JP2017211626A - Lens device, image capturing system, mobile body, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow for minimizing shift in position of the center of gravity of an object system comprising lenses using a simple configuration.SOLUTION: An unmanned aerial vehicle includes; a lens device comprising one or more lenses, a movable member configured to be movable in a direction of an optical axis of the one or more lenses, and a physical structure configured to move the one or more lenses in the optical axis direction and to move the movable member in a direction opposite a movement direction of the center of gravity of an object system comprising the one or more lenses; and a gimbal for holding the lens device.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a lens device, an imaging system, a moving body, and a control method.

Patent Document 1 discloses a camera stabilizer that moves an auxiliary balance weight in a direction opposite to a moving direction of a lens by a zoom operation or a focus operation. Patent Document 2 discloses a weight balance adjustment structure that obtains a weight balance by moving a weight in conjunction with a zoom operation of a zoom lens.
Patent Document 1 Japanese Patent Application Laid-Open No. 08-022068 Patent Document 2 Japanese Patent Application Laid-Open No. 2010-39350

  It is desired to suppress the change in the position of the center of gravity of the object system including the lens with a simpler structure.

  According to one aspect, the lens device includes one or more lenses, a moving member that can move in the optical axis direction of the one or more lenses, and one or more lenses that move in the optical axis direction. A physical structure that moves the moving member in a direction opposite to the moving direction of the center of gravity of the object system including a plurality of lenses.

  The lens device may further include a lens holding member that holds one or a plurality of lenses. The physical structure may have a cam portion provided on one of the lens holding member and the moving member. The physical structure may include a follower portion that is provided on the other of the lens holding member and the moving member and moves the lens holding member and the moving member relatively by moving along the cam surface of the cam portion. .

  The moving member may be a cam ring.

  The lens device may further include a lens holding member that holds one or a plurality of lenses. The physical structure may have an intermediate structure. The physical structure may include a first cam portion provided on one of the lens holding member and the intermediate structure. The physical structure is provided on the other of the lens holding member and the intermediate structure, and moves along the cam surface of the first cam portion to relatively move the lens holding member and the intermediate structure. May have a part. The physical structure may include a second cam portion provided on one of the intermediate structure and the moving member. The physical structure is provided on the other of the intermediate structure and the moving member, and includes a second follower portion that moves along the cam surface of the second cam portion to relatively move the intermediate structure and the moving member. You may have.

  The intermediate structure may be a cam ring.

  The moving member may be a material having a specific gravity greater than that of the one or more lenses.

  The moving member may be a metal.

  The lens device may further include a light amount adjustment mechanism that moves together with some of the one or more lenses and adjusts the amount of light that passes through the one or more lenses. The physical structure may move the moving member in a direction opposite to the moving direction of the center of gravity of the object system further including a light amount adjusting mechanism.

  The light amount adjustment mechanism may have a diaphragm whose opening diameter can be changed. The light amount adjustment mechanism may include an actuator that changes the aperture diameter by driving the diaphragm.

  The lens device may further include another lens that is moved by a mechanism different from the physical structure in conjunction with the movement of the one or more lenses. The physical structure may move the moving member in a direction opposite to the moving direction of the center of gravity of the object system further including another lens.

  According to one aspect, an imaging system includes a lens device and an imaging device that images light imaged by the lens device.

  The imaging system may further include a gimbal that rotatably holds the lens device and the imaging device.

  The gimbal may hold the lens device and the imaging device so that the lens device and the imaging device can rotate on a rotation axis passing through a predetermined distance from the center of gravity of the object system including the lens device and the imaging device.

  The gimbal may hold the lens device and the imaging device so as to be rotatable about a rotation axis that passes through the center of gravity of the object system including the lens device and the imaging device.

  According to one aspect, the moving body moves with the imaging system.

  According to one aspect, the control method is a control method of a lens device including one or more lenses and a moving member that is movable in the optical axis direction of the one or more lenses, and is based on a physical structure, Moving the one or more lenses in the optical axis direction and moving the moving member in a direction opposite to the moving direction of the center of gravity of the object system including the one or more lenses.

  The above summary of the present invention does not enumerate all of the features of the present invention. A sub-combination of these feature groups can also be an invention.

It is a figure which shows an example of the external appearance of UAV. It is a figure which shows an example of the functional block of UAV. It is a figure which shows an example of arrangement | positioning of the some lens in a wide end. It is a figure which shows an example of arrangement | positioning of the some lens in a tele end. It is a perspective view which shows an example of the external appearance of an imaging device and a lens apparatus. It is a perspective view which shows an example of the mode inside the housing | casing of an imaging device and a lens apparatus. It is a figure which shows an example of the perspective view of a cam ring. It is a figure which shows an example of the perspective view of a fixed cylinder. It is a figure which shows an example of the relationship between a cam ring rotation angle and the distance from the image formation surface of an image pick-up element. It is a figure which shows an example of the relationship between a cam ring rotation angle and the distance from a wide position. It is a figure which shows an example of the relationship between the physical quantity which multiplied mass to the distance from a cam ring rotation angle and a wide position. It is a figure which shows an example of the attitude | position of an imaging device and a lens apparatus. It is a figure which shows an example of the attitude | position of an imaging device and a lens apparatus. It is a figure which shows an example of the attitude | position of an imaging device and a lens apparatus. It is a figure which shows the other example of the functional block of UAV. It is a figure which shows the other example of arrangement | positioning of the some lens in a wide end. It is a figure which shows the other example of the relationship between a cam ring rotation angle and the distance from the image formation surface of an image pick-up element. It is a figure which shows the other example of the relationship between a cam ring rotation angle and the distance from a wide position. It is a figure which shows the other example of the relationship between the physical quantity which multiplied mass to the distance from a cam ring rotation angle and a wide position.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential for the solution of the invention.

  The claims, the description, the drawings, and the abstract include matters subject to copyright protection. The copyright owner will not object to any number of copies of these documents as they appear in the JPO file or record. However, in other cases, all copyrights are reserved.

  FIG. 1 shows an example of the appearance of the UAV 100. The unmanned aerial vehicle (UAV) 100 includes a UAV main body 101, a gimbal 110, an imaging device 140, and a lens device 160. The gimbal 110, the imaging device 140, and the lens device 160 are an example of an imaging system. The UAV 100 is an example of a moving body that moves with an imaging system. The moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like.

  The UAV main body 101 includes a plurality of rotor blades. The UAV main body 101 flies the UAV 100 by controlling the rotation of a plurality of rotor blades. For example, the UAV main body 101 causes the UAV 100 to fly using four rotary wings. The number of rotor blades is not limited to four. The UAV 100 may be a fixed wing aircraft that does not have rotating blades.

  The gimbal 110 holds the imaging device 140 and the lens device 160 rotatably. The gimbal 110 holds the imaging device 140 and the lens device 160 so as to be rotatable about a rotation axis that passes through the center of gravity of the object system including the imaging device 140 and the lens device 160. For example, the gimbal 110 holds the imaging device 140 and the lens device 160 rotatably on a pitch axis that passes through the center of gravity of the object system including the imaging device 140 and the lens device 160. The gimbal 110 holds the imaging device 140 and the lens device 160 so as to be rotatable about the roll axis and the yaw axis. The gimbal 110 may hold the imaging device 140 or the lens device 160. The lens device 160 may include the imaging device 140. In this case, the lens device 160 and the imaging device 140 are combined to form a lens body.

  The imaging device 140 generates and records image data of an optical image formed through the lens device 160. The lens device 160 may be provided integrally with the imaging device 140. The lens device 160 may be a so-called interchangeable lens and may be provided so as to be detachable from the imaging device 140.

  FIG. 2 shows an example of functional blocks of the UAV 100. The UAV 100 includes a communication interface 102, a UAV control unit 104, a memory 106, a gimbal 110, an imaging device 140, and a lens device 160.

  The communication interface 102 communicates with an external transmitter. The communication interface 102 receives various commands from a remote transmitter. The UAV control unit 104 controls the flight of the UAV 100 according to the command received from the transmitter. The UAV control unit 104 controls the gimbal 110, the imaging device 140, and the lens device 160. The UAV control unit 104 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The memory 106 stores a program necessary for the UAV control unit 104 to control the gimbal 110, the imaging device 140, and the lens device 160. The memory 106 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 106 may be provided in the housing of the UAV 100. It may be provided so as to be removable from the housing of the UAV 100.

  The imaging device 140 includes an imaging control unit 142, an imaging element 144, and a memory 146. The imaging device 140 images the light imaged by the lens device 160. The imaging element 144 generates image data of an optical image formed through the lens device 160 and outputs the image data to the imaging control unit 142. The imaging element 144 may be configured by a CCD or a CMOS. The imaging control unit 142 stores the image data output from the imaging element 144 in the memory 146. The imaging control unit 142 may output and store the image data in the memory 106 via the UAV control unit 104. The imaging control unit 142 controls the imaging device 140 and the lens device 160 in accordance with operation commands for the imaging device 140 and the lens device 160 from the UAV control unit 104. The imaging control unit 142 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The memory 146 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 146 may be provided inside the housing of the imaging device 140. The imaging device 140 may be provided so as to be removable from the housing.

  The lens device 160 includes a memory 161, a lens control unit 162, a driving mechanism 164, a moving member 200, a physical structure 210, a plurality of lens holding members 230, a plurality of lenses 170, a light amount adjusting mechanism 180, a lens 190, and a lens holding member. 192 and a drive mechanism 194. At least some or all of the plurality of lenses 170 are arranged so as to be movable along the optical axis. The plurality of lenses 170 may be composed of a plurality of lens groups. The plurality of lenses 170 may function as a zoom lens. The plurality of lenses 170 may function as a varifocal lens.

  At least a part or all of the lens 190 is disposed so as to be movable along the optical axis. The lens 190 may be composed of a plurality of lens groups. The lens 190 may function as a focus lens.

  The memory 161 stores control values of a plurality of lenses 170 operating via the drive mechanism 164, control values of a lens 190 operating via a drive mechanism 194 different from the drive mechanism 164, and the like. The lens device 160 may have at least one lens 170 and lens 190. The lens device 160 may include an arbitrary number of lenses according to the optical design of the lens device 160.

  The lens control unit 162 drives the drive mechanism 164 based on the control value stored in the memory 161 in accordance with the lens operation command from the imaging control unit 142 to move the plurality of lenses 170 in the optical axis direction. The lens control unit 162 further drives the drive mechanism 194 based on other control values stored in the memory 161 to move the lens 190 in the optical axis direction. The lens control unit 162 adjusts the focal length by moving the lens 190 in the optical axis direction in conjunction with the movement of the plurality of lenses 170 in the optical axis direction. Furthermore, the lens control unit 162 may adjust the focal length by moving the lens 190 in the optical axis direction independently of the movement of the plurality of lenses 170 in the optical axis direction.

  The lens holding member 230 holds the lens 170. The lens holding member 230 may hold one or a plurality of lenses 170. The lens holding member 230 moves along the optical axis while holding one or more lenses 170. The lens holding member 230 may be disposed in the lens barrel so as to be movable along the optical axis. The lens holding member 192 holds the lens 190. The lens holding member 192 may hold one or a plurality of lenses 190. The lens holding member 192 moves along the optical axis while holding one or more lenses 190. The lens holding member 192 may be disposed in the lens barrel so as to be movable along the optical axis.

  The light amount adjusting mechanism 180 moves together with some of the one or more lenses 170 and adjusts the amount of light passing through the one or more lenses 170. The light amount adjustment mechanism 180 includes a diaphragm whose aperture diameter can be changed, and an actuator that drives the diaphragm to change the aperture diameter.

  The moving member 200 is a member that suppresses a change in the position of the center of gravity of the object system including one or a plurality of lenses 170. The moving member 200 suppresses a change in the position of the center of gravity of the lens device 160 due to the movement of one or more lenses 170 in the optical axis direction. The moving member 200 is movable in the optical axis direction of the one or more lenses 170. The moving member 200 may be movable in parallel with the optical axis direction of the one or more lenses 170. The moving member 200 moves in the direction opposite to the moving direction of the center of gravity of the object system including one or more lenses 170. The moving member 200 may move in the optical axis direction using power supplied from the drive mechanism 164. The moving member 200 may be made of any material as long as it can suppress a change in the position of the center of gravity of the lens device 160. The moving member 200 may be a material having a specific gravity greater than that of the one or more lenses 170. The moving member 200 may be a metal. The moving member 200 is, for example, a cam ring. The moving member 200 may be a lens or a simple weight used only to suppress the position of the center of gravity of the lens device 160. The moving member 200 may be disposed within the lens barrel of the lens device 160 or may be disposed outside the lens barrel.

  The moving amount of the moving member 200 may be determined based on the moving amount of the moving element and the mass of the moving element. The moving element is an element that is provided in the lens device 160 and moves during the zoom operation. The moving element may move in the optical axis direction during the zoom operation. The moving element includes one or a plurality of lenses 170, a lens 190, a light amount adjustment mechanism 180, a cam ring, a linear guide ring, and the like. The moving amount of the moving member 200 indicates the distance from the reference position of the moving member 200. The moving amount of the moving element indicates the distance from the reference position of the moving element. The reference positions of the moving member 200 and the moving element may be the positions of the moving member 200 and the moving element at the wide end of the lens device 160, respectively. The distance from the reference position of the moving member 200 is a value obtained by dividing the sum of physical quantities obtained by multiplying the distance from the reference position of the moving element and the mass of the moving element by the mass of the moving member 200 to be a predetermined value or less. It may be set to be. The distance from the reference position of the moving member 200 is the sum of the physical quantities obtained by multiplying the distance from the reference position of each of the one or more lenses 170 and the mass of each of the one or more lenses 170. It may be set so that the value divided by the mass is less than or equal to a predetermined value.

  The physical structure 210 moves the one or more lenses 170 in the optical axis direction and moves the moving member 200 in a direction opposite to the moving direction of the center of gravity of the object system including the one or more lenses 170. The physical structure 210 may move the moving member 200 in the direction opposite to the moving direction of the center of gravity of the object system further including the light amount adjusting mechanism 180. The physical structure 210 may move the moving member 200 in the direction opposite to the moving direction of the center of gravity of the object system further including the lens 190. The physical structure 210 may move the moving member 200 so that the component in the direction opposite to the moving direction of the center of gravity of the object system including the one or more lenses 170 is included at least in the moving direction of the moving member 200. .

  The physical structure 210 is physically linked to the moving member 200 and the lens holding member 230. For example, when the moving member 200 moves to one side in the optical axis direction, the physical structure 210 moves the lens holding member 230 to the other side in the optical axis direction. The physical structure 210 physically transmits the force generated by the rotation of the moving member 200 and the movement in one of the optical axis directions to the lens holding member 230, and moves the lens holding member 230 to the other in the optical axis direction. It's okay.

  The physical structure 210 may have a cam portion and a follower portion. The cam portion may be provided on one of the lens holding member 230 and the moving member 200. The follower portion may be provided on the other of the lens holding member 230 and the moving member 200. A force generated by the rotation of the moving member 200 and the movement in one direction of the optical axis is physically transmitted to the lens holding member 230 via the cam portion and the follower portion. A follower part moves along the cam surface of a cam part, and moves the lens holding member 230 and the moving member 200 relatively.

  With the above configuration, the moving member 200 moves through the physical structure 210 in a direction that suppresses the change in the position of the center of gravity of the lens device 160 accompanying the movement of the one or more lenses 170. By suppressing the change in the position of the center of gravity of the lens device 160 due to the zoom operation of the lens device 160, it is possible to suppress the change in the driving torque with respect to the pitch axis of the gimbal 110 due to the zoom operation of the lens device 160. Furthermore, a change in the position of the center of gravity of the entire UAV 100 due to the zoom operation of the lens device 160 is suppressed, and more stable flight of the UAV 100 can be realized.

  FIG. 3A shows an example of the arrangement of a plurality of lenses at the wide end of the lens device 160. FIG. 3B shows an example of the arrangement of a plurality of lenses at the tele end of the lens device 160. Each of the plurality of lenses 170 shown in FIG. 2 is classified into one of the first lens group 172, the second lens group 174, and the third lens group 176. The lens 190 shown in FIG. 2 is classified into the fourth lens group 191. The lenses of the first lens group 172 do not move in the optical axis direction. The lenses of the second lens group 174 and the third lens group 176 move in the optical axis direction. A diaphragm 182 is disposed between the lenses of the second lens group 174. The diaphragm 182 moves in the optical axis direction in conjunction with the movement of the lenses of the second lens group 174. The lenses of the fourth lens group 191 move in the optical axis direction in accordance with the movement of the second lens group 174 and the third lens group 176 in the optical axis direction.

  FIG. 4 is a perspective view showing an example of the appearance of the imaging device 140 and the lens device 160 supported by the gimbal 110. FIG. 5 is a perspective view illustrating an example of the inside of the housings of the imaging device 140 and the lens device 160 in a state supported by the gimbal 110. The gimbal 110 includes a pitch axis rotation mechanism 112 that rotates the imaging device 140 and the lens device 160 around the pitch axis. The gimbal 110 further includes a roll axis rotation mechanism 114 and a yaw axis rotation mechanism 116 that rotate the imaging device 140 and the lens device 160 about the roll axis and the yaw axis.

  FIG. 6 shows an example of an external perspective view of the cam ring 202. FIG. 7 shows an example of an external perspective view of the fixed cylinder 232. The fixed cylinder 232 is fixed to a base 168 on which an electronic circuit such as the image sensor 144 is provided. The fixed cylinder 232 holds the lenses of the first lens group 172. The cam ring 202 is disposed on the outer peripheral side of the fixed cylinder 232 so as to be rotatable and movable in the optical axis direction. A gear 204 is formed on a part of the outer periphery of one end of the cam ring 202. The gear 204 meshes with the gear 166. The gear 166 is rotated by the drive motor 165. Power from the drive motor 165 is transmitted to the gear 204 via the gear 166, and the cam ring 202 moves along the outer periphery of the fixed cylinder 232 in the optical axis direction while rotating.

  As shown in FIG. 7, a cam ring support pin 234 is provided on the outer peripheral surface of the fixed cylinder 232. The cam ring support pin 234 guides the movement of the cam ring 202 in the optical axis direction. A straight guide groove 236 is formed in the fixed cylinder 232. The rectilinear guide groove 236 guides the movement of the second lens group cam pin 220 and the third lens group cam pin 222 in the optical axis direction. The second lens group cam pin 220 is provided on the lens holding member 230 that holds the lens 170 of the second lens group 174. The third lens group cam pin 222 is provided on the lens holding member 230 that holds the lens 170 of the third lens group 176.

  As shown in FIG. 6, a cam ring cam groove 212 that engages with the cam ring support pin 234 is formed in the cam ring 202. The cam ring cam groove 212 is guided by the cam ring support pin 234, so that the cam ring 202 moves in the optical axis direction while rotating. For example, the cam ring 202 moves in the direction of the arrow 132 while rotating in the direction of the arrow 130. The cam ring 202 is further formed with a second lens group cam groove 214 that engages with the second lens group cam pin 220 and a third lens group cam groove 216 that engages with the third lens group cam pin 222. Yes. As the cam ring 202 rotates and moves in the optical axis direction, the second lens group cam pin 220 moves in the rectilinear guide groove 236 along the second lens group cam groove 214. Thereby, the lenses of the second lens group 174 move in the optical axis direction. As the cam ring 202 rotates and moves in the optical axis direction, the third lens group cam pin 222 moves in the straight guide groove 236 along the third lens group cam groove 216. Thereby, the lenses of the third lens group 176 move in the optical axis direction.

  The cam ring 202 is an example of the moving member 200. The rectilinear guide groove 236, the cam ring cam groove 212, the second lens group cam groove 214, and the third lens group cam groove 216 are examples of cam portions. Each side surface of the rectilinear guide groove 236, the cam ring cam groove 212, the second lens group cam groove 214, and the third lens group cam groove 216 is an example of the cam surface of the cam portion. The cam ring support pin 234, the second lens group cam pin 220, and the third lens group cam pin 222 are examples of a follower portion.

  The cam ring 202 moves in a direction opposite to the moving direction of the center of gravity of the object system including the lenses of the second lens group 174 and the third lens group 176. More specifically, the center of gravity of the object system in which the cam ring 202 includes the lens of the second lens group 174, the lens of the third lens group 176, the lens of the fourth lens group 191, and the light amount adjustment mechanism 180 having the stop 182 and the actuator. Move in the direction opposite to the direction of movement. Thereby, a change in the position of the center of gravity of the lens device 160 can be suppressed.

  FIG. 8 shows an example of the relationship between the cam ring rotation angle and the distance from the imaging plane of the image sensor 144. The cam ring rotation angle is a rotation angle from the reference angle of the cam ring 202 when the rotation angle of the cam ring 202 at the wide end of the lens device 160 is a reference angle (0 degree). The distance from the imaging plane of the image sensor 144 is the distance from the imaging plane of the image sensor 144 to each lens group. FIG. 8 shows a change in the distance from the imaging surface of the image sensor 144 to each lens group when the lens device 160 is changed from the wide end to the tele end.

  FIG. 9 shows an example of the relationship between the cam ring rotation angle and the distance from the wide position. The wide position is the position of each lens group and the cam ring 202 at the wide end of the lens device 160. The tele position is the position of each lens group and cam ring 202 at the tele end of the lens device 160. FIG. 9 shows changes in the distance from the wide position of each lens group and cam ring 202 when the lens device 160 is changed from the wide end to the tele end.

FIG. 10 shows an example of the relationship between the cam rotation angle and the physical quantity (g · mm) obtained by multiplying the distance from the wide position by the mass. Hereinafter referred to as the physical quantity A _x the physical quantity obtained by multiplying the mass of the distance from the wide-angle position. The cam ring 202 moves in a direction that suppresses a change in the position of the center of gravity of the object system including the second lens group 174, the third lens group 176, and the fourth lens group 191. Distance from the wide position of the cam ring 202, the physical quantity _{A 2} of the second lens group 174, the physical quantity _{A 3} of the third lens group 176, and the sum of the four lens groups physical quantity _{A 4} divided by the mass of the cam ring 202 The value may be set so as to be equal to or less than a predetermined value. Thereby, the change in the position of the center of gravity of the object system (total) including the first lens group 172, the second lens group 174, the third lens group 176, the fourth lens group 191, and the cam ring 202 is changed by the lens device 160. Suppressed from wide end to tele end. Distance from the wide position of the cam ring 202, the physical quantity _{A 2} of the second lens group 174, the physical quantity _{A 3} of the third lens group 176, and the sum of the four lens groups physical quantity _{A 4} divided by the mass of the cam ring 202 May be set to cancel the value. Thereby, the position of the center of gravity of the object system can be prevented from changing from the wide end to the tele end. The mass of the second lens group 174 that is a parameter of the physical quantity A ₂ of the second lens group 174 may include the mass of the stop 182.

Physical quantity _{A 1} of the first lens group 172, the physical quantity _{A 2} of the second lens group 174, the physical quantity _{A 3} of the third lens group 176, the physical quantity of the fourth lens group _{A 4,} and the total physical quantity _{A C} of the cam ring 202 The sum ΣA of the physical quantity A _x is assumed. In the example shown in FIG. 10, the cam ring 202, while changing the lens apparatus 160 to the telephoto end from the wide-angle end, the sum ΣA physical quantity A _x moves always be zero. However, the cam ring 202 is not necessarily moved so that the total ΣA of the physical quantity A _x is always zero. This is because, for example, the drive region of the groove of the cam ring 202 is restricted due to restrictions such as design. In such a case, for example, the maximum value of the total ΣA physical quantity A _x with changes in the lens unit 160 to the telephoto end from the wide end, 3 minutes when there is no suppression of the change in position of the center of gravity by the cam ring 202 The cam ring 202 may move so that it becomes 1 or less.

  When the lens device 160 is changed from the wide end to the tele end, the width W of the change in the position of the center of gravity of the lens device 160 is less than 10% when the change in the position of the center of gravity by the cam ring 202 is not suppressed. As such, the cam ring 202 may move. A driving torque for the pitch axis of the gimbal 110 necessary to keep the optical axis of the lens device 160 horizontal is C (N · mm). The cam ring 202 is such that the maximum value of the drive torque C when the lens device 160 is changed from the wide end to the tele end is less than 10% of the case where the change in the position of the center of gravity by the cam ring 202 is not suppressed. You may move.

  As described above, the movement of the center of gravity of the lens device 160 due to the zoom operation is suppressed by the movement of the cam ring 202 in the optical axis direction. The gimbal 110 preferably holds the imaging device 140 and the lens device 160 so as to be rotatable about a pitch axis passing through the center of gravity of the object system including the imaging device 140 and the lens device 160. As shown in FIGS. 11A, 11B, and 11C, the gimbal 110 can hold the imaging device 140 and the lens device 160 in various postures by rotating around the pitch axis. The lens device 160 performs a zoom operation in various postures. However, the position of the center of gravity of the lens device 160 does not change due to the zoom operation. Therefore, if the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 is set on the pitch axis, the imaging device 140 and the lens device 160 can be moved even if the lens device 160 performs zooming operation in various postures. The position of the center of gravity of the contained object system can be maintained on the pitch axis. Therefore, the driving torque of the pitch axis rotation mechanism 112 does not change due to the difference in the zoom position of the lens device 160.

  The pitch axis of the gimbal 110 does not necessarily pass through the center of gravity of the object system including the imaging device 140 and the lens device 160. The pitch axis of the gimbal 110 may be set so as to be located within a predetermined range with respect to the center of gravity of the object system including the imaging device 140 and the lens device 160. For example, the predetermined range may be a range from the center of gravity of the object system to a distance (H / 4) that is a quarter of the total length (H) of the object system, as shown in FIG. 11A.

  FIG. 12 shows another example of functional blocks of the UAV 100. The structure, function, and operation of the UAV 100 shown in FIG. 12 may be the same as the structure, function, and operation of the UAV 100 shown in FIG. 2, except as described below.

  The physical structure 210 has an intermediate structure 250. The drive mechanism 164 transmits power to the intermediate structure 250. The intermediate structure 250 operates by receiving power from the drive mechanism 164. When the intermediate structure 250 is a cam ring, the intermediate structure 250 receives power from the drive mechanism 164 and rotates about the optical axis. The physical structure 210 physically transmits the force generated by the operation of the intermediate structure 250 to the moving member 200 and the lens holding member 230.

  The intermediate structure 250 is physically linked to the moving member 200 and the lens holding member 230 via the physical structure 210. For example, the physical structure 210 transmits the force from the intermediate structure 250 to the moving member 200, and moves the moving member 200 to one side in the optical axis direction. Further, the physical structure 210 transmits the force from the intermediate structure 250 to the lens holding member 230 to move the lens holding member 230 to the other side in the optical axis direction.

  The physical structure 210 further includes a first cam portion, a first follower portion, a second cam portion, and a second follower portion. The first cam portion is provided on one of the lens holding member 230 and the intermediate structure 250. The first follower portion is provided on the other of the lens holding member 230 and the intermediate structure 250, and moves relative to the lens holding member 230 and the intermediate structure 250 by moving along the cam surface of the first cam portion. Let The second cam portion is provided on one of the intermediate structure 250 and the moving member 200. The second follower portion is provided on the other of the intermediate structure 250 and the moving member 200, and moves along the cam surface of the second cam portion to relatively move the intermediate structure 250 and the moving member 200.

  For example, when the intermediate structure 250 is a cam ring, the hollow cylindrical moving member 200 is arranged on the outer peripheral side of the intermediate structure 250 so as to be movable in the optical axis direction with respect to the intermediate structure 250. A cam pin is provided on the outer periphery of the intermediate structure 250 as a second follower portion. On the inner surface of the moving member 200, a cam groove that engages with the cam pin is formed as a second cam portion. The cam pin of the intermediate structure 250 is guided in the cam groove of the moving member 200 according to the rotation of the intermediate structure 250 by the zoom operation. Thereby, the moving member 200 moves in a direction in which a change in the position of the center of gravity of the lens device 160 due to the zoom operation is suppressed.

  As described above, in response to the force transmitted from the physical structure 210, the moving member 200 moves in the direction opposite to the moving direction of the center of gravity of the object system including the one or more lenses 170. Thereby, the change in the position of the center of gravity of the object system including one or a plurality of lenses 170 can be suppressed with a simpler structure.

  FIG. 13 shows another example of the arrangement of a plurality of lenses at the wide end of the lens device 160. Each of the plurality of lenses 170 shown in FIG. 2 is classified into one of the first lens group 300 and the second lens group 310. The lens 190 shown in FIG. 2 is classified into the third lens group 320. The lenses of the first lens group 300, the second lens group 310, and the third lens group 320 move in the optical axis direction. A stop 182 is disposed between the first lens group 300 and the second lens group 310. The diaphragm 182 moves in the optical axis direction in conjunction with the movement of the lenses of the second lens group 174. The lenses of the fourth lens group 191 move in the optical axis direction in accordance with the movement of the first lens group 300 and the second lens group 310 in the optical axis direction.

  FIG. 14 shows another example of the relationship between the cam ring rotation angle and the distance from the imaging plane of the image sensor 144. FIG. 14 shows the relationship between the cam ring rotation angle and the distance from the imaging plane of the image sensor 144 in the case of the lens arrangement shown in FIG. FIG. 14 shows how the distance from the imaging surface of the image sensor 144 to each lens group changes when the lens device 160 is changed from the wide end to the tele end.

  FIG. 15 shows another example of the relationship between the cam ring rotation angle and the distance from the wide position. FIG. 15 shows the relationship between the cam ring rotation angle and the distance from the wide position in the case of the lens arrangement shown in FIG. FIG. 15 shows a change in the distance from the wide position of each lens group and the cam ring 202 when the lens device 160 is changed from the wide end to the tele end.

FIG. 16 shows another example of the relationship between the cam rotation angle and the physical quantity (g · mm) obtained by multiplying the distance from the wide position by the mass. The cam ring 202 moves in a direction that suppresses a change in the position of the center of gravity of the object system including the first lens group 300, the second lens group 310, and the third lens group 320. Thereby, the change in the position of the center of gravity of the object system (total) including the first lens group 300, the second lens group 310, the third lens group 320, and the cam ring 202 changes from the wide end to the tele end of the lens device 160. It is suppressed. Distance from the wide position of the cam ring 202, the physical quantity _{A 1} of the first lens group 300, the physical quantity _{A 2} of the second lens group 310, and the sum of the physical quantity _{A 3} of the third lens group 320 by the mass of the cam ring 202 You may set so that the divided value may be below a predetermined value. Thereby, the change in the position of the center of gravity of the object system (total) including the first lens group 300, the second lens group 310, the third lens group 320, and the cam ring 202 changes from the wide end to the tele end of the lens device 160. It is suppressed. Distance from the wide position of the cam ring 202, the physical quantity _{A 1} of the first lens group 300, the physical quantity _{A 2} of the second lens group 310, and the sum of the physical quantity _{A 3} of the third lens group 320 by the mass of the cam ring 202 The divided value may be set to cancel. The mass of the second lens group 310 that is a parameter of the physical quantity A ₂ of the second lens group 310 may include the mass of the stop 182.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. ”And the like, and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

100 UAV
101 UAV body 102 Communication interface 104 UAV control unit 106 Memory 110 Gimbal 112 Pitch axis rotation mechanism 114 Roll axis rotation mechanism 116 Yaw axis rotation mechanism 140 Imaging device 142 Imaging control unit 144 Imaging element 146 Memory 160 Lens device 161 Memory 162 Lens control unit 164 Drive mechanism 166 Gear 168 Base 170 Lens 172 First lens group 174 Second lens group 176 Third lens group 180 Light quantity adjustment mechanism 190 Lens 192 Lens holding member 194 Drive mechanism 200 Moving member 202 Cam ring 204 Gear 210 Physical structure Body 212 Cam groove cam groove 214 Second lens group cam groove 216 Third lens group cam groove 220 Second lens group cam pin 222 Third lens group cam pin 230 Lens holding member 232 Fixed cylinder 234 Cam ring support Down 236 linear guide groove 250 intermediate structure

Claims (15)

One or more lenses;
A movable member movable in the optical axis direction of the one or more lenses;
And a physical structure that moves the one or more lenses in the optical axis direction and moves the moving member in a direction opposite to the moving direction of the center of gravity of the object system including the one or more lenses. When,
An unmanned aerial vehicle including a gimbal for holding the lens device. The lens device further includes a lens holding member that holds the one or more lenses,
The physical structure is
A cam portion provided on one of the lens holding member and the moving member;
The follower part which is provided in the other of the lens holding member and the moving member, and moves the lens holding member and the moving member relatively by moving along the cam surface of the cam part. The unmanned aerial vehicle according to 1.   The unmanned aerial vehicle according to claim 2, wherein the moving member is a cam ring. The lens device further includes a lens holding member that holds the one or more lenses,
The physical structure is
An intermediate structure;
A first cam portion provided on one of the lens holding member and the intermediate structure;
A first follower portion that is provided on the other of the lens holding member and the intermediate structure and moves relative to the lens holding member and the intermediate structure by moving along the cam surface of the first cam portion. When,
A second cam portion provided on one of the intermediate structure and the moving member;
A second follower portion that is provided on the other of the intermediate structure and the moving member and moves relative to the intermediate structure and the moving member by moving along the cam surface of the second cam portion; The unmanned aerial vehicle according to claim 1.   The unmanned aerial vehicle according to claim 4, wherein the intermediate structure is a cam ring.   The unmanned aerial vehicle according to any one of claims 1 to 5, wherein the moving member is made of a material having a specific gravity greater than that of the one or more lenses.   The unmanned aerial vehicle according to claim 1, wherein the moving member is a metal. A light amount adjustment mechanism that moves together with some of the one or more lenses and adjusts the amount of light that passes through the one or more lenses;
The unmanned aerial vehicle according to any one of claims 1 to 7, wherein the physical structure moves the moving member in a direction opposite to a moving direction of a center of gravity of an object system further including the light amount adjusting mechanism. The light quantity adjustment mechanism is
An aperture with a variable aperture diameter,
The unmanned aerial vehicle according to claim 8, further comprising an actuator that drives the aperture to change the opening diameter. The lens device further includes another lens that is moved by a mechanism different from the physical structure in conjunction with the movement of the one or more lenses.
The unmanned aerial vehicle according to any one of claims 1 to 9, wherein the physical structure moves the moving member in a direction opposite to a moving direction of a center of gravity of an object system further including the other lens. The unmanned aerial vehicle according to any one of claims 1 to 10, further comprising an imaging device that images light imaged by the lens device.   The unmanned aerial vehicle according to claim 11, wherein the gimbal holds at least one of the lens device and the imaging device.   The gimbal can rotate at least one of the lens device and the imaging device on a rotation axis passing through a predetermined distance from the center of gravity of an object system including at least one of the lens device and the imaging device. The unmanned aerial vehicle according to claim 12, wherein   The unmanned aerial vehicle according to claim 13, wherein the gimbal holds the lens device and the imaging device so as to be rotatable about a rotation axis that passes through the center of gravity of an object system including the lens device and the imaging device. A method for controlling an unmanned aerial vehicle including a lens device having one or more lenses and a moving member movable in the optical axis direction of the one or more lenses,
The step of moving the one or more lenses in the optical axis direction by a physical structure and moving the moving member in a direction opposite to the moving direction of the center of gravity of the object system including the one or more lenses. Control method for unmanned aerial vehicles.

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