U.S. patent application number 12/237426 was filed with the patent office on 2009-01-29 for active camera apparatus and robot apparatus.
This patent application is currently assigned to KABUSHIKI KAISHA TOSHIBA. Invention is credited to Junko HIROKAWA, Takashi ICHIKAWA, Hideki ITO, Nobutaka KIKUIRI, Hideichi NAKAMOTO, Hideki OGAWA.
Application Number | 20090028542 12/237426 |
Document ID | / |
Family ID | 34074514 |
Filed Date | 2009-01-29 |
United States Patent
Application |
20090028542 |
Kind Code |
A1 |
NAKAMOTO; Hideichi ; et
al. |
January 29, 2009 |
ACTIVE CAMERA APPARATUS AND ROBOT APPARATUS
Abstract
An outer body of ball shell type has an opening. A camera is
located in the outer body and receives an image from outside of the
outer body through the opening. A camera support unit is located in
the outer body and rotationally supports the camera along a first
axis and a second axis mutually crossed at a center of the outer
body. A first camera actuator is located in the outer body and
rotationally actuates the camera around the first axis. A second
camera actuator is located in the outer body and rotationally
actuates the camera around the second axis.
Inventors: |
NAKAMOTO; Hideichi;
(Kanagawa-ken, JP) ; HIROKAWA; Junko; (Tokyo,
JP) ; ICHIKAWA; Takashi; (Saitama-ken, JP) ;
ITO; Hideki; (Kanagawa-ken, JP) ; OGAWA; Hideki;
(Kanagawa-ken, JP) ; KIKUIRI; Nobutaka; (Tokyo,
JP) |
Correspondence
Address: |
OBLON, SPIVAK, MCCLELLAND MAIER & NEUSTADT, P.C.
1940 DUKE STREET
ALEXANDRIA
VA
22314
US
|
Assignee: |
KABUSHIKI KAISHA TOSHIBA
Tokyo
JP
|
Family ID: |
34074514 |
Appl. No.: |
12/237426 |
Filed: |
September 25, 2008 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
10895859 |
Jul 22, 2004 |
7446813 |
|
|
12237426 |
|
|
|
|
Current U.S.
Class: |
396/427 ;
396/535; 901/47 |
Current CPC
Class: |
H04N 5/2259
20130101 |
Class at
Publication: |
396/427 ;
396/535; 901/47 |
International
Class: |
G03B 17/02 20060101
G03B017/02; G03B 17/00 20060101 G03B017/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 25, 2003 |
JP |
2003-201872 |
Claims
1. An active camera apparatus, comprising: an outer body of a ball
shell type having an opening; a camera in the outer body, the
camera receiving an image from outside of the outer body through
the opening; a camera support unit in the outer body, the camera
support unit rotationally supporting the camera along a first axis
and a second axis crossing at a center of the outer body, the
camera support unit including a half-toroidal member rotating
around the first axis, an axial member as the second axis
connecting between both edges of the half-toroidal member, a
mounting plate through which the axial member passes mounting the
camera, a camera support member as the ball shell type being
located inside the outer body and fixed to the half-toroidal member
and the camera, the camera support member having an engagement pin
projected on an outer surface of the camera support member; a first
camera actuator in the outer body, the first camera actuator
rotationally actuating the camera around the first axis; a second
camera actuator in the outer body, the second camera actuator
rotationally actuating the camera around the second axis; an
open-close member as a partial ball shell type located in a space
between the outer body and the camera support member, the
open-close member being rotated around the second axis, the
open-close member having two support pins projecting in opposite
directions on an outer surface of the open-close member, the
opposite directions being positioned along the second axis, the
outer body having two support holes into which the support pins
rotationally fit, the open-close member having an engagement hole
into which the engagement pin movably fits, a length of the
engagement hole along a rotation direction around the first axis
being longer than a length of the engagement hole along a rotation
direction around the second axis.
2. The active camera apparatus according to claim 1, wherein the
camera support member and the camera are rotated as one body around
the first axis and the second axis in the outer body, a lens of the
camera facing the outside of the outer body through the
opening.
3. The active camera apparatus according to claim 2, wherein the
camera support unit includes a spur gear fixed to one edge of the
half-toroidal member, an axis of the spur gear being fixedly
connected to one end of the axial member.
4. The active camera apparatus according to claim 3, wherein the
first camera actuator is a first motor fixed to an inside of the
outer body, a rotation axis of the first motor is parallel to the
first axis, and a pinion gear joining with the rotation axis
engages an inner gear of an inner circular surface of the
half-toroidal member, and wherein the half-toroidal member is
rotated around the first axis by rotation of the pinion gear of the
first motor.
5. The active camera apparatus according to claim 4, wherein the
second camera actuator is a second motor fixed to the mounting
plate, a rotation axis of the second motor being parallel to the
second axis, and a pinion gear joining with the rotation axis
engaging the spur gear, and wherein the mounting plate is rotated
around the second axis by rotation of the pinion gear of the second
motor.
6. The active camera apparatus according to claim 5, wherein the
camera support member with the camera is rotated around the first
axis by rotation of the half-toroidal member and is rotated around
the second axis by rotation of the mounting plate.
7. An active camera apparatus, comprising an outer body of a ball
shell type having an opening; a camera in the outer body, the
camera receiving an image from outside of the outer body through
the opening; a camera support unit in the outer body, the camera
support unit rotationally supporting the camera along a first axis
and a second axis crossing at a center of the outer body, the
camera support unit including a half-toroidal member rotating
around the first axis, an axial member as the second axis
connecting between both edges of the half-toroidal member, a
mounting plate through which the axial member passes mounting the
camera, a camera support member as the ball shell type being
located inside the outer body and fixed to the half-toroidal member
and the camera; a first camera actuator in the outer body, the
first camera actuator rotationally actuating the camera around the
first axis and being a first motor; a second camera actuator in the
outer body, the second camera actuator rotationally actuating the
camera around the second axis and being a second motor; an
open-close member as a partial ball shell type located in a space
between the outer body and the camera support member, the
open-close member being rotated around the second axis, the
open-close member having two support pins projecting in opposite
directions on an outer surface of the open-close member, the
opposite directions being positioned along the second axis, the
outer body having two support holes into which the support pins
rotationally fit; a torsion spring inter-carried in a space between
the support pin and the support hole, the torsion spring energizing
the open-close member along a rotation direction around the second
axis; and a third motor in the outer body, a rotation axis of the
third motor joining with a pulley around which a wire is turned, a
tip of the wire being connected to one end of an inside of the
open-close member.
8. The active camera apparatus according to claim 7, wherein the
camera support member and the camera are rotated as one body around
the first axis and the second axis in the outer body, a lens of the
camera facing the outside of the outer body through the
opening.
9. The active camera apparatus according to claim 8, wherein the
camera support unit includes a spur gear fixed to one edge of the
half-toroidal member, an axis of the spur gear being fixedly
connected to one end of the axial member.
10. The active camera apparatus according to claim 9, wherein the
first camera actuator is the first motor fixed to an inside of the
outer body, a rotation axis of the first motor is parallel to the
first axis, and a pinion gear joining with the rotation axis
engages an inner gear of an inner circular surface of the
half-toroidal member, and wherein the half-toroidal member is
rotated around the first axis by rotation of the pinion gear of the
first motor.
11. The active camera apparatus according to claim 10, wherein the
second camera actuator is the second motor fixed to the mounting
plate, a rotation axis of the second motor being parallel to the
second axis, and a pinion gear joining with the rotation axis
engaging the spur gear, and wherein the mounting plate is rotated
around the second axis by rotation of the pinion gear of the second
motor.
12. The active camera apparatus according to claim 11, wherein the
camera support member with the camera is rotated around the first
axis by rotation of the half-toroidal member and is rotated around
the second axis by rotation of the mounting plate.
13. A robot apparatus, comprising: an outer body of a ball shell
type having an opening; a camera as an eyeball in the outer body,
the camera receiving an image from outside of the outer body
through the opening; a camera support unit in the outer body, the
camera support unit rotationally supporting the camera along a
first axis and a second axis crossing at a center of the outer
body, the camera support unit including a half-toroidal member
rotating around the first axis, an axial member as the second axis
connecting between both edges of the half-toroidal member, a
mounting plate through which the axial member passes mounting the
camera, a camera support member as the ball shell type being
located inside the outer body and fixed to the half-toroidal member
and the camera; a first camera actuator in the outer body, the
first camera actuator rotationally actuating the camera around the
first axis; a second camera actuator in the outer body, the second
camera actuator rotationally actuating the camera around the second
axis; an open-close member as a partial ball shell type located in
a space between the outer body and the camera support member, the
open-close member being rotated around the second axis, the
open-close member having two support pins projecting in opposite
directions on an outer surface of the open-close member, the
opposite directions being positioned along the second axis, the
outer body having two support holes into which the support pins
rotationally fit, the open-close member having an engagement hole
into which an engagement pin movably fits, a length of the
engagement hole-along a rotation direction around the first axis
being longer than a length of the engagement hole along a rotation
direction around the second axis.
14. The active camera apparatus according to claim 13, wherein the
camera support member and the camera are rotated as one body around
the first axis and the second axis in the outer body, a lens of the
camera facing the outside of the outer body through the
opening.
15. The active camera apparatus according to claim 14, wherein the
camera support unit includes a spur gear fixed to one edge of the
half-toroidal member, an axis of the spur gear being fixedly
connected to one end of the axial member.
16. The active camera apparatus according to claim 15, wherein the
first camera actuator is a first motor fixed to an inside of the
outer body, a rotation axis of the first motor is parallel to the
first axis, and a pinion gear joining with the rotation axis
engages an inner gear of an inner circular surface of the
half-toroidal member, and wherein the half-toroidal member is
rotated around the first axis by rotation of the pinion gear of the
first motor.
17. The active camera apparatus according to claim 16, wherein the
second camera actuator is a second motor fixed to the mounting
plate, a rotation axis of the second motor being parallel to the
second axis, and a pinion gear joining with the rotation axis
engaging the spur gear, and wherein the mounting plate is rotated
around the second axis by rotation of the pinion gear of the second
motor.
18. The active camera apparatus according to claim 17, wherein the
camera support member with the camera is rotated around the first
axis by rotation of the half-toroidal member and is rotated around
the second axis by rotation of the mounting plate.
19. A robot apparatus, comprising: an outer body of a ball shell
type having an opening; a camera as an eyeball in the outer body,
the camera receiving an image from outside of the outer body
through the opening; a camera support unit in the outer body, the
camera support unit rotationally supporting the camera along a
first axis and a second axis crossing at a center of the outer
body, the camera support unit including a half-toroidal member
rotating around the first axis, an axial member as the second axis
connecting between both edges of the half-toroidal member, a
mounting plate through which the axial member passes mounting the
camera, a camera support member as the ball shell type being
located inside the outer body and fixed to the half-toroidal member
and the camera; a first camera actuator in the outer body, the
first camera actuator rotationally actuating the camera around the
first axis and being a first motor; a second camera actuator in the
outer body, the second camera actuator rotationally actuating the
camera around the second axis and being a second motor; an
open-close member as a partial ball shell type located in a space
between the outer body and the camera support member, the
open-close member being rotated around the second axis, the
open-close member having two support pins projecting in opposite
directions on an outer surface of the open-close member, the
opposite directions being positioned along the second axis, the
outer body having two support holes into which the support pins
rotationally fit; a torsion spring inter-carried in a space between
the support pin and the support hole, the torsion spring energizing
the open-close member along a rotation direction around the second
axis; and a third motor in the outer body, a rotation axis of the
third motor joining with a pulley around which a wire is turned, a
tip of the wire being connected to one end of an inside of the
open-close member.
20. The active camera apparatus according to claim 19, wherein the
camera support member and the camera are rotated as one body around
the first axis and the second axis in the outer body, a lens of the
camera facing the outside of the outer body through the
opening.
21. The active camera apparatus according to claim 20, wherein the
camera support unit includes a spur gear fixed to one edge of the
half-toroidal member, an axis of the spur gear being fixedly
connected to one end of the axial member.
22. The active camera apparatus according to claim 21, wherein the
first camera actuator is the first motor fixed to an inside of the
outer body, a rotation axis of the first motor is parallel to the
first axis, and a pinion gear joining with the rotation axis
engages an inner gear of an inner circular surface of the
half-toroidal member, and wherein the half-toroidal member is
rotated around the first axis by rotation of the pinion gear of the
first motor.
23. The active camera apparatus according to claim 22, wherein the
second camera actuator is the second motor fixed to the mounting
plate, a rotation axis of the second motor being parallel to the
second axis, and a pinion gear joining with the rotation axis
engaging the spur gear, and wherein the mounting plate is rotated
around the second axis by rotation of the pinion gear of the second
motor.
24. The active camera apparatus according to claim 23, wherein the
camera support member with the camera is rotated around the first
axis by rotation of the half-toroidal member and is rotated around
the second axis by rotation of the mounting plate.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Continuation of and claims the benefit
of priority under 35 U.S.C. .sctn. 120 from U.S. Ser. No.
10/895,859, filed Jul. 22, 2004 and claims the benefit of priority
from prior Japanese Patent Application P2003-201872, filed on Jul.
25, 2003; the entire contents of each of which are incorporated
herein by reference.
FIELD OF THE INVENTION
[0002] The present invention relates to an active camera apparatus
and a robot apparatus for positioning a viewpoint of an image
sensor of a camera to a predetermined location.
BACKGROUND OF THE INVENTION
[0003] Some equipment utilized as an information processing
apparatus or a robot apparatus includes a camera and executes a
predetermined decision by monitoring an external environment or a
movement of an imaging object through the camera. As one of such
equipment, an active camera apparatus of which viewpoint changes by
rotating the camera as a human's eye is known (For example,
Japanese Patent Disclosure (Kokai) PH11-355622).
[0004] In this active camera apparatus, the camera is located in a
body of a ball shell type. This camera is supported by a gimbal
mechanism installed into the body, and rotated around two axes
mutually crossed in the body. The gimbal mechanism is comprised of
a pair of gimbals. One gimbal is located inside of the body, and
the other gimbal is located outside of the body.
[0005] A camera actuator is located outside of the body. The camera
actuator has a ring wire bound to the camera. By moving this wire
along a predetermined direction, the camera in the body is
actuated.
[0006] In such active camera apparatus, one gimbal is set in the
body. Accordingly, the camera can be moved within a large actuation
area. As a result, the camera can input an image from a wide field
of view.
[0007] However, as mentioned-above, in the active camera apparatus
of the prior art, the camera actuator is located outside of the
body. Accordingly, the camera actuator is not protected from the
external environment such as a dust, moisture, and a heat.
Furthermore, the whole component of the active camera apparatus
including the camera actuator becomes undesirably large.
SUMMARY OF THE INVENTION
[0008] The present invention is directing to an active camera
apparatus and a robot apparatus in which the camera and the camera
actuator can be protected from the external environment.
[0009] According to an aspect of the present invention, there is
provided an active camera apparatus, comprising: an outer body of
ball shell type having an opening; a camera in the outer body, the
camera receiving an image from outside of the outer body through
the opening; a camera support unit in the outer body, the camera
support unit rotationally supporting the camera along a first axis
and a second axis, the first axis and the second axis crossing at a
center of the outer body; a first camera actuator in the outer
body, the first camera actuator rotationally actuating the camera
around the first axis; and a second camera actuator in the outer
body, the second camera actuator rotationally actuating the camera
around the second axis.
[0010] According to another aspect of the present invention, there
is also provided a robot apparatus, comprising: an outer body of
ball shell type having an opening; a camera as an eyeball in the
outer body, the camera receiving an image from outside of the outer
body through the opening; an open-close member as an eyelid
rotationally located around a center of the outer body, the
open-close member closing the opening by rotation; a camera support
unit in the outer body, the camera support unit rotationally
supporting the camera along a first axis and a second axis, the
first axis and the second axis crossing at the center of the outer
body; a first camera actuator in the outer body, the first camera
actuator rotationally actuating the camera around the first axis;
and a second camera actuator in the outer body, the second camera
actuator rotationally actuating the camera around the second
axis.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a schematic diagram of the outward appearance of
an active camera apparatus according to a first embodiment of the
present invention.
[0012] FIG. 2 is a sectional plan view of the active camera
apparatus along the XZ plane according to the first embodiment of
the present invention.
[0013] FIG. 3 is a sectional plan view of the active camera
apparatus along the YZ plane according to the first embodiment of
the present invention.
[0014] FIGS. 4A, 4B, and 4C are schematic diagrams of a linking
mechanism between a camera support member and an open-close member
according to the first embodiment of the present invention.
[0015] FIGS. 5A, 5B, and 5C are schematic diagrams of a release
situation of the linking mechanism between the camera support
member and the open-close member according to the first embodiment
of the present invention.
[0016] FIGS. 6A and 6B are schematic diagrams of components of the
active camera apparatus according to a second embodiment of the
present invention.
[0017] FIGS. 7A, 7B, and 7C are schematic diagrams of an open-close
situation of an opening of an outer body according to the second
embodiment of the present invention.
[0018] FIG. 8 is a schematic diagram of the outward appearance of
the active camera apparatus as a sectional plane by YZ plane
according to a modification of the second embodiment.
[0019] FIG. 9 is a sectional plan of the active camera apparatus
according to a third embodiment of the present invention.
[0020] FIG. 10 is a block diagram of a lens actuator of the active
camera apparatus according to the third embodiment of the present
invention.
[0021] FIG. 11 is a schematic diagram of a target set on the inside
of the open-close member according to the third embodiment of the
present invention.
[0022] FIGS. 12A and 12B are schematic diagrams of a rolling
situation of the active camera apparatus according to a fourth
embodiment of the present invention.
[0023] FIG. 13 is a schematic diagram of an adjustment situation of
rolling of the active camera apparatus by the external environment
according to the fourth embodiment of the present invention.
[0024] FIGS. 14A and 14B are schematic diagrams of a reaction
situation of a robot apparatus according to a fifth embodiment of
the present invention.
[0025] FIG. 15 is a flowchart of communication processing of the
robot apparatus with a person according to the fifth embodiment of
the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0026] Hereinafter, various embodiments of the present invention
will be explained by referring to the drawings.
[0027] The first embodiment of the present invention is explained
referring to FIGS. 1.about.5. FIG. 1 is a schematic diagram of the
outward appearance of an active camera apparatus according to the
first embodiment of the present invention. FIG. 2 is a sectional
plan of a ball type camera unit by XZ plane according to the first
embodiment of the present invention. FIG. 3 is a sectional plan of
the ball type camera unit by YZ plane according to the first
embodiment of the present invention.
[0028] As shown in FIGS. 1.about.3, the active camera apparatus of
the present invention includes an outer body 1 of a ball shell
type. An opening 2 is formed in the outer body 1. A transparent
light member (not shown in the figures) formed by transparent
material is put into the opening 2. The opening 2 is formed as a
shape and a dimension not to obstruct a field of view of a camera
12.
[0029] A body fixed member 4 (support member) is fixed to the
inside of the outer body 1. This body fixed member is comprised of
a board member and projects toward a center of sphere of the outer
body 1.
[0030] On a tip of the body fixed member 4, a first groove 5 is
formed at a middle part along board thickness direction. The first
groove 5 is formed along a longitudinal direction of the body fixed
member 4. A base 3 of the first groove 5 is a circular surface of
concentric with the center of sphere of the outer body 1.
[0031] Furthermore, on the tip of the body fixed member 4, a first
motor 6 (a first camera actuator) is fixed. A first pinion gear 7
is joined with a rotation axis 6a of the first motor 6. The first
pinion gear 7 is inserted into an insertion hole 8 set at the tip
of the body fixed member 4, and an outer surface of the first
pinion gear 7 faces one inside of the first groove 5.
[0032] An arcwise gimbal 9 (a half-toroidal member) has a low
friction support in the inside of the first groove 5. The arcwise
gimbal 9 is comprised of a half-toroidal board member and
concentrically located as a center of sphere of the outer body 1.
An outer surface of the arcwise gimbal 9 contacts the base 3 of the
first groove 5. An inner surface of the arcwise gimbal 9 is located
on the base side of the first groove 5 than the first pinion gear
7.
[0033] An inner gear 9a is formed on the inner surface of the
arcwise gimbal 9. The inner gear 9a engages the first pinion gear
7. By actuating the first motor 6, the arcwise gimbal 9 is rotated
around Y axis (a first axis) passing the center of sphere of the
outer body 1.
[0034] A spur gear 15 is set to one edge of the arcwise gimbal 9.
The spur gear 15 is perpendicularly fixed to the one edge of the
arcwise gimbal 9 as shown in FIG. 2, and a rotation axis of the
spur gear 15 coincides with X axis (a second axis).
[0035] Both edges of the arcwise gimbal 9 as a semicircle are
connected by an axial member 10. The axial member 10 is a round
stick having a approximately circular cross section. An axial
center line of the axial member 10 approximately coincides with the
X axis, perpendicularly crossing the Y axis at a center of the
sphere of the outer body 1.
[0036] A mounting plate 11 (a mounting member) is set to the axial
member 10. A support section 11a of shape is formed on one face of
the mounting plate 11. By engaging the support section 11a with the
axial member 10, the mounting plate 11 rotates around the axial
member 10.
[0037] A camera 12 is set to the other face of the mounting plate
11. The camera 12 includes an imaging device such as a CCD sensor
or a CMOS sensor. An optical axis of the camera 12 coincides with
the Z axis perpendicularly crossing the X axis and the Y axis. A
front glass 12a is equipped on a front face of the camera 12.
[0038] Furthermore, a camera support member 13 of a ball shell type
is fixed to the front side of the camera 12. The camera support
member 13 is concentrically located in the sphere of the outer body
1. A mount opening 14 is formed on a part corresponding to the
front face of the camera 12.
[0039] A second motor 17 (a second camera actuator) is fixed to a
predetermined position of the mounting plate 11 through a bracket
19. A second pinion gear 18 is joined with a rotation axis 17a of
the second motor 17. The second pinion gear 18 engages the spur
gear 15. By actuating the second motor 17, the second motor 17
rotates around the spur gear 15 as shown by an arrow A of FIG.
3.
[0040] Briefly, the camera 12 and the second motor 17 are formed as
one body through the mounting plate 11. Accordingly, by actuating
the second motor 17, the camera 12 rotates around the axial member
10 (X axis).
[0041] When the second pinion gear 18 stops rotation by stopping
actuation of the second motor 17, the camera 12 maintains a
position dependent on the timing of stopping actuation.
[0042] As mentioned-above, by actuating the first motor 6, the
arcwise gimbal 9 rotates around the Y axis by rotation of the first
pinion gear 7. Accordingly, the camera 12 supported by the axial
member 10 rotates around Y axis.
[0043] When the arcwise gimbal 9 stops rotation by stopping
actuation of the first motor 6, the camera 12 maintains a position
dependent on the timing of stopping actuation.
[0044] Briefly, the body fixed member 4, the arcwise gimbal 9, the
axial member 10 and the mounting plate 11 comprise a camera support
means 24 to rotationally support the camera 12 around X axis and Y
axis.
[0045] An open-close member 20 is located in a space between the
outer body 1 and the camera support member 13. The open-close
member 20 is comprised of a part of a ball shell body. A support
pin 21 is respectively projected on both edges of the outer surface
of the open-close member 20. An axial center of the support pin 21
coincides with the X axis. The support pin 21 is rotationally
supported by a support hole 22 set in the inside of the outer body
1.
[0046] Each support hole 22 is comprised of a first hole 22a and a
second hole 22b as shown in FIG. 1. The first hole 22a and the
second hole 22b are both round holes of the same diameter. The
first hole 22a is formed at a position crossing the X axis on the
outer body 1. The second hole 22b is formed at a position slightly
eccentric from the first hole 22a on the outer body 1.
[0047] A connection part between the first hole 22a and the second
hole 22b has a hole diameter shorter than each hole. The open-close
member 20 can be slid along a contact direction between the camera
support member 13 and the open-close member 20 by hand operation.
Briefly, the support pin 21 can be slid between the first hole 22a
and the second hole 22b.
[0048] FIGS. 4A-4C are schematic diagrams of linking situation
between the camera support member 13 and the open-close member 20
according to the first embodiment. FIG. 4A shows a situation before
rotating the camera support member 13. FIG. 4B shows a situation of
rotation of the camera support member 13. FIG. 4C shows another
situation of rotation of the camera support member 13.
[0049] As shown in FIGS. 4A-4C, the open-close member 20 and the
camera support member 13 are connected by a linking mechanism 23.
The linking mechanism 23 is comprised of an engagement pin 23a set
on an outer surface of the camera support member 13 and an
engagement hole 23b set on the open-close member 20.
[0050] The engagement pin 23a is formed as a round section and
located in a space between the camera support member 13 and the
outer body 1. On the other hand, the engagement hole 23b is formed
as a short length along a rotation direction around the X axis and
a long length along a rotation direction around the Y axis (shown
in FIG. 4C).
[0051] Accordingly, as shown in FIG. 4a, by inserting the
engagement pin 23a into the engagement hole 23b, when the camera
support member 13 rotates around the X axis, the engagement pin 23a
is caught in an edge part of the engagement hole 23b as shown in
FIG. 4C. As a result, the open-close member 20 and the camera
support member 13 are moved with linking.
[0052] However, as mentioned-above, the engagement hole 23b is
formed as a long length along a rotation direction around the Y
axis. Accordingly, even if the camera support member 13 rotates
around the Y axis, the engagement pin 23a is not caught in the edge
part of the engagement hole 23b, and the open-close member 20 and
the camera support member 13 are not moved with linking.
[0053] FIGS. 5A.about.5C are schematic diagrams of release
situation of the linking mechanism between the camera support
member 13 and the open-close member according to the first
embodiment. FIG. 5A shows a non-release situation of the linking
mechanism. FIG. 5B shows a release situation of the linking
mechanism. FIG. 5C shows a situation that the opening of the outer
body 1 is closed by the open-close member after releasing the
linking mechanism.
[0054] As shown in FIGS. 5A.about.5C, this linking mechanism 23 can
be released by hand operation. Concretely, in the situation that
the linking mechanism 23 is not released as shown in FIG. 5A, by
pulling up the open-close member 20 from the camera support member
13 along an alienation direction of X axis, a position of the
support pin 21 is moved from the first hole 22a to the second hole
22b. In this case, as shown in FIG. 5B, the engagement pin 23a is
picked out from the engagement hole 23b, and the linking between
the open-close member 20 and the camera support member 13 is
released. As a result, as shown in FIG. 5C, the open-close member
20 can freely move irrespective of the camera support member
13.
[0055] In the above explanation, the open-close member 20 can
freely move when the support pin 21 fits into the second hole 22b.
However, after the linking mechanism 23 is released, the open-close
member 20 may move by fitting a position of the support pin 21 into
the first hole 22a again.
[0056] In the above-mentioned active camera apparatus, the camera
12 is rotationally supported around the X axis and the Y axis
mutually crossing at a center of sphere of the outer body 1. By
actuating the first motor 6 and the second motor 17, a viewpoint
(an optical axis) of the camera 12 can be rotated around a center
of sphere of the outer body 1.
[0057] Furthermore, by adjusting actuation quantity of the first
motor 6 and the second motor 17, a viewpoint of the camera 12
variously changes, and an imaging object can be taken from various
angles.
[0058] In such active camera apparatus, in the first embodiment,
the first motor 6 and the second motor 17 are accommodated in the
outer body 1. Accordingly, the first motor 6 and the second motor
17 can be protected from the external environment conditions such
as dust, moisture and heat, and the whole component of the
apparatus can be miniaturized.
[0059] Furthermore, the open-close member 20 is rotationally
located in the outer body 1 around X axis, and the opening 2 is
opened and closed using the open-close member 20. Accordingly, by
covering the front face of the camera 12 with the open-close member
20 during non-use time of the camera 12, the front glass 12a of the
camera 12 can be protected. In addition to this, by setting a lens
cleaner on the inside of the open-close member 20, a surface of the
front glass 12a of the camera 12 can be cleaned using the
open-close operation of the open-close member 20.
[0060] Next, the second embodiment of the present invention is
explained referring to FIGS. 6.about.8. In this embodiment, as for
components, activation, and operation the same as the first
embodiment, its explanation is omitted.
[0061] FIGS. 6A and 6B are schematic diagrams of components of the
active camera apparatus according to the second embodiment of the
present invention. FIG. 6A shows an outward appearance by cutting
the active camera apparatus. FIG. 6B shows a section of the active
camera apparatus.
[0062] FIGS. 7A.about.7C are schematic diagrams of closing
situation of the opening 2 of the outer body 1 by the open-close
member 20 according to the second embodiment. FIG. 7A shows a
situation that the opening 2 of the outer body 1 is fully opened.
FIG. 7B shows a situation that the opening 2 of the outer body 1 is
slightly covered by the open-close member 20. FIG. 7C shows a
situation that the opening 2 of the outer body 1 is fully closed by
the open-close member 20.
[0063] In the second embodiment, as shown in FIGS. 6A and 6B, a
torsion spring 31 is inter-carried between the support pin 21 and
the support hole 22. The torsion spring 31 energizes the open-close
member 20 along a closing direction of the opening 2 of the outer
body 1, i.e., an arrow B direction as shown in FIG. 6A.
[0064] Furthermore, as shown in FIG. 6A, a third motor 32 (an
open-close member actuator) is set in the outer body 1. A pulley 33
is joined with a rotation axis 32a of the third motor 33. A wire 34
is turned around the pulley 33. An edge part of the wire 34 is
connected to the open-close member 20. By actuating the third motor
32, a length of the wire 34 pulled from the pulley 33 can be
adjusted.
[0065] In such component, by actuating the third motor 32, the
opening 2 of the outer body 1 can be easily opened and closed.
Furthermore, by controlling actuation quantity of the third motor
32, an area of the opening 2 can be changed. Accordingly, a light
quantity incident upon the camera 12 and a depth of field of the
camera 12 can be easily adjusted based on imaging conditions.
[0066] For example, in order to sharply take a predetermined object
in a field of view of the camera 12, as shown in FIG. 7A, the depth
of field can be shortened by enlarging the opening 2 with the
open-close member 20. In order to sharply take the whole image in
the field of view of the camera 12, as shown in FIG. 7B, the depth
of field can be lengthened by miniaturizing the opening 2 with the
open-close member 20. Furthermore, at non-use time, as shown in
FIG. 7C, the opening 2 of the outer body 1 is closed by the
open-close member 20, and the open-close member 20 can function as
a cover.
[0067] Furthermore, the optical quantity can be mechanically
adjusted by the open-close member 20. Accordingly, in the case of
utilizing a CCD sensor or a CMOS sensor as the imaging device of
the camera 12, in comparison with adjustment of the optical
quantity using software only, excellent image can be certainly
taken.
[0068] Furthermore, by setting a lens cleaner in the inside of the
open-close member 20, a surface of the front glass 12a of the
camera 12 can be easily cleaned by open-close operation of the
open-close member 20.
[0069] FIG. 8 shows an outward appearance by cutting the active
camera apparatus according to a modification of the second
embodiment. As shown in FIG. 8, a linear shape memory alloy 25 is
fixed between the open-close member 20 and the inside of the outer
body 1. A current will shrink the shape memory alloy 25 along a
shrink direction line.
[0070] Furthermore, the torsion spring 31 (as shown in FIG. 6B) is
inter-carried in a space between the support pin 21 and the support
hole 22. The torsion spring 31 biases the open-close member 20
along a closing direction of the opening 2 of the outer body 1,
i.e., an arrow direction B as shown in FIG. B. Accordingly, by
flowing a current from this status to the shape memory alloy 25,
the shape memory alloy 25 is transformed along a shrink direction
of line, and the open-close member 20 can be actuated along an
opening direction.
[0071] Next, the third embodiment of the present invention is
explained referring to FIGS. 9-11. In this embodiment, as for
components, activation, and operation the same as the first and
second embodiments, its explanation is omitted.
[0072] FIG. 9 is a section of component of the active camera
apparatus according to the third embodiment of the present
invention. FIG. 10 is a block diagram of a lens actuator 44
according to the third embodiment. FIG. 11 is a schematic diagram
showing a target (pattern) set on the inside of the open-close
member 20 according to the third embodiment.
[0073] In the third embodiment, as shown in FIG. 9, the camera 12
includes an imaging device 40, a first lens 42 and a second lens 43
each forming an image of the outside of the outer body 1 onto the
imaging device 40, and a lens actuator 44. The first lens 42 and
the second lens 43 are moved along an optical direction (front and
rear direction) of the camera 12 by the lens actuator 44. Briefly,
focus and optical zoom can be automatically executed.
[0074] As shown in FIG. 10, the lens actuator 44 includes an
actuator 45 such as an electrostatic actuator, an image processing
unit 46 to generate a target value of lens position by processing
image information output from the imaging device 40, an orbit
generation unit 49 to generate an orbit value of lens based on the
target value output from the image processing unit 46, a control
operation unit 50 to generate a command value to an actuator driver
47 based on output from the orbit generation unit 49, and an
actuator driver 47 to actuate the actuator 45 based on the command
value. The image processing unit 46, the orbit generation unit 49
and the control operation unit 50 can be realized as software
processing by CPU (processor) controlling the whole active camera
apparatus.
[0075] As shown in FIG. 11, by using the target 48 as a pattern
(drawn) on the inside of the open-close member 20, a lens position
is initialized.
[0076] First, the camera 12 inputs an image of the target 48 from a
predetermined field of view, and image information is supplied to
the image processing unit 46. By moving the lenses 42 and 43 along
the optical direction, image processing is executed for the image
information.
[0077] Concretely, while the lenses 42 and 43 are moving along the
optical direction, the image processing unit 46 calculates an
average intensity of the whole image of the target 48 in order, and
detects an actual position of the lenses 42 and 43 where the
average intensity is maximum. Position data of the lenses 42 and 43
where the average intensity is maximum is determined by a lens
parameter. Accordingly, by setting this position as an initial
position of lenses 42 and 43, the lens position can be initialized
with high reappearance.
[0078] Next, the fourth embodiment of the present invention is
explained referring to FIGS. 12 and 13. In this embodiment, as for
components, activation, and operation the same as the first,
second, and third embodiments, its explanation is omitted.
[0079] FIGS. 12A and 12B are schematic diagrams of rolling
situation of the active camera apparatus according to the fourth
embodiment of the present invention. FIG. 12A shows a situation
that a center of gravity locates the lowest position. FIG. 12B
shows a situation that the center of gravity is slightly shifted
from the lowest position.
[0080] FIG. 13 is a schematic diagram of a situation that rolling
of the active camera apparatus is regulated by the external
environment according to the fourth embodiment.
[0081] In the fourth embodiment, as shown in FIGS. 12A and 12B, a
radio module 51 (a radio communication means) to communicate with
an external apparatus (not shown in FIG.) is installed into the
outer body 1.
[0082] The radio module 51 receives a command signal from the
external apparatus and sends image information output from the
camera 12 to the external apparatus based on the command signal.
Furthermore, the radio module 51 supplies the command signal to the
first motor 6 and the second motor 17 in order to change a
direction of the camera 12 based on the command signal.
[0083] Under this component, even if the active camera apparatus is
rolled into a narrow space, the direction of the camera 12 can be
controlled from a distant place, and image information input from
the camera 12 at the distant place can be obtained.
[0084] Furthermore, the outer body 1 is formed as a ball shell
type. Accordingly, by changing a position of center of gravity of
the active camera apparatus, the active camera apparatus can be
rotationally moved on a set plane 53.
[0085] For example, in a situation that the camera 12 faces a
surface of the set plane 53 as shown in FIG. 12A, the position of
center of gravity 52 is located on a vertical directional axis k
passing through a center of sphere of the outer body 1, and a
moment of inertia does not act upon the active camera apparatus.
Accordingly, the active camera apparatus stands still on the set
plane 53 without rolling.
[0086] By slightly activating the camera 12 from this situation as
shown in FIG. 12B, the position of center of gravity 52 shifts from
the vertical directional axis k, and the moment of inertia acts
upon the active camera apparatus. Accordingly, the active camera
apparatus rotationally moves on the set plane 53.
[0087] In this way, when the active camera apparatus reaches a
destination position, by activating the active camera apparatus
slowly in order not to suddenly change the center of gravity, a
direction of the camera 12 is changed without rolling the outer
body 1. As a result, an imaging object can be taken from a desired
viewpoint.
[0088] Furthermore, as shown in FIG. 13, if the outer body 1 is
fixed by the external environment 54, operation to change the
viewpoint to a target by changing a direction of the camera 12 can
be easily executed.
[0089] Furthermore, in the case of suddenly moving an internal
mechanism such as the camera 12, a rolling movement of the active
camera apparatus may be realized by utilizing a movement
acceleration acting the center of gravity.
[0090] Next, the fifth embodiment of the present invention is
explained referring to FIGS. 14 and 15. In this embodiment, as for
components, activation, and operation same as the first, second,
third, and fourth embodiments, its explanation is omitted.
[0091] FIGS. 14A and 14B are schematic diagrams of an outline of a
robot apparatus 60 according to the fifth embodiment of the present
invention. In the fifth embodiment, as shown in FIGS. 14A and 14B,
the active camera apparatus of the present invention is mounted as
both eyes onto a predetermined position of the robot apparatus
60.
[0092] In this component, the camera 12 installed into the outer
body 1 is moved as an eyeball and the open-close member 20 is moved
as an eyelid. As a result, the robot apparatus 60 can execute
feeling expression such as a living thing and communicate with a
person. As a communication with a person, in the case of
understanding the person's instruction, the robot apparatus 60 may
wink at the person by closing one open-close member 20.
[0093] Next, processing steps of the robot apparatus 60 to
communicate with a person is explained referring to FIG. 15. FIG.
15 is a flow chart of processing of the robot apparatus 60 in the
case of communicating with the person.
[0094] First, when the active camera apparatus is activated, a
person issues an instruction (order) to the robot apparatus 60 by a
gesture or a voice (S1). When a voice detector (not shown in Fig.)
installed into the robot apparatus 60 detects the person's voice
(YES at S2), the voice is input from a microphone (not shown in
Fig.) (S3). Thus, the voice is recognized (S4) and the instruction
is deciphered and understood (S5).
[0095] On the other hand, when the voice detector does not detect
the person's voice (NO at S2), the person's gesture is input from
the camera 12 (S6). Thus, the gesture is recognized (S7) and the
instruction is deciphered and understood (s5). In the gesture
recognition, a plurality of patterns is previously stored in a
memory (not shown in Fig.). By deciding that the gesture
corresponds to a particular pattern, the meaning of the instruction
is understood.
[0096] Next, if the robot apparatus 60 decides that the instruction
can be executed based on the present situation and surrounding
information (YES at S8), the robot apparatus 60 outputs an
activation command signal to the third motor 32, and closes the
opening 2 of the outer body 1 using the open-close member 20.
Briefly, the robot apparatus 60 closes an eyelid of one eye, i.e.,
winks as expression of the robot's intention.
[0097] On the other hand, if the robot apparatus 60 decides that
the instruction can not be executed (NO at S8), the voice detector
tries to detect the person's voice again.
[0098] As mentioned-above, in the present invention, the camera and
the camera actuator can be protected from the external environment
without enlarging component of the apparatus.
[0099] Other embodiments of the invention will be apparent to those
skilled in the art from consideration of the specification and
practice of the invention disclosed herein. It is intended that the
specification and examples be considered as exemplary only, with
the true scope and spirit of the invention being indicated by the
following claims.
* * * * *