including its modification) is only for showing camera The exemplary schematic diagram of equipment 1.Therefore, shape, size and the relative position of each component shown on these figures may With it is actual different.

(6) brief introduction

It will be observed from the foregoing that include image capturing unit (3) according to the camera apparatus (1) of first aspect, can Moving cell (10), fixed cell (20), driving unit (30), detection unit (160), drive control unit (111) and communication unit First (140).Camera apparatus (1) further includes first interface (181), second interface (182) and third interface (183).Image capture Unit (3) includes imaging sensor (3a).Mobile unit (10) keeps image capturing unit (3) on it.Fixed cell (20) so that the mode that mobile unit (10) can move keeps mobile unit (10).Driving unit (30) drives mobile unit (10), so that mobile unit (10) is mobile relative to fixed cell (20).Detection unit (160) detects fixed cell (20) or can The movement of at least one of moving cell (10).Drive control unit (111) is controlled based on the testing result of detection unit (160) Driving unit (30) processed.Communication unit (140) can be communicated with communication terminal (8).First interface (181) is exported by image The vision signal that capturing unit (3) generates.Second interface (182) will test the detection of unit (160) via communication unit (140) As a result communication terminal (8) are sent to.Third interface (183) receives driving life from communication terminal (8) via communication unit (140) It enables, to control driving unit (30) by drive control unit (111).

This aspect allows to execute desired function by making camera apparatus (1) and communication terminal (8) binding operation, thus Even if also contributing to expanding the application range of camera apparatus (1) in the case where not changing the specification of camera apparatus (1) itself. That is the camera apparatus (1) is sent to communication via second interface (182) by will test the testing result of unit (160) Terminal (8) can be used for communication terminal 8 to be used in control driving unit (30), detection unit 160 testing result.In addition, The camera apparatus (1) via third interface (183) from the driving that communication terminal (8) receive control driving unit 30 also by ordering It enables, to make communication terminal (8) to control driving unit (30).This makes even if not changing the specification of camera apparatus (1) itself In the case of, allow camera apparatus (1) after its specification has been fixed by inputting various optional functions in camera apparatus (1) Plurality of optional function is executed, to expand the application range (1) of camera apparatus.

The camera apparatus (1) according to second aspect that can be realized with reference to first aspect further includes that image capture control is single First (150) and the 4th interface (184).Image capture control unit (150) controls image capturing unit (3).4th interface (184) Image capture order is received from communication terminal (8) via communication unit (140), to be controlled by image capture control unit (150) Image capturing unit (3).This aspect via the 4th interface (184) from communication terminal (8) by receiving for controlling image capture The image capture order of unit (3), to allow communication terminal (8) to control image capturing unit (3).Even if this also allows in camera More kinds of optional functions are also added to camera apparatus (1) after having fixed by the specification of equipment (1), thus further expansion phase The application range of machine equipment (1).

Can be with reference to first aspect or in the camera apparatus (1) of the third aspect of second aspect realization in basis, first connects Mouth (181) is configured as sending communication terminal (8) for vision signal via communication unit (140).This aspect allows image to catch The video for obtaining unit (3) shooting is displayed on the monitor (display) of communication terminal (8) or is stored in communication terminal (8) In.It is set even if this also allows that more kinds of optional functions are also added to camera after the specification of camera apparatus (1) has been fixed Standby (1), thus the application range of further expansion camera apparatus (1).

It can set with reference to first aspect to any one of the third aspect come what is realized according to the camera of fourth aspect In standby (1), mobile unit (10) be configured as selecting in the group formed from translation direction, inclined direction and rotating direction to It can be moved in few both direction relative to fixed cell (20).This aspect allows mobile unit (10) to move in a plurality of directions It is dynamic, even if therefore this also allows to have fixed in the specification of camera apparatus (1) more kinds of optional functions is also added to phase later Machine equipment (1), thus the application range of further expansion camera apparatus (1).

It is set in the camera according to the 5th aspect that can be realized with reference to first aspect to any one of fourth aspect In standby (1), drive control unit (111) is configured as controlling driving unit by the testing result based on detection unit (160) (30), in the side of vibration for reducing image capturing unit (3) mobile unit (10) are driven up.This aspect compensates for image and catches The shake of unit (3) is obtained, to provide the undesirable vibration for reducing image capturing unit (3) for camera apparatus (1) Dynamic stabilizer.

It can set with reference to first aspect to any one of the 5th aspect to realize according to the camera of the 6th aspect In standby (1), detection unit (160) includes gyro sensor (130) to detect the angular speed or movable list of fixed cell (20) At least one of the angular speed of first (10).This aspect is controlling driving unit using the output of gyro sensor (130) (30) while, communication terminal (8) are sent by the output of gyro sensor (130) via second interface (182), to make top The output of spiral shell instrument sensor (130) can be used for communication terminal (8).Even if this also allows to have consolidated in the specification of camera apparatus (1) More kinds of optional functions are also added to camera apparatus (1) after fixed, so that further expansion camera apparatus (1) applies model It encloses.

Can the camera apparatus according to the 7th aspect be being realized to any of the 6th aspect with reference to first aspect (1) in, detection unit (160) includes the relative position for being configured as detection mobile unit (10) relative to fixed cell (20) Relative position detection unit (131).By the way that the output of relative position detection unit (131) is sent via second interface (182) To communication terminal (8), and driving unit (30), this aspect are controlled using the output of relative position detection unit (131) simultaneously The output of relative position detection unit 131 is set to can be used for communication terminal (8).Even if this also allows the specification in camera apparatus (1) More kinds of optional functions are also added to camera apparatus (1) after having fixed, so that further expansion camera apparatus (1) is answered Use range.

Camera system (100,100A, 100B) according to eighth aspect include: according to first aspect to the 7th aspect in The camera apparatus (1) of any one；And communication terminal (8).Communication terminal (8) is configured as: by via with camera apparatus (1) Communication come execute the testing result based on detection unit (160) detection processing or generate drive command generation processing in At least one, thus with camera apparatus (1) binding operation.This aspect allows by tying camera apparatus (1) and communication terminal (8) Closing operation executes desired function, to even if also contribute in the case where not changing the specification of camera apparatus (1) itself Expand the application range of camera apparatus (1).

It is designed to allow to according to the program of the 9th aspect and according to first aspect to any of the 7th aspect The computer system that camera apparatus (1) is communicated is used as acquiring unit (821) and order issue unit (822).Acquiring unit (821) testing result of detection unit (160) is obtained from second interface (182).Order issue unit (822) is to third interface (183) drive command is issued.This aspect allows to execute expectation by making camera apparatus (1) and communication terminal (8) binding operation Function, to even if also contribute in the case where not changing the specification of camera apparatus (1) itself expanding camera apparatus (1) Application range.

In camera system (100,100A, 100B) and program, it can be appropriately combined and be retouched using for camera apparatus (1) Any one of various configurations and modification for stating.

Note that second aspect can be omitted suitably to the basic constituent element of the 7th aspect not instead of camera apparatus (1).

Reference signs list

1 camera apparatus；

3 image capturing units；

8 communication terminals；

10 mobile units；

20 fixed cells；

30 driving units；

111 drive control units；

130 gyro sensors

131 relative position detection units；

140 communication units；

150 image capture control units；

160 detection units；

181 first interfaces；

182 second interfaces；

183 third interfaces；

184 the 4th interfaces；

100,100A, 100B camera system；

821 acquiring units；

822 order issue units.