Patent ID: 9160907
Filing Date: 2015-10-13
Classification: G01S,G02B,H04N

Abstract:
1. A tracking apparatus comprising: a spherical body; a first gimbal supported by the spherical body and configured to rotate about a first gimbal axis; a second gimbal supported by the first gimbal and configured to rotate about a second gimbal axis perpendicular to the first gimbal axis; a third gimbal supported by the second gimbal and configured to rotate about a third gimbal axis perpendicular to the second gimbal axis at an intersection between the first gimbal axis and the second gimbal axis; a movable body supported by the third gimbal and configured to rotate about a fourth gimbal axis perpendicular to the third gimbal axis; three or more spherical driving units connected to the movable body and kept in contact with portions of the spherical body to move the movable body in a desired direction; a hold unit connecting the third gimbal to the movable body, and holding the spherical driving units pressed against the spherical body; a target position identifying unit supported by the third gimbal and configured to identify a position of a target and output position data of the target; a first angle sensor configured to detect a first rotation angle of the first gimbal relative to a bottom of the spherical body; a second angle sensor configured to detect a second rotation angle of the second gimbal relative to the first gimbal; a third angle sensor configured to detect a third rotation angle of the third gimbal relative to the second gimbal; a fourth angle sensor configured to detect a fourth rotation angle of the movable body relative to the third gimbal; a rotation spring driving unit configured to return the third gimbal to a center of a rotation range of the third gimbal; a moving unit supported by the third gimbal and configured to move a movable lens to set a distance between a fixed lens and the movable lens; a transmission unit configured to transmit a driving force of the movable body to the moving unit and to interrupt transmission of the driving force to the moving unit; and a control unit configured to cause the spherical driving units to swing the movable body based on the position data, the first rotation angle, the second rotation angle, the third rotation angle, and the fourth rotation angle, to reorient the movable body to point in a desired direction, and to control the distance.