JP2011102942A - Stereo camera - Google Patents

Stereo camera Download PDF

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JP2011102942A
JP2011102942A JP2009258489A JP2009258489A JP2011102942A JP 2011102942 A JP2011102942 A JP 2011102942A JP 2009258489 A JP2009258489 A JP 2009258489A JP 2009258489 A JP2009258489 A JP 2009258489A JP 2011102942 A JP2011102942 A JP 2011102942A
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housing
holding member
stereo camera
optical system
imaging
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Yuji Maki
裕司 槙
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Nikon Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To prevent performance of a stereo camera from being degraded due to changes in temperature. <P>SOLUTION: The stereo camera includes: multiple imaging units 100 that image an identical object from multiple different directions; a support member 11 that supports multiple imaging units 100 at a predetermined interval; and a casing 2 that houses the supporters 11, which in turn is formed with a material with a linear expansion coefficient smaller than that of components of the casing 2. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

この発明はステレオカメラに関する。   The present invention relates to a stereo camera.

従来、２つの撮像部を支持する中空構造の支持体と、この支持体を収容する筐体と、この筐体に支持体を取り付ける固定板とを備えているステレオカメラが知られている（下記特許文献１参照）。   2. Description of the Related Art Conventionally, there is known a stereo camera including a hollow structure support body that supports two imaging units, a housing that accommodates the support body, and a fixing plate that attaches the support body to the housing (described below). Patent Document 1).

支持体の下面部には被写体を撮像する撮像素子が配置されている。支持体の上面部に形成された孔には、撮像素子の受光面に被写体像を結像させる結像光学系が配置されている。撮像素子と結像光学系とは空間を介して対向している。   An image sensor for imaging a subject is disposed on the lower surface of the support. An imaging optical system for forming a subject image on the light receiving surface of the image sensor is disposed in the hole formed in the upper surface of the support. The image sensor and the imaging optical system are opposed to each other through a space.

特開２００６−１６５６０７号公報JP 2006-165607 A

上述のステレオカメラでは、支持体の材質と筐体の材質との違いにより、ステレオカメラの置かれた環境温度が上昇又は下降して筐体の形状が変形すると、その変形が支持体を変形させ、撮像素子と結像光学系との位置関係が変わってしまう。その結果、立体映像が劣化したり、距離測定の精度が低下したりする。   In the above-described stereo camera, when the environmental temperature where the stereo camera is placed rises or falls due to the difference between the material of the support and the material of the housing, the shape of the housing deforms and the deformation deforms the support. The positional relationship between the image sensor and the imaging optical system changes. As a result, the stereoscopic image is deteriorated and the accuracy of distance measurement is reduced.

この発明はこのような事情に鑑みてなされたもので、その課題は、温度変化による性能の低下を抑えることができるステレオカメラを提供することである。   The present invention has been made in view of such circumstances, and an object thereof is to provide a stereo camera capable of suppressing a decrease in performance due to a temperature change.

上述の課題を解決するため請求項１記載の発明のステレオカメラは、同一の被写体を複数の異なる方向から撮像する複数の撮像部と、前記複数の撮像部を所定間隔離して保持する保持部材と、前記保持部材を収容する筐体とを備え、前記保持部材が、前記筐体の材料よりも線膨張係数の小さい材料で形成されていることを特徴とする。   In order to solve the above-described problem, a stereo camera according to a first aspect of the present invention includes a plurality of imaging units that capture the same subject from a plurality of different directions, and a holding member that holds the plurality of imaging units while being spaced apart from each other by a predetermined distance. And a housing that houses the holding member, wherein the holding member is made of a material having a smaller linear expansion coefficient than the material of the housing.

請求項２記載の発明は、請求項１記載のステレオカメラにおいて、前記保持部材は平板状であることを特徴とする。   According to a second aspect of the present invention, in the stereo camera according to the first aspect, the holding member has a flat plate shape.

請求項３記載の発明は、請求項１又は２記載のステレオカメラにおいて、前記保持部材を前記筐体に固定する固定手段と、前記筐体の変形時に前記筐体から前記保持部材へ作用する荷重を吸収する緩衝部材とを備えていることを特徴とする。   According to a third aspect of the present invention, in the stereo camera according to the first or second aspect, a fixing means for fixing the holding member to the casing, and a load that acts on the holding member from the casing when the casing is deformed And a buffer member that absorbs water.

この発明によれば、温度変化によるステレオカメラの性能の低下を抑えることができる。   According to the present invention, it is possible to suppress a decrease in performance of the stereo camera due to a temperature change.

図１はこの発明の一実施形態に係るステレオカメラの断面を示す概念図である。FIG. 1 is a conceptual diagram showing a cross section of a stereo camera according to an embodiment of the present invention. 図２はこの発明の変形例に係るステレオカメラの部分断面を示す概念図である。FIG. 2 is a conceptual diagram showing a partial cross section of a stereo camera according to a modification of the present invention.

以下、この発明の実施の形態を図面に基づいて説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１はこの発明の一実施形態に係るステレオカメラの断面を示す概念図である。   FIG. 1 is a conceptual diagram showing a cross section of a stereo camera according to an embodiment of the present invention.

このステレオカメラは、撮像ユニット１と、撮像ユニット１を収容する筐体２と、筐体２に収容される電気基板３と、筐体２の一方の開口部に取り付けられる蓋４と、筐体２の他方の開口部に取り付けられる蓋５と、撮像ユニット１を筐体２に固定するための固定ねじ（固定手段）６とを備えている。   This stereo camera includes an imaging unit 1, a housing 2 that houses the imaging unit 1, an electric board 3 that is housed in the housing 2, a lid 4 that is attached to one opening of the housing 2, and a housing. 2 is provided with a lid 5 attached to the other opening of 2 and a fixing screw (fixing means) 6 for fixing the imaging unit 1 to the housing 2.

撮像ユニット１は、平板状の保持部材１１と、保持部材１１の一方の面に支持された撮像素子１２と、保持部材１１の他方の面に支持された結像光学系１３とで構成される。撮像素子１２と結像光学系１３とで撮像部１００が構成される。   The imaging unit 1 includes a flat holding member 11, an imaging element 12 supported on one surface of the holding member 11, and an imaging optical system 13 supported on the other surface of the holding member 11. . The imaging unit 100 is configured by the imaging element 12 and the imaging optical system 13.

保持部材１１は、筐体２の材料（例えばアルミニウム合金等）より線膨張係数が小さい材料（例えばマルテンサイト系ステンレス）で形成されている。保持部材１１には、複数の孔１１ａと複数のねじ通し孔１１ｂとが設けられている。   The holding member 11 is formed of a material (for example, martensitic stainless steel) having a smaller linear expansion coefficient than the material (for example, aluminum alloy) of the housing 2. The holding member 11 is provided with a plurality of holes 11a and a plurality of screw-through holes 11b.

孔１１ａの一方の開口は撮像素子１２で塞がれ、孔１１ａの他方の開口は結像光学系１３で塞がれ、撮像素子１２と結像光学系１３との間に密閉空間７が形成されている。撮像素子１２の中心と結像光学系１３の中心とが孔１１ａの中心軸上に位置する。   One opening of the hole 11a is blocked by the image sensor 12, and the other opening of the hole 11a is blocked by the imaging optical system 13, so that a sealed space 7 is formed between the imaging element 12 and the imaging optical system 13. Has been. The center of the image sensor 12 and the center of the imaging optical system 13 are located on the central axis of the hole 11a.

結像光学系１３は、レンズ１３ａと、レンズ１３ａを保持するホルダ１３ｂと、ホルダ１３ｂを保持部材１１に固定する固定ねじ１３ｃとを有する。   The imaging optical system 13 includes a lens 13a, a holder 13b that holds the lens 13a, and a fixing screw 13c that fixes the holder 13b to the holding member 11.

筐体２の内面には、保持部材１１の両端部を支持する支持部２１と、電気基板３を支持する支持部２２とがそれぞれ一体に設けられている。支持部２１には、固定ねじ６がねじ込まれるめねじ２１ａが設けられている。   A support portion 21 that supports both ends of the holding member 11 and a support portion 22 that supports the electric substrate 3 are integrally provided on the inner surface of the housing 2. The support portion 21 is provided with a female screw 21a into which the fixing screw 6 is screwed.

保持部材１１は固定ねじ６で筐体２の支持部２１に固定されている。   The holding member 11 is fixed to the support portion 21 of the housing 2 with a fixing screw 6.

電気基板３は撮像素子１２で光電変換された電気信号を画像処理する図示しない画像処理部等を有している。   The electric substrate 3 includes an image processing unit (not shown) that performs image processing on the electric signal photoelectrically converted by the image sensor 12.

筐体２の他方の開口部に取り付けられる蓋５には複数の孔５ａが設けられ、結像光学系１３のホルダ１３ｂの先端部が複数の孔５ａに挿入されている。   The lid 5 attached to the other opening of the housing 2 is provided with a plurality of holes 5a, and the tip of the holder 13b of the imaging optical system 13 is inserted into the plurality of holes 5a.

次に、上述のステレオカメラの組立を説明する。   Next, the assembly of the above stereo camera will be described.

まず、電気基板３を筐体２の支持部２２に固定する。   First, the electric substrate 3 is fixed to the support portion 22 of the housing 2.

次に、蓋４を筐体２の一方の開口部に取り付ける。   Next, the lid 4 is attached to one opening of the housing 2.

その後、撮像ユニット１を筐体２の支持部２１に固定する。このとき、作業者は固定ねじ６を保持部材１１のねじ通し孔１１ｂに通し、筐体２の支持部２１のめねじ２１ａにねじ込む。なお、撮像ユニット１は例えばステレオカメラの組立開始前に予めクリーンルームで組み立てられる。   Thereafter, the imaging unit 1 is fixed to the support portion 21 of the housing 2. At this time, the operator passes the fixing screw 6 through the screw-through hole 11 b of the holding member 11 and screws it into the female screw 21 a of the support portion 21 of the housing 2. Note that, for example, the imaging unit 1 is assembled in a clean room in advance before the assembly of the stereo camera is started.

最後に、蓋５を筐体２の他方の開口部に取り付ける。このとき、蓋５の孔５ａに結像光学系１３のホルダ１３ｂの先端部が入り込むように蓋５を筐体２の他方の開口部に取り付ける。   Finally, the lid 5 is attached to the other opening of the housing 2. At this time, the lid 5 is attached to the other opening of the housing 2 so that the tip of the holder 13 b of the imaging optical system 13 enters the hole 5 a of the lid 5.

この実施形態によれば、保持部材１１が筐体２の材料より線膨張係数が小さい材料で形成されているので、ステレオカメラの置かれた環境温度が上昇又は下降して筐体２の形状が変形したとしても、保持部材１１の変形は抑えられ、撮像素子１２と結像光学系１３との位置関係の変化も抑制される。したがって、温度変化による立体映像の劣化や距離測定精度の低下が抑えられる。   According to this embodiment, since the holding member 11 is formed of a material having a smaller linear expansion coefficient than the material of the housing 2, the temperature of the environment where the stereo camera is placed increases or decreases, and the shape of the housing 2 changes. Even if it is deformed, the deformation of the holding member 11 is suppressed, and the change in the positional relationship between the image sensor 12 and the imaging optical system 13 is also suppressed. Accordingly, it is possible to suppress the deterioration of the stereoscopic image and the decrease in the distance measurement accuracy due to the temperature change.

また、保持部材１１が平板状であり、形状が単純であるので、高い面精度を容易に得ることができ、製造コストを低減することができ、ステレオカメラの小型化を図ることもできる。   Further, since the holding member 11 is flat and has a simple shape, high surface accuracy can be easily obtained, the manufacturing cost can be reduced, and the stereo camera can be miniaturized.

更に、保持部材１１と撮像素子１２と結像光学系１３とが撮像ユニット１としてユニット化され、平板状の保持部材１１の孔１１ａの一方の開口部は撮像素子１２で塞がれ、孔１１ａの他方の開口部は結像光学系１３で塞がれ、撮像素子１２と結像光学系１３との間に密閉空間７が形成されるので、ステレオカメラの組立のとき、撮像素子１２の受光面や結像光学系１３のレンズ１３ａにごみが付着しない。したがって、ごみの付着によるステレオカメラの性能の低下を防ぐことができる。また、ステレオカメラの組立完了前（撮像ユニット１の組立完了時）、ごみの付着の有無を確認することができる。更に、例えば保持部材１１が熱膨張したとき２つの撮像部１００は保持部材１１の板厚方向と直交する方向へ移動し、２つの撮像部１００の光軸の平行な状態は保たれるので、撮像部１００の光軸が傾くことによるステレオカメラの性能低下は抑えられる。   Further, the holding member 11, the image pickup element 12, and the imaging optical system 13 are unitized as the image pickup unit 1, and one opening of the hole 11a of the flat holding member 11 is closed by the image pickup element 12, and the hole 11a. The other opening is closed by the imaging optical system 13, and a sealed space 7 is formed between the imaging element 12 and the imaging optical system 13, so that when the stereo camera is assembled, the light reception of the imaging element 12 is performed. No dust adheres to the surface or the lens 13a of the imaging optical system 13. Therefore, it is possible to prevent the performance of the stereo camera from being deteriorated due to the adhesion of dust. In addition, it is possible to confirm whether dust is attached before the stereo camera is assembled (when the imaging unit 1 is assembled). Furthermore, for example, when the holding member 11 is thermally expanded, the two imaging units 100 move in a direction orthogonal to the plate thickness direction of the holding member 11, and the parallel state of the optical axes of the two imaging units 100 is maintained. The performance degradation of the stereo camera due to the tilt of the optical axis of the imaging unit 100 can be suppressed.

また、ステレオカメラの組立時、電気基板３を筐体２に組み込んだ後、撮像ユニット１を筐体２に組み込むので、撮像素子１２や結像光学系１３の損傷を防ぐことができる。   Further, when the stereo camera is assembled, the image pickup unit 1 is built into the housing 2 after the electric board 3 is built into the housing 2, so that the image pickup device 12 and the imaging optical system 13 can be prevented from being damaged.

図２はこの発明の変形例に係るステレオカメラの部分断面を示す概念図である。   FIG. 2 is a conceptual diagram showing a partial cross section of a stereo camera according to a modification of the present invention.

この変形例では、固定ねじ１０６（固定手段）の座面と保持部材１１の他方の面（結像光学系１３が配置される面）との間に、筐体２の変形時に筐体２から保持部材１１へ作用する荷重を吸収する環状の緩衝部材８が配置されている。また、固定ねじ１０６の胴部の先端部のねじ山部分１０６ａの外径を、固定ねじ１０６の胴部の先端部以外の非ねじ山部分１０６ｂの外径よりも小さくし、それに応じて筐体２の支持部材２１のめねじ１２１ａの内径を小さくした。これらが図１の実施形態との相違点であり、それらの点以外で変形例と図１の実施形態との間に相違点はない。   In this modification, between the seat surface of the fixing screw 106 (fixing means) and the other surface of the holding member 11 (the surface on which the imaging optical system 13 is disposed), the housing 2 is moved from the housing 2 when the housing 2 is deformed. An annular buffer member 8 that absorbs a load acting on the holding member 11 is disposed. Further, the outer diameter of the thread portion 106a at the distal end portion of the body portion of the fixing screw 106 is made smaller than the outer diameter of the non-thread portion 106b other than the distal end portion of the body portion of the fixing screw 106, and the housing is accordingly changed. The inner diameter of the female screw 121a of the second support member 21 was reduced. These are the differences from the embodiment of FIG. 1, and there is no difference between the modified example and the embodiment of FIG. 1 except for those points.

固定ねじ１０６のねじ山部分１０６ａを筐体２の支持部２１のめねじ２１ａにねじ込むと、図２に示すように、ねじ山部分１０６ａと非ねじ山部分１０６ｂとの間の段差面１０６ｃが筐体２の支持部２１の支持面２１ｂに突き当たり、固定ねじ１０６を所定量以上ねじ込めなくなるので、緩衝部材８が必要以上に押しつぶされない。   When the screw thread portion 106a of the fixing screw 106 is screwed into the female screw 21a of the support portion 21 of the housing 2, as shown in FIG. 2, a stepped surface 106c between the screw thread portion 106a and the non-screw thread portion 106b is formed in the housing. Since it hits the support surface 21b of the support portion 21 of the body 2 and the fixing screw 106 cannot be screwed in more than a predetermined amount, the buffer member 8 is not crushed more than necessary.

この変形例によれば、何等かの原因（温度変化や衝撃）により筐体２が変形しても、筐体２から保持部材１１に作用する荷重が緩衝部材８で吸収され、保持部材１１の変形が抑さえられる。したがって、撮像素子１２と結像光学系１３との位置関係の変化が抑制される。   According to this modification, even if the housing 2 is deformed due to some cause (temperature change or impact), the load acting on the holding member 11 from the housing 2 is absorbed by the buffer member 8, and the holding member 11 Deformation is suppressed. Therefore, a change in the positional relationship between the image sensor 12 and the imaging optical system 13 is suppressed.

なお、上述の実施形態等では、保持部材１１と撮像素子１２と結像光学系１３とを撮像ユニット１としてユニット化し、それにより上述の利点が生じるが、この発明の適用範囲は保持部材１１等をユニット化したものに限定されない。   In the above-described embodiment and the like, the holding member 11, the image pickup element 12, and the imaging optical system 13 are unitized as the image pickup unit 1, thereby producing the above-described advantages. However, the scope of application of the present invention is the holding member 11 and the like. It is not limited to what united.

また、上述の実施形態等では、筐体２の材料としてアルミニュウム合金を用いたが、これに代えてマグネシウム合金を用いてもよい。そうすることによりステレオカメラの軽量化を図ることができる。   Moreover, in the above-mentioned embodiment etc., although the aluminum alloy was used as the material of the housing | casing 2, it may replace with this and may use a magnesium alloy. By doing so, the weight of the stereo camera can be reduced.

１：撮像ユニット、２：筐体、１１：保持部材、１１ａ：孔、１２：撮像素子、１３：結像光学系、７：密閉空間、６，１０６：固定ねじ（固定手段）、８：緩衝部材、１００：撮像部。   1: imaging unit, 2: housing, 11: holding member, 11a: hole, 12: imaging element, 13: imaging optical system, 7: sealed space, 6, 106: fixing screw (fixing means), 8: buffer Member, 100: imaging unit.

Claims (3)

同一の被写体を複数の異なる方向から撮像する複数の撮像部と、
前記複数の撮像部を所定間隔離して保持する保持部材と、
前記保持部材を収容する筐体とを備え、
前記保持部材が、前記筐体の材料よりも線膨張係数の小さい材料で形成されている
ことを特徴とするステレオカメラ。 A plurality of imaging units that image the same subject from a plurality of different directions;
A holding member that holds the plurality of imaging units separated by a predetermined distance; and
A housing for housing the holding member,
The stereo camera is characterized in that the holding member is made of a material having a smaller linear expansion coefficient than the material of the casing. 前記保持部材は平板状であることを特徴とする請求項１記載のステレオカメラ。   The stereo camera according to claim 1, wherein the holding member has a flat plate shape. 前記保持部材を前記筐体に固定する固定手段と、
前記筐体の変形時に前記筐体から前記保持部材へ作用する荷重を吸収する緩衝部材と
を備えていることを特徴とする請求項１又は２記載のステレオカメラ。 Fixing means for fixing the holding member to the housing;
The stereo camera according to claim 1, further comprising: a buffer member that absorbs a load that acts on the holding member from the housing when the housing is deformed.
JP2009258489A 2009-11-12 2009-11-12 Stereo camera Withdrawn JP2011102942A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103052915A (en) * 2011-07-26 2013-04-17 松下电器产业株式会社 Imaging device
US9477143B2 (en) 2015-01-07 2016-10-25 Ricoh Company, Ltd. Camera device
US9854225B2 (en) 2014-07-01 2017-12-26 Ricoh Company, Ltd. Imaging unit including a chassis and heat transfer member

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103052915A (en) * 2011-07-26 2013-04-17 松下电器产业株式会社 Imaging device
US9854225B2 (en) 2014-07-01 2017-12-26 Ricoh Company, Ltd. Imaging unit including a chassis and heat transfer member
US9477143B2 (en) 2015-01-07 2016-10-25 Ricoh Company, Ltd. Camera device

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