According to one embodiment, a tracking apparatus includes a spherical body, 1st to 3rd gimbals, a movable body, three or more spherical driving units, a hold unit, a target position identifying unit, 1st to 4th angle sensors, a rotation spring driving unit, a moving unit, a transmission unit, and a
According to one embodiment, a tracking apparatus includes a spherical body, 1st to 3rd gimbals, a movable body, three or more spherical driving units, a hold unit, a target position identifying unit, 1st to 4th angle sensors, a rotation spring driving unit, a moving unit, a transmission unit, and a control unit. The rotation spring driving unit returns the third gimbal to a center of a rotation range of the third gimbal. The moving unit moves a movable lens to set a distance between a fixed lens and the movable lens. The control unit causes the spherical driving units to swing the movable body based on the position data and the 1st to 4th angles, reorients the movable body to point in a desired direction, and controls the distance.
대표청구항▼
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 gimb
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; anda 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. 2. The apparatus according to claim 1, wherein the movable lens and the fixed lens are supported by the third gimbal, and the target position identifying unit identifies the target through the movable lens and the fixed lens. 3. The apparatus according to claim 1, wherein the moving unit comprises a ranging sensor configured to detect a position of the movable lens and acquire ranging data including the position of the movable lens; andthe control unit controls the movable lens and the movable body to have a desired orientation, based on the ranging data, a tracking error and the first rotation angle, the second rotation angle, the third rotation angle, and the fourth rotation angle. 4. The apparatus according to claim 1, wherein the control unit performs rotation transform based on the fourth angle to make a coordinate system of the position data coincide with a coordinate system of a vector indicating a direction of a swing motion of the movable body. 5. The apparatus according to claim 1, wherein the control unit calculates, using the first rotation angle, the second rotation angle, the third rotation angle, and the fourth rotation angle, virtual position data associated with a coordinate system that coincides with a coordinate system of the target position identifying unit, and to control the movable body to have a desired orientation. 6. The apparatus according to claim 1, wherein the moving unit moves the movable lens using a worm gear. 7. The apparatus according to claim 1, wherein each of the spherical driving units comprises a wheel which is movable in a direction different from a direction of rotation thereof, and a wheel driving unit configured to rotate the wheel to move the movable body on the spherical body. 8. The apparatus according to claim 1, wherein the spherical driving units comprise rotary wheels, and springs which press the wheels against the spherical body.
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이 특허에 인용된 특허 (3)
Nakamura, Hiroaki, Moving object image tracking apparatus and method.
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