Patent Description:
In recent years, compact cameras called action cams or wearable cameras have been widespread (For example, see, <CIT>). Such cameras are mounted not only on a body of a photographer but also on a bicycle or a drone (unmanned aircraft) as a moving body, and take movies while the moving body is moving.

<FIG> are diagrams showing how to mount a conventional compact camera to a drone. <FIG> is an exploded view for use in explaining a mounting arrangement of the camera, and <FIG> is a perspective view of the drone to which the camera is mounted. In <FIG>, a drone <NUM> is comprised of a quadcopter having a plurality, for example, four propellers, and stably holds (hovers) an airframe (main body) thereof in the air. The drone <NUM> is also capable of changing its posture by making the number of rotation of the propellers imbalanced to change a balance of the airframe. A compact camera <NUM> mounted on the drone <NUM> is comprised of an action cam. The camera <NUM> is equipped with an optical lens unit capable of performing relatively wide-angle shooting. The camera <NUM> is held by a gimbal <NUM>, which is a holding member. The gimbal <NUM> is fixed to the drone <NUM> by screws <NUM>, and the camera <NUM> is fixed to the gimbal <NUM> by a fixing member, not shown. For example, an adhesive double-sided tape and a bonding band are used as the fixing member. A posture stabilizing mechanism (not shown) which stabilizes the posture of the fixed camera <NUM> is built in the gimbal <NUM>. The posture stabilizing mechanism controls movement of the camera <NUM> in a panning (horizontal) direction, a tilting (vertical) direction, and a rolling (rotating) direction, and eliminates an effect of a swing of the drone <NUM> on an image shot by the camera <NUM>.

In order to change a direction in which the camera <NUM> of the drone <NUM> in <FIG> shoots an image (herein after, referred to "the shooting direction"), it is necessary to change an orientation of a main body of the drone <NUM> as well as the gimbal <NUM>, which imposes inconvenience on an operator of the drone <NUM>. When the camera <NUM> is mounted on a handle of a bicycle, it is necessary to change an orientation of the handle in order to change the shooting direction, which also imposes inconvenience on a rider of the bicycle. Further, when the camera <NUM> is mounted on a body of a photographer, it is necessary to change an orientation of the body in order to change the shooting direction, which, after all, imposes inconvenience on the photographer.

Accordingly, it has been proposed that a rotational drive mechanism which is capable of relatively widely moving a camera in a panning direction and a tilting direction is mounted on a drone or a handle, and a shooting direction is changed without changing an orientation of a main body of the drone and an orientation of the handle (for example, see, <CIT>).

In the rotational driving mechanism in <CIT>, however, a tilt driving mechanism that transmits a driving force of a motor to a lens barrel by attaching a pulley to a rotational shaft of the lens barrel of the camera and winding a timing belt to the pulley. Particularly, in order to finely control a rotation of the lens barrel in the tilting direction, it is necessary to drastically decrease a rotational speed of the motor, and thus a plurality of pulleys and timing belts are necessary, which increases a size of the tilt driving mechanism. As a result, a size of an image pickup apparatus comprised of the camera and the rotational drive mechanism are also increased, which may decrease a degree of freedom of how to mount the image pickup apparatus on the drone or the handle of the bicycle. Particularly, a weight of the image pickup apparatus may exceed the maximum loading capacity in the drone. <CIT> discloses an image pickup apparatus having the features of the preamble of claim <NUM>. <CIT>, <CIT> and <CIT> disclose further related prior art apparatuses.

The present invention provides a downsizable image pickup apparatus, and a downsizable moving body.

Accordingly, the present invention provides an image pickup apparatus as specified in claim <NUM>. Advantageous further developments are set out in the dependent claims.

According to the present invention, the actuator that drives the driven body is arranged at the supporting unit which supports the driven body in the standing manner from the base unit. Consequently, a space volume occupied by component elements of the image pickup apparatus can be decreased compared to a case where an actuator is arranged independently of the supporting unit, and thus the image pickup apparatus also can be downsized.

Hereinafter, a detailed description will be given of embodiments of the present invention by referring to the drawings. In the present embodiments, although a case where the present invention is applied to a camera as an image pickup apparatus which is mounted on a drone (moving body) as an unmanned aircraft will be explained, an application of the present invention is not limited to this. The present invention may be applied to general electronic apparatuses having a driven body which is driven by an actuator. The camera, to which the present invention is applied, can be mounted not only on a drone but another moving body (automobile or bicycle), and further on a body of a photographer. At first, a description will be given of an image pickup apparatus according to the first embodiment of the present invention.

<FIG> are views schematically showing an arrangement of a drone <NUM> equipped with a camera <NUM> as an image pickup apparatus according to the first embodiment of the present invention. <FIG> shows the drone <NUM> in a landing state, and <FIG> shows the drone <NUM> in a flying state.

In <FIG>, the done <NUM> has four propellers 11a to 11d (hereinafter, collectively referred to as "propellers <NUM>") (flying mechanism). the number of propellers varies according to a size, a weight, and an intended use, and so on of the drone <NUM>. The drone <NUM> in <FIG> is comprised of a quadcopter having four propellers and flies by a lift force generated by the rotating propellers <NUM>. By making the number of rotation of all the propellers <NUM> the same, a body of the drone <NUM> hovers in the air, and by making the number of rotation of the propellers <NUM> imbalanced, a balance of the body of the drone <NUM> is changed to change a posture of the drone <NUM>.

A camera <NUM> is mounted on the drone <NUM>. The camera <NUM> is mounted on the drone <NUM> by using, for example, an adhesive double-sided tape or a bonding band. The camera <NUM> may be mounted on the drone <NUM> by using a fitting tool such as an attachment. It should be noted that although a location in the drone <NUM> on which the camera <NUM> is mounted is not limitative, the camera <NUM> is mounted in a vicinity of a center or a lower part of the body of the drone <NUM> in terms of ease of shooting or consideration of a weight balance. The drone <NUM> also has skids 12a, 12b which is a pair of landing legs. The skids 12a, 12b are constructed in a foldable manner, protrude downwardly from the drone <NUM> at landing (<FIG>), and are pulled up toward the body of the drone <NUM> while flying (<FIG>). Consequently, the camera <NUM> mounted on the lower part of the body is prevented from being in contact with a ground and the like at landing, and the camera <NUM> is prevented from shooting the skid 12a, 12b while flying.

<FIG> is an exploded perspective view schematically showing an arrangement of the camera <NUM> in <FIG>. <FIG> are exploded perspective views showing an arrangement of a panning unit <NUM> of the camera <NUM> in <FIG>. <FIG> is a vertical cross-sectional view schematically showing the arrangement of the camera <NUM> in <FIG>. <FIG> are plan views for use in explaining how to attach a tilt driving unit <NUM> and a tilting position detecting unit <NUM> to a pan chassis <NUM> of a pan unit <NUM>. Particularly, <FIG> show arrangements of the panning unit <NUM> when viewed from respectively different diagonal directions. <FIG> shows the tilt driving unit <NUM> in an exploded state, and <FIG> shows a state where the tilt driving unit <NUM> and the tilting position detecting unit <NUM> are attached to the pan chassis <NUM>. It should be noted that in <FIG>, for a convenience of explanation, a direction parallel to an axis T, to be described later, is defined as an X direction, a direction parallel to an axis P, to be described later, is defined as a Y direction, and a direction of an optical axis of a lens unit <NUM>, to be described later by referring to <FIG>, is defined as a Z direction.

In <FIG>, the camera <NUM> has a base unit <NUM>, the panning unit (hereinafter, referred to "the pan unit") <NUM>, the tilting unit (hereinafter, referred to "the tilt unit") <NUM> which holds the lens unit <NUM> (image pickup unit). The pan unit <NUM> is placed on the based unit <NUM> in a horizontally rotatable (panning-enabled) manner, and the tilt unit <NUM> is installed to the pan unit <NUM> in a vertically rotatable (tilting-enabled) manner. The axis P in <FIG> indicates a central axis (another rotational axis) of horizontal rotation of the pan unit <NUM>, and the axis T in <FIG> indicates a central axis (a rotational axis of the image pickup unit) of vertical rotation of the tilt unit <NUM>. The axis P and the axis T intersect perpendicularly with each other. The lens unit <NUM> has an image pickup optical system and shoots a subject. Even when a flying posture of the drone <NUM> is stabilized while the drone <NUM> is flying, the subject can be shot from a variety of directions and angles by rotating the lens unit <NUM> horizontally or vertically by the pan unit <NUM> or the tilt unit <NUM>. The camera <NUM> further has a wireless communication unit (not shown). The camera <NUM> receives an operation from an external device via the wireless communication unit. For example, the camera <NUM> receives operations such as remote shooting, transfer of a shot image, and so on from a terminal device such as a smart-phone.

The base unit <NUM> has a base cover <NUM>, a control substrate <NUM>, and a bottom cover <NUM>. The control substrate <NUM> is equipped with a CPU which performs image processing, memory, and a driver IC which performs driving control for the pan unit <NUM> and the tilt unit <NUM>. The bottom cover <NUM> is equipped with a recording portion <NUM> and a flexible printed circuit (herein after, referred to as "the FPC") <NUM>. The recording portion <NUM> is, for example, a printed substrate mounting a connector in which a non-volatile memory of a card type can be accommodated, and is electrically connected to the control substrate <NUM> by the FPC <NUM>. The camera <NUM> records a shot image by writing image data generated through image processing into the non-volatile memory mounted on the recording portion <NUM>.

A pan unit <NUM> has a pan base <NUM>, a pan cover <NUM>, and a pan rotation plate <NUM>. The pan base <NUM> has a pan chassis <NUM> (holding unit) formed by bending a plate metal through press working in a U-shape, and a disk-shaped panning base <NUM> made of resin which has been subjected to mold injection or the like. The pan chassis <NUM> is fixed to the panning base <NUM> by screws. The tilt unit <NUM> is comprised of cylindrical members arranged along a horizontal direction. A pair of tilt rotation supporting portions 311a, which are pivotally supporting members, including through holes are fastened by screws in a vicinity of an upper end of the pan chassis <NUM>. The tilt rotation supporting portions 311a are formed by mold-injecting a resin having low friction and superior sliding characteristics (for example, polyacetal (POM) and the like). It should be noted that a rolling bearing such as a ball bearing and a roller bearing may be used as the tilt rotation supporting portions 311a. A tilt shaft portion 40a which protrudes from each surface of the tilt unit <NUM> along an axis T is fitted to each of the tilt rotation supporting portions <NUM>1a. As a result, the tilt unit <NUM> is held by the pan chassis <NUM> and supported by the pan unit <NUM> in a rotatable (vertically rotatable) manner with the axis T at its central axis. The panning base <NUM> has a pan shaft portion 312a which protrudes downwardly, and the pan shaft portion 312a is fitted to a pan rotation supporting portion 210a, which is a pivotally supporting member, including a through hole drilled in the base cover <NUM> along the axis P. By fastening the pan rotation plate <NUM> comprised of a disk-shaped member to the panning base <NUM> on an inner side of the base cover <NUM>, the pan unit <NUM> is placed on the base cover <NUM> in a rotatable (horizontally rotatable) manner with the axis P at its central axis. The lens unit <NUM> is electrically connected to the control substrate <NUM> by wiring <NUM>. The wiring <NUM> is comprised of, for example, a plurality of electric wires formed by covering a conducting core with an insulator, a connector which is connected to both ends of the plurality of the electric wires, and an adhesive tape which bundles the plurality of electric wires over a certain length. The electric wire used for the wiring <NUM> may be, for example, a coaxial cable comprised of an inner conductor, an insulator, an external conductor, and a protective coating.

The pan chassis <NUM> comprised of the U-shaped member is comprised of a base portion 311b having a flat surface fasted to the panning base <NUM> by screws, and a pair of arm portions 311c which substantially vertically stands with respect to the base portion 311b. A tilt rotation plate <NUM> is fixed to one side face of the tilt unit <NUM> by screws. A tilt reflection scale <NUM> is attached to the other side of the tilt unit <NUM> by a double-sided tape 40b. When the tilt unit <NUM> is supported by the pan unit <NUM>, the tilt rotation plate <NUM> and the tilt reflection scale <NUM> face each of the arm portions 311c. An opening 311d is formed in the base portion 311b, and an opening 311e (defective portion) and an opening 311f are formed in the arm portions 311c. It should be noted that the opening 311e and the opening 311f may be comprised of holes formed in the arm portions <NUM>1c, and may be formed by cutting a part of the arm portions 311c. The wiring <NUM> which extends from the tilt unit <NUM> is inserted into the opening 311d and connected to the control substrate <NUM>. In the pan chassis <NUM>, a tilt driving unit <NUM> (actuator), to be described later, is arranged so as to enter the opening 311e, and a tilting position detecting unit <NUM> (position detecting unit), to be described later, is arranged so as to enter the opening 311f.

In the camera <NUM>, the control substrate <NUM> is fixed to the base cover <NUM> after the pan unit <NUM> and the tilt unit <NUM> are installed to the base cover <NUM>. A plurality of connectors is mounted on the control substrate <NUM>, and the FPCs which extend respectively from the tilt driving unit <NUM> and the tilting position detecting unit <NUM> as well as the wiring <NUM> are connected to the control substrate <NUM>. The recording portion <NUM> is assembled to the bottom cover <NUM> in advance. A connector for connecting the FPC is mounted on the recording portion <NUM>. One end of the FPC <NUM> is connected to the connector, and the other end of the FPC <NUM> is connected to a connector arranged in the control substrate <NUM> before the bottom cover <NUM> is assembled to the base cover <NUM>. The bottom cover <NUM> is fixed to the base cover <NUM> by screws. Battery contacts 231a are mounted on a lower part of the recording portion <NUM>. An opening is formed in the bottom cover <NUM> so as to face the battery contacts 231a, and tip portions of the battery contacts 231a are exposed from the opening. In the camera <NUM>, an external power source (now shown) is mounted on the bottom cover <NUM>. For example, a battery pack having an alkaline secondary battery or a lithium-ion secondary battery is used as the external power source. An installing portion 230a for the external power source is formed in the bottom cover <NUM>, and when the external battery is fixed to the installing portion 230a, electric contacts of the external power source side are brought into contact with the battery contacts 231a, and power is supplied to the camera <NUM>. It should be noted that the external power source may be mounted on the main body of the drone <NUM>. In this case, when the camera <NUM> is mounted on the drone <NUM>, the battery contacts 231a are brought into contact with electric contacts (not shown) formed on the lower part of the drone <NUM>, and power is supplied from the drone <NUM> to the camera <NUM>.

The tilt driving unit <NUM> is an actuator comprised of a so called ultrasonic motor which drives the driven body by using ultrasonic vibration. In a case where the ultrasonic motor is used, it is necessary for the ultrasonic motor to be brought into pressure contact with the driven body in order to transmit a driving force to the driven body. As will be described later, in the present embodiment, the tilt driving unit <NUM> is brought into pressure contact with the tilt unit <NUM>. The tilt driving unit <NUM> has a driving unit <NUM> (transmitting unit), a felt <NUM>, a presser <NUM>, a spring <NUM>, and a case <NUM>.

<FIG> is an exploded perspective view schematically showing an arrangement of the driving unit <NUM> of the tilt driving unit <NUM>. In <FIG>, the driving unit <NUM> has an oscillator 351a, a piezoelectric element 351b, an FPC 351c which is a wiring member, and a base member 351d. The piezoelectric element 351b gives (excites) ultrasonic vibration to the oscillator 351a, and the FPC 351c is adhesively fixed to the piezoelectric element 351b to apply a high frequency voltage to the piezoelectric element 351b. The base member 351d holds the oscillator 351a, the piezoelectric element 351b, and the FPC 351c, and brings the oscillator 351a into pressure contact with the tilt unit <NUM> when the tilt driving unit <NUM> is attached to the arm portion 311c of the pan chassis <NUM>. The FPC 351c is directly connected to the control substrate <NUM>, and applies an arbitrary high frequency voltage to the piezoelectric element 351b depending on a control signal from the driver IC. The oscillator 351a has contact points 351e (protruding portions) comprised of a plurality of projections. When the high frequency voltage is applied to the piezoelectric element 351b, vibration with an arbitral frequency is excited in the oscillator 351a, which generates a driving force to drive the driven body in an arrangement direction of the contact points 351e. Because the oscillator 351a is brought into pressure contact with the tilt unit <NUM>, the driving force is transmitted to the tilt unit <NUM>, and the tilt unit <NUM> is relatively moved with respect to the tilt driving unit <NUM>.

Referring again to <FIG>, in tilt driving unit <NUM>, the case <NUM> is fixed to the arm portion 311c by screws, and the spring <NUM> supported by the case <NUM> presses the driving unit <NUM> via the felt <NUM> and presser <NUM>. The presser <NUM> is arranged in an interior of the base member 351d of the driving unit <NUM>, slidably moves in a direction parallel to the axis T, and transmits a local pressing force of the spring <NUM> over a wide range. Accordingly, in the tilt driving unit <NUM>, the oscillator 351a is pressed without being tilted, and the plurality of contact points 351e of the driving unit <NUM> is equally pressed against the tilt unit <NUM>. The felt <NUM> is arranged between the presser <NUM> and the driving unit <NUM>, attenuates vibration generated by the oscillator 351a, and prevents the vibration from being transmitted to the presser <NUM> and the spring <NUM>. The tilt driving unit <NUM> is attached to the arm portion 311c so that at least the contact points 351e enter the opening 311e of the arm portion 311c.

As described above, the tilt rotation plate <NUM> is fixed to the one side face of the tilt unit <NUM>, and the contact points 351e are brought into pressure contact with a frictional sliding surface 41a (transmitted surface) of the tilt rotation plate <NUM>. The frictional sliding surface 41a is subjected to a surface treatment such as lapping, and a highly flat and smooth plane is formed. Stainless material subjected to a hardening treatment such as nitriding is used for the tilt rotation plate <NUM>. Accordingly, the tilt rotation plate <NUM> achieves stable contact and low wear amount of the contact points 351e at the same time. It should be noted that a cementation process in which carbons are added to a surface of the frictional sliding surface 41a and hardened, for example, may be used as the hardening treatment for the tilt rotation plate <NUM>.

The tilting position detecting unit <NUM> has a spacer <NUM> and an FPC <NUM>, and a tilt optical sensor <NUM> is mounted on the FPC <NUM>. The FPC <NUM> is fixed to the arm portion 311c by screws via the spacer <NUM> so that a part of the tilt optical sensor <NUM> enters the opening 311f of the arm portion 311c. As described above, the tilt reflection scale <NUM> is provided on the other side face of the tilt unit <NUM>, and the tilting position detecting unit <NUM> is attached to the arm portion 311c so that the tilt optical sensor <NUM> and the tilt reflection scale <NUM> face with each other with a predetermined space sandwiching therebetween. The FPC <NUM> is connected to the control substrate <NUM> via wiring (not shown), and outputs a detection result of the tilt optical sensor <NUM> to the CPU. The tilt reflection scale <NUM> has an optical grid 42a (reflecting portion) comprised of a plurality of contrast patterns arranged in a circumference direction around the tilt shaft portion 40a at constant intervals. A resin such as acryl (PMMA) or polycarbonate (PC) is used for a base material of the tilt reflection scale <NUM>. In the tilt reflection scale <NUM>, the optical grid 42a comprised of an aluminum film, for example, is formed as a reflection film on a surface of the base material. It should be noted that the base material for the tilt reflection scale <NUM> is not limited to the above materials, and quartz glass, blue sheet glass, or silicon wafer, for example, may be used for the base material. Chromium film, for example, may be used for the optical grid 42a.

<FIG> are views schematically showing an arrangement of the tilt optical sensor <NUM> of the tilting position detecting unit <NUM>. <FIG> is a view of the tilt optical sensor <NUM> as viewed from a tilt unit <NUM> side, and <FIG> is a view of the tilt optical sensor <NUM> as viewed from a front side of the camera <NUM>. The tilt optical sensor <NUM> comprises a substrate 363a, and a light-emitting portion 363b and a light-receiving portion array 363c, both being mounted on the substrate 363a. The light-emitting portion 363b emits light to the tilt reflection scale <NUM>, and the light-receiving portion array 363c receives a reflected light from the tilt reflection scale <NUM>. For example, a light-emitting diode is used for the light-emitting portion 363b, and a phototransistor is used for the light-receiving portion array 363c. Specifically, the light-receiving portion array 363c is comprised of a plurality of phototransistors arranged in a range to which a reflected light from the contrast patterns of the optical grid 42a resulting from light emitted from the light-emitting portion 363b is incident. The tilt optical sensor <NUM> receives the reflected light from the contrast patterns of the optical grid 42a using the light-receiving portion array 363c, and converts the received reflected light into an electric signal. The reflected light from the contrast patterns of the optical grid 42a forms an image of a reflective pattern, that is, a so called reflectance distribution image. The light-receiving portion array 363c subjects the reflectance distribution image to a photoelectrical conversion and outputs an electric signal having a waveform of sinusoid according to a light quantity distribution of the reflectance distribution image. In the camera <NUM>, when the tilt reflection scale <NUM> and the tilt optical sensor <NUM> move relatively with each other, the reflectance distribution image formed by the reflected light from the contrast patterns of the optical grid 42a varies. By reading the electric signal having a waveform of sinusoid according to this change, the camera <NUM> detects a rotational position of the tilt unit <NUM>. Then, a rotational direction of the tilt unit <NUM> is detected by reading varying of a direction of the reflected light incident from the optical grid 42a to the light-receiving portion array 363c.

<FIG> shows an exploded perspective view schematically showing an internal arrangement of the base unit <NUM> in <FIG>. <FIG> indicates a state where the pan unit <NUM> attached to the tilt unit <NUM> is held in advance by the base cover <NUM> in a rotatable manner in the horizontal rotational (panning) direction. In this case, a pan shaft portion 312a is fitted into a pan rotation supporting portion 210a, and the pan rotation supporting portion 210a is formed by mold-injecting a resin having low friction and superior sliding characteristics (for example, polyacetal (POM) and the like) as is the case with the tilt rotation supporting portion 311a. It should be noted that a rolling bearing such as a ball bearing and a roller bearing may be used as the pan rotation supporting portion 210a. As a result, the pan unit <NUM> is supported by the base unit <NUM> in a smoothly rotatable (horizontally rotatable) manner about the axis P. A pan rotation plate <NUM> is fixed to a pan shaft portion 312a of the pan unit <NUM> from a bottom side of the camera <NUM> by screws. A pan reflection scale <NUM> is attached to the pan rotation plate <NUM> by a double-sided tape, not shown. After the pan rotation plate <NUM> and the pan reflection scale <NUM> are installed to the base cover <NUM>, a main chassis <NUM> is installed from the bottom side of the camera <NUM> and fixed to the base cover <NUM> by screws. An opening 240a and an opening 240b as well as screw holes are formed in the main chassis <NUM>. The opening 240b is comprised of a circular opening and a rectangular opening arranged adjacent to each other. The wiring <NUM> extending from the tilt unit <NUM> is inserted into the circular opening of the opening 240b and connected to the control substrate <NUM>. The pan driving unit <NUM> which drives the pan unit <NUM> and the panning position detecting unit <NUM> which detects rotation of the pan unit <NUM> are attached to the main chassis <NUM>. Specifically, the pan driving unit <NUM> is arranged so as to enter the rectangular opening of the opening 240b, and the panning position detecting unit <NUM> is arranged so as to enter the opening 240a. The pan driving unit <NUM> is an actuator comprised of an ultrasonic motor having the same arrangement as the tilt driving unit <NUM> described earlier. Accordingly, as to be described later, in the present embodiment, the pan driving unit <NUM> is brought into pressure contact with the pan rotation plate <NUM> fastened to the pan unit <NUM> in order to transmit the driving force. The pan driving unit <NUM> has a driving unit <NUM>, a felt <NUM>, a presser <NUM>, a screw <NUM>, and a case <NUM>.

<FIG> is an exploded perspective view schematically showing an arrangement of the driving unit <NUM> of the pan driving unit <NUM>. In <FIG>, the driving unit <NUM> has an oscillator 251a, a piezoelectric element 251b, an FPC 251c which is a wiring member, and a base member 251d. The piezoelectric element 251b gives ultrasonic vibration to the oscillator 251a, and the FPC 251c is adhesively fixed to the piezoelectric element 251b to apply a high frequency voltage to the piezoelectric element 251b. The base member 251d holds the oscillator 251a, the piezoelectric element 251b, and the FPC 251c, and brings the oscillator 251a into pressure contact with the pan rotation plate <NUM> when the pan driving unit <NUM> is attached to the main chassis <NUM>. The FPC 251c is directly connected to the control substrate <NUM>, and applies an arbitrary high frequency voltage to the piezoelectric element 251b depending on a control signal from the driver IC. The oscillator 251a has contact points 251e comprised of a plurality of projections. When the high frequency voltage is applied to the piezoelectric element 251b, vibration with an arbitral frequency is excited in the oscillator 251a, which generates a driving force to drive the driven body in an arrangement direction of the contact points 251e. Because the oscillator 251a is brought into pressure contact with the pan rotation plate <NUM>, the driving force is transmitted to the pan rotation plate <NUM>, and the pan unit <NUM> is relatively moved with respect to the pan driving unit <NUM>.

In the pan driving unit <NUM>, the case <NUM> is fixed to the main chassis <NUM> by screws, and a spring <NUM> supported by the case <NUM> presses the driving unit <NUM> via the felt <NUM> and presser <NUM>. The presser <NUM> is arranged in an interior of the base member 251d of the driving unit <NUM>, slidably moves in a direction parallel to the axis P, and transmits a local pressing force of the spring <NUM> over a wide range. Accordingly, in the pan driving unit <NUM>, the oscillator 251a is pressed without being tilted, and the plurality of contact points 251e of the driving unit <NUM> is equally pressed against the pan rotation plate <NUM>. The felt <NUM> is arranged between the presser <NUM> and the driving unit <NUM>, attenuates vibration generated by the oscillator 251a, and prevents the vibration from being transmitted to the presser <NUM> and the spring <NUM>. The pan driving unit <NUM> is attached to the main chassis <NUM> so that at least the contact points 251e enter the rectangular opening of the opening 240b of the main chassis <NUM>.

A frictional sliding surface 330a is formed in a lower surface of the pan rotation plate <NUM>, and the contact points 251e are brought into pressure contact with the frictional sliding surface 330a. The frictional sliding surface 330a is subjected to a surface treatment such as lapping, and a highly flat and smooth plane is formed. Stainless material and so on subjected to a hardening treatment such as nitriding is used for the pan rotation plate <NUM>. Accordingly, the pan rotation plate <NUM> achieves stable contact and low wear amount of the contact points 251e at the same time. It should be noted that a cementation process in which carbons are added to a surface of the frictional sliding surface 330a and hardened, for example, may be used as the hardening treatment for the pan rotation plate <NUM>.

The panning position detecting unit <NUM> has a FPC <NUM>, and a pan optical sensor <NUM> is mounted on the FPC <NUM>. The FPC <NUM> is fixed to the main chassis <NUM> by screws so that a part of the pan optical sensor <NUM> enters the opening 240a of the main chassis <NUM>. As described above, the pan reflection scale <NUM> is provided on the lower surface of the pan rotation plate <NUM>, and the panning position detecting unit <NUM> is attached to the main chassis <NUM> so that the pan optical sensor <NUM> and the pan reflection scale <NUM> face with each other with a predetermined space sandwiching therebetween. The FPC <NUM> is connected to the control substrate <NUM> via wiring (not shown), and outputs a detection result of the pan optical sensor <NUM> to the CPU. The pan reflection scale <NUM> has an optical grid 331a comprised of a plurality of contrast patterns arranged in a circumference direction around the axis P (pan shaft portion 312a) at constant intervals. A resin such as acryl (PMMA) or polycarbonate (PC) is used for a base material of the pan reflection scale <NUM>. In the pan reflection scale <NUM>, the optical grid 331a comprised of an aluminum film, for example, is formed as a reflection film on a surface of the base material. The base material of the pan reflection scale <NUM> is not limited to the above materials, and quartz glass, blue sheet glass, or silicon wafer, for example, may be used for the base material. Chromium film, for example, may be used for the optical grid 331a.

<FIG> are views schematically showing an arrangement of the pan optical sensor <NUM> of the panning position detecting unit <NUM>. <FIG> is a view of the pan optical sensor <NUM> as viewed from a pan unit <NUM> side, and <FIG> is a view of the pan optical sensor <NUM> as viewed from the front side of the camera <NUM>. The pan optical sensor <NUM> comprises a substrate 262a, and a light-emitting portion 262b and a light-receiving portion array 262c, both being mounted on the substrate 262a. The light-emitting portion 262b emits light to the pan reflection scale <NUM>, and the light-receiving portion array 262c receives a reflected light from the pan reflection scale <NUM>. For example, a light-emitting diode is used for the light-emitting portion 262b and a phototransistor is used for the light-receiving portion array 262c. Specifically, the light-receiving portion array 262c is comprised of a plurality of phototransistors arranged in a range to which a reflected light from the contrast patterns of the optical grid 331a resulting from light emitted from the light-emitting portion 262b is incident. The pan optical sensor <NUM> receives the reflected light from the contrast patterns of the optical grid 331a using the light-receiving portion array 262c, and converts the received reflected light into an electric signal. The reflected light from the contrast patterns of the optical grid 331a forms an image of a reflective pattern, that is, a so called reflectance distribution image. The light-receiving portion array 262c subjects the reflectance distribution image to a photoelectrical conversion and outputs an electric signal having a waveform of sinusoid according to a light quantity distribution of the reflectance distribution image. In the camera <NUM>, when the pan reflection scale <NUM> and the pan optical sensor <NUM> move relatively with each other, the reflectance distribution image formed by the reflected light from the contrast patterns of the optical grid 331a varies. By reading the electric signal having a waveform of sinusoid according to this change, the camera <NUM> detects a rotational position of the pan unit <NUM>. Then, a rotational direction of the pan unit <NUM> is detected by reading varying of a direction of the reflected light incident from the optical grid 331a to the light-receiving portion array 262c.

Referring again to <FIG>, in the camera <NUM>, the tilt driving unit <NUM> is installed into the arm portion 331c so that a middle point M of a virtual straight line connecting the pair of contact points 351e in a projective view from an upper surface (as viewed along the axis P) is located on the axis T. More specifically, the tilt driving unit <NUM> is arranged so that the middle point M of the virtual straight line is positioned on a virtual plane defined by the axis T and the axis P. Accordingly, the driving force of the driving unit <NUM> is uniformly (in well-balance) transmitted to the tilt unit <NUM>, and thus the tilt unit <NUM> is smoothly rotated.

In the tilt driving unit <NUM>, the case <NUM>, the spring <NUM>, the felt <NUM>, the presser <NUM>, and the driving unit <NUM> are arranged in an overlapped manner, and thus the tilt driving unit <NUM> has a certain level of thickness. As described above, however, the tilt driving unit <NUM> is arranged so that at least the contact points 351e of the driving unit <NUM> enter the opening 311e of the arm portion 311c, and the case <NUM> is fixed to the arm portion 311c without sandwiching another member therebetween. Therefore, an amount of projection of the tilt driving unit <NUM> from the arm portion 311c along the axis T is decreased. Specifically, when viewed along the axis P, the tilt driving unit <NUM> assembled to the arm portion 311c is accommodated in a region in which the pan chassis <NUM> rotates. More specifically, when viewed along the axis P, the tilt driving unit <NUM> is accommodated in a region between a chord A-B defined by points A and B where the virtual straight line along the surface of the tilt rotation plate <NUM> intersects with an outer edge of the pan cover <NUM>, and an arc A-B in the outer edge of the pan cover <NUM>. As a result, a space volume occupied by the component elements of the camera <NUM> is decreased, and thus the camera <NUM> is downsized.

As shown in <FIG>, the tilt driving unit <NUM> is arranged between the tilt shaft portion 40a (tilt rotation supporting portion 311a) and the panning base <NUM>. As described earlier, the tilt unit <NUM> holds the lens unit <NUM>, and the center of the optical axis of the lens unit <NUM> intersects with the axis T in a state where the lens unit <NUM> faces a front. Accordingly, an amount of oscillation of the lens unit <NUM> (tilt unit <NUM>) at the time of tilting rotation about the axis T is decreased, and thus, the camera <NUM> is downsized.

In the camera <NUM>, the tilt unit <NUM> as a whole is positioned slightly above the base unit <NUM> by positioning the tilt unit <NUM> so that the center of the optical axis of the lens unit <NUM> intersects with the axis T. Accordingly, a certain space is ensured between the tilt shaft portion 40a (tilt rotation supporting portion 311a) and the panning base <NUM>. Consequently, the tilt driving unit <NUM> is arranged in the space. As a result, the space volume occupied by the component elements of the camera <NUM> is decreased compared to a case where the tilt driving unit <NUM> is arranged in a space other than the space, and thus the camera <NUM> is downsized.

In addition, in the camera <NUM>, since the tilt driving unit <NUM> is brought into pressure contact with the tilt unit <NUM> to directly transmit the driving force, it is possible to dispense with a gear or a pulley for driving the tilt unit <NUM>. Accordingly, the camera <NUM> is further downsized. Furthermore, in camera <NUM>, the tilting position detecting unit <NUM> is attached to the arm portion 311c other than the arm portion 311c to which the tilt driving unit <NUM> is attached. Accordingly, a space between the tilt shaft portion 40a (tilt rotation supporting portion 311a) and the panning base <NUM> is effectively utilized and the space volume occupied by the component elements of the camera <NUM> is further decreased.

In the camera <NUM>, if a distance from the axis T pertaining to the Y direction (a rotational center of the tilt unit <NUM>) to the contact points 351e of the tilt driving unit <NUM> in <FIG> is assumed as D1, shorter distance D1 is preferable. Accordingly, a moving angle (an amount of rotational movement) of the tilt unit <NUM> per one oscillation of the contact points 351e becomes large, and thus a rotational moving speed of the tilt unit <NUM> is increased. At this time, the distance D1 is determined in light of frictional load on the tilt rotation supporting portion 311a and the tilt shaft portion 40a, a weight of the tilt unit <NUM>, sliding frictional load on wiring <NUM> while the tilt unit <NUM> is rotating, and a driving force which the tilt driving unit <NUM> is able to generate. Moreover, if a distance from the axis T pertaining to the Y direction to a detecting point where the tilt optical sensor <NUM> detects the reflected light from the optical grid 42a is assumed as D2, longer distance D2 is preferable. Accordingly, the amount of rotational movement of the tilt unit <NUM> per a movement angle unit at the detecting point is increased, and thus an accuracy of the reflectance distribution image obtained by the tilt optical sensor <NUM> is improved. At this time, the distance D2 is determined in light of a maximum diameter of the tilt reflection scale <NUM> which can be accommodated in the pan cover <NUM>. In particular, it is preferable to set arrangements and sizes of the components elements of the camera <NUM> so that the distance D1 is equal to or shorter than the distance D2. Consequently, a high-speed tilting operation and improvement in accuracy of a tilt rotation detection can be achieved at the same time.

It should be noted that the control substrate <NUM> and the bottom cover <NUM> are assembled to the base cover <NUM> after installation of the pan unit <NUM> and the tilt unit <NUM> to the base cover <NUM>, and then assembly of the camera <NUM> is completed.

In the present embodiment, although the tilt rotation plate <NUM> and the tilt reflection scale <NUM>, which are independent components, are attached to the tilt unit <NUM>, the frictional sliding surface 41a and the optical grid 42a may be formed directly on the both sides of the tilt unit <NUM>, respectively. Accordingly, the double-sided tape 40b can be dispensed with, a length of the tilt unit <NUM> along the axis T can be made shorter, and the camera <NUM> can be further downsized. Although the pan base <NUM> is comprised of the pan chassis <NUM> formed by the plate metal and the panning base <NUM> formed of resin, the pan chassis <NUM> and the panning base <NUM> may be integrally formed of a high-strength resin material.

Next, a description will be given of an image pickup apparatus according to a second embodiment of the present invention. The second embodiment is basically the same as the first embodiment described above in terms of constructions and operations. Features of constructions and operations that are the same as those in the first embodiment will thus not be described, only constructions and operations different from those of the first embodiment being described below.

<FIG> is a vertical cross-sectional view schematically showing an arrangement of a camera as the image pickup apparatus according to the second embodiment of the present invention. It should be noted that as is the case with <FIG>, a direction parallel to the axis T is defined as the X direction, and a direction parallel to the axis P is defined as an Y direction in <FIG> for ease of explanation.

In the camera <NUM> as an image pickup apparatus according to the present embodiment, the arm portions 311c of the pan chassis <NUM> extends more upwardly than the arm portions 311c of the camera <NUM>. The tilt driving unit <NUM> and the tilting position detecting unit <NUM> are attached to the arm portions 311c at upper locations than the axis T. Accordingly, other component elements can be arranged in a certain space between the tilt shaft portion 40a and the panning base <NUM>. As a result, in camera <NUM>, microphones (herein after merely referred to as "mikes") 500a and 500b are arranged in the space. A condenser microphone, a MEMS (micro electro mechanical system) microphone, and so on, are used for mikes 500a and 500b. The mike 500a is mounted on the FPC 351c extending downwardly from the tilt driving unit <NUM> and electrically connected to the control substrate <NUM>. The mike 500b is mounted on the FPC <NUM> extending downwardly from the tilting position detecting unit <NUM> and electrically connected to the control substrate <NUM>. bushings <NUM> and <NUM> are attached to the mikes 500a and 500b, respectively. An elastic member such as an ethylene propylene diene rubber (EPDM) or a silicone rubber is used for the bushings <NUM> and <NUM>. Sound collecting holes 510a and 520a are formed in the bushings <NUM> and <NUM> correspondingly to sound collecting parts of the mikes 500a and 500b. Sound collecting holes 320a and 320b are formed in the pan cover <NUM> correspondingly to the sound collecting holes 510a and 520a. In an interior of the pan cover <NUM>, the mikes 500a and 500b and bushings <NUM> and <NUM> are sandwiched between and held by the pan cover <NUM> and the pan chassis <NUM>. The bushing <NUM> and <NUM> are adhered tightly to an inner peripheral surface of the pan cover <NUM> and collect sounds from the sound collecting holes 320a and 320b without any sound leakage.

In the camera <NUM>, by arranging the tilt driving unit <NUM> and the tilting position detecting unit <NUM> more upwardly than the axis T, the mikes 500a and 500b can be arranged without upsizing the camera <NUM> in the direction of the axis T compared to the camera <NUM>. In the camera <NUM>, by arranging the mikes 500a and 500b, the mikes 500a and 500b detect a time difference between sounds
recorded by the mikes 500a and 500b to identify a position of a sound source. Further, the lens unit <NUM> may be automatically oriented to the identified position of the sound source.

It should be noted that in the camera <NUM>, although the mikes 500a and 500b are arranged in the space (hereinafter, referred to "the accommodating space") between the tilt shaft portion 40a and the panning base <NUM>, other unit, modules, or devices may be arranged in the accommodating space. For example, a sound producing unit such as a buzzer and a speaker may be arranged in the accommodating space. In this case, for example, a sound producing function of producing an arbitral sound when an image similar to image data recorded in advance is found in a shot movie may be added. Moreover, a light-emitting device such as a light-emitting diode (LED) may be arranged in the accommodating space. Accordingly, an LED tag (visible light communication unit) can be added to the drone <NUM> on which the camera <NUM> is mounted. In this case, when the drone <NUM> flies in an arbitral airspace, the drone <NUM> receives light-emission information which can be received by only a drone having flight permission and causes the LED tag to emit light according to receipt of the light-emission information. As a result, it is possible to externally transmit that the drone <NUM> is a drone having flight permission. It should be noted that a location of the accommodating space is not limited to the space between the tilt shaft portion 40a and the panning base <NUM>, but the accommodating space may be provided at an arbitral location unless the camera <NUM> (<NUM>) is increased in size. Other Embodiments.

Claim 1:
An image pickup apparatus (<NUM>) having an image pickup unit (<NUM>), a base unit (311b), and a supporting unit (<NUM>) that is provided in a standing manner from the base unit (311b) and rotatably supports the image pickup unit (<NUM>), the image pickup apparatus (<NUM>) comprising:
an actuator (<NUM>) configured to drive the image pickup unit (<NUM>),
wherein
the image pickup unit (<NUM>) is rotatable about a shaft portion (40a), the shaft portion (40a) being disposed along an axis of rotation of the image pickup unit (<NUM>),
the actuator (<NUM>) has a vibrator (351a), brought into contact with the image pickup unit (<NUM>), a piezoelectric element (351b), and a pressure unit (<NUM>),
characterized in that
the image pickup unit (<NUM>) includes a rotational plate (<NUM>) having a frictional sliding surface (41a) with which the vibrator (351a) is brought into pressure contact by the pressure unit (<NUM>) pressing the vibrator (351a) against the frictional sliding surface (41a) of the image pickup unit (<NUM>),
and in that the vibrator (351a) includes a plurality of contact points (351e) which cause, by driving of the piezoelectric element (351b), a driving force to drive the image pickup unit (<NUM>), and in that
the vibrator (351a) causes the rotation of the image pickup unit (<NUM>) relative to the actuator (<NUM>) by the driving force caused by the contact points (351e) in pressure contact with the frictional sliding surface (41a) of the rotational plate (<NUM>), a direction of the rotation being different from a direction of the pressure contact.