JP2019174780A - Imaging device and electronic instrument - Google Patents

Abstract

To make it possible to highly accurately adjust a focus position, and a hand tremor correction position.SOLUTION: An imaging device comprises: a lens that condenses subject light; an image pick-up element that photoelectrically converts the subject light from the lens; a circuit base body that includes a circuit outputting signals from the image pick-up element to the outside; an actuator that drives the lens in at least one of an X-axis direction, a Y-axis direction and a Z-axis direction by a PWM(Pulse Width Modulation) waveform; and a detection unit that detects a magnetic field generating from a coil included in the actuator. The actuator is configured to drive the lens for moving a focus, or move the lens for reducing an influence by a hand tremor. The present technique may be applied to the imaging device.SELECTED DRAWING: Figure 1

Description

  The present technology relates to an imaging apparatus and an electronic apparatus, and for example, relates to an imaging apparatus and an electronic apparatus that can control the position of a lens with high accuracy.

  In recent years, the number of pixels, the performance, and the size of imaging devices have been increasing. As the number of pixels and performance of imaging devices increase, the power consumption of imaging devices such as CCD (Charge-Coupled Device) sensors and CMOS (Complementary Metal-Oxide-Semiconductor) image sensors mounted on the imaging devices has increased. ing.

  In addition, since the power consumption of an actuator that drives the lens focus is increasing, the power consumption of the imaging apparatus tends to increase.

  In order to reduce power consumption, a method has been proposed in which the actuator drive signal is converted into a PWM (Pulse Width Modulation) waveform to reduce the power consumption to about half. However, it is known that when the actuator is driven by PWM, a magnetic field is generated, which becomes a disturbance factor of the image sensor and noise is mixed.

  In order to reduce noise, synchronize the drive waveform of the image sensor with the autofocus driver that generates the PWM signal, and reduce the noise by outputting the PWM waveform in the dead zone during the drive time of the image sensor Has been proposed.

  In addition, in an imaging apparatus, as one of high performance, an element for detecting a position such as a Hall element is used as an actuator in order to always detect the focal position of the lens and move the lens to a position where the subject light is quickly collected. It is also proposed to output the lens position to the outside.

  For example, Japanese Patent Application Laid-Open No. 2004-228561 proposes that the focus of the lens is changed and the autofocus is realized by controlling the drive element (actuator) with the PWM signal from the focus drive circuit and driving the lens. In Patent Document 1, it is proposed to mount a Hall element for detecting the position of a high-performance lens.

  In Patent Document 2, it is proposed to reduce noise by blocking (shielding) the magnetic field of the image sensor due to the magnetic field generated by PWM driving of the actuator by having a metal plate.

  In Patent Document 3, it is proposed that the position of the lens is detected by a PWM signal (AC signal) according to the electromotive force of a detection coil arranged opposite to the excitation power. This proposal is installed on the lens side where the detection coil operates, and it is proposed to detect the position from the phase of the electromotive current generated by the parallel movement of the excitation coil and the detection coil.

JP 2011-022563 A Japanese Patent Application Laid-Open No. 2014-082682 JP 2000-295832 A

  According to Patent Document 1, it is necessary to mount a Hall element, and it becomes difficult to reduce the size of the actuator due to an increase in the size of the actuator. Moreover, since it is necessary to mount a Hall element, there is a concern that the imaging device becomes expensive.

  According to the cited document 2, there is a concern that the imaging device becomes expensive because gold, silver, copper, aluminum or the like is used as the metal plate for blocking the magnetic field. Further, even if a metal plate for blocking the magnetic field is provided, it does not contribute to downsizing of the imaging device.

  In recent actuators, a coil is arranged outside the lens, and this coil moves to the vertical side of the image sensor in accordance with the excitation power, and has a structure for focus detection. When the cited document 3 is applied to such a structure, the excitation power coil and the detection coil are arranged to face each other, and the lens position cannot be detected by parallel movement. That is, it is difficult to apply the cited document 3 to a recent actuator.

  The present technology has been made in view of such a situation, and is intended to provide an imaging apparatus capable of high performance, low power consumption, and downsizing.

  An imaging device according to one aspect of the present technology includes a lens that collects subject light, an imaging element that photoelectrically converts the subject light from the lens, and a circuit body that outputs a signal from the imaging element to the outside And an actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a PWM (Pulse Width Modulation) waveform, and a detection that detects a magnetic field generated by a coil included in the actuator A part.

  An electronic apparatus according to an aspect of the present technology includes a lens that collects subject light, an imaging element that photoelectrically converts the subject light from the lens, and a circuit base that outputs a signal from the imaging element to the outside And an actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a PWM (Pulse Width Modulation) waveform, and a detection that detects a magnetic field generated by a coil included in the actuator An imaging device including a unit.

  In an imaging device according to one aspect of the present technology, an imaging device that photoelectrically converts subject light from a lens that collects subject light, a circuit base that includes a circuit that outputs a signal from the imaging device to the outside, and a PWM (Pulse An actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a waveform with a Width Modulation) waveform is provided, and a magnetic field generated by a coil included in the actuator is detected.

  An electronic apparatus according to an aspect of the present technology includes the imaging device.

  Note that the imaging device and the electronic device may be independent devices, or may be internal blocks constituting one device.

  According to one aspect of the present technology, it is possible to provide an imaging device capable of achieving high performance, low power consumption, and downsizing.

  Note that the effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

It is a figure showing the composition of the 1 embodiment of the imaging device to which this art is applied. It is a figure which shows the detailed structural example of an imaging device. It is a figure for demonstrating the coil formed. It is a figure for demonstrating the case where a coil is formed in a spacer. It is a figure for demonstrating the case where a coil is formed in a spacer. It is a figure which shows the structural example of a detection circuit. It is a figure for demonstrating the position of a lens, and the amount of induced electromotive forces. It is a figure for demonstrating the dielectric electromotive force which generate | occur | produces in a coil. It is a figure which shows the other structural example of an imaging device. It is a figure for demonstrating the dielectric electromotive force which generate | occur | produces in a coil. It is a figure for demonstrating the magnetic field which generate | occur | produces with an imaging device. It is a figure which shows the other structural example of an imaging device. It is a figure for demonstrating the detection of inclination. It is a figure for demonstrating the dielectric electromotive force which generate | occur | produces in a coil. It is a figure which shows the other structural example of an imaging device. It is a figure for demonstrating the dielectric electromotive force which generate | occur | produces in a coil. It is a figure which shows the other structural example of an imaging device. It is a figure for demonstrating the dielectric electromotive force which generate | occur | produces in a coil. It is a figure which shows the other structural example of an imaging device. It is a figure for demonstrating the dielectric electromotive force which generate | occur | produces in a coil. It is a figure for demonstrating the case where a coil is formed in a spacer. It is a figure which shows the other structural example of an imaging device. It is a figure which shows the other structural example of an imaging device. It is a figure which shows the other structural example of an imaging device. It is a figure which shows the other structural example of an imaging device. It is a figure which shows the other structural example of an imaging device. It is a figure which shows an example of a schematic structure of an endoscopic surgery system. It is a block diagram which shows an example of a function structure of a camera head and CCU. It is a block diagram which shows an example of a schematic structure of a vehicle control system. It is explanatory drawing which shows an example of the installation position of a vehicle exterior information detection part and an imaging part.

  Hereinafter, modes for carrying out the present technology (hereinafter referred to as embodiments) will be described.

<Configuration of imaging device>
The present technology can be applied to an imaging device including an imaging element such as a CCD (Charge-Coupled Device) sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor. The present invention can also be applied to a device including such an imaging device, for example, a mobile terminal device.

  FIG. 1 is a diagram illustrating a configuration of an embodiment of an imaging apparatus according to an aspect of the present technology. The imaging apparatus 1a shown in FIG. 1 includes an imaging element 11 such as a CCD sensor or a CMOS image sensor that performs photoelectric conversion on subject light from a subject to capture an image.

  In addition, the imaging device 1 a includes a lens 16 that collects subject light, and an infrared cut filter 17 that blocks infrared light from an optical signal transmitted through the lens 16. The imaging device 1a also includes an actuator 18 that drives the lens up and down in the direction of the imaging element 11 (hereinafter referred to as Z-axis direction as appropriate) in order to focus the lens 16.

  The actuator 18 is driven in a direction (hereinafter, appropriately described as an X-axis direction or a Y-axis direction) in a plane (hereinafter, appropriately described as an XY plane) with respect to the imaging surface of the image sensor 11. Therefore, it also has a function of performing correction to reduce the influence of camera shake.

  The imaging device 1a includes a gyro sensor 21 that senses camera shake, an autofocus / OIS driver 20 for controlling the actuator 18 from the outside, and a circuit board for outputting an electrical signal of the imaging device 11 to the outside. 13 is also included. In addition, although described as the circuit board 13 here, it may not be a plate-shaped board | substrate and may be a circuit base | substrate.

  OIS is an abbreviation for Optical Image Stabilizer, which means optical camera shake correction, and is a system in which correction for reducing the influence of camera shake of the imaging apparatus 1a is processed in the optical system. In the optical camera shake correction, the gyro sensor 21 senses vibration during shooting and adjusts the position of the lens 16 or the position of the image sensor 11 to suppress the influence of camera shake. Here, the description will be continued with an example in which camera shake correction is performed by adjusting the position of the lens 16.

  The imaging device 1a includes a metal wire 12 for electrically connecting the imaging element 11 and the circuit board 13, an adhesive 15 for fixing the imaging element 11 and the circuit board 13, and the actuator 18 described above. And a spacer 14 for fixing the circuit board 13.

  The autofocus / OIS driver 20 described above has a function of outputting a PWM (Pulse Width Modulation) waveform to the actuator 18 in order to reduce the power consumed by the imaging device 1a. The actuator 18 has a function of driving the focal point of the lens 16 with the input PWM waveform.

  The circuit board 13 has a function of detecting an induced electromotive force generated by a magnetic field generated from the PWM waveform, and a function of detecting the position of the lens 16 from the detected induced electromotive force. Also, it has a function of realizing high-performance lens focus movement by outputting the detected result to the outside.

<Detection of induced electromotive force>
FIG. 2 is a diagram for explaining the magnetic field generated by the PWM waveform and the induced electromotive force generated by the magnetic field, and is a diagram illustrating a detailed configuration example of the imaging device 1a.

  The actuator 18 has a voice coil motor structure, and the coil 24 is supported by a spring 23. For example, the coil 24 is provided on the side surface of the lens carrier, and the magnet 22 is provided on the opposite side of the coil 24.

  When a current is passed through the coil 24, a force is generated in the vertical direction in the figure. With this generated force, the lens 16 held by the lens barrel is moved upward or downward, and the distance from the image sensor 11 changes. With such a mechanism, auto focus (AF) is realized.

  In addition, a fine pattern coil 25 (hereinafter referred to as an FP coil 25) is arranged to drive the lens 16 on the same surface (XY plane) as the image sensor 11 for camera shake correction. By passing a current through the FP coil 25, a force is generated in the horizontal direction with the imaging device 11 between the magnet 22 and the lens 16 is moved in the same plane as the imaging device 11.

  By the way, compared with the case where the current flowing through the coil 24 and the FP coil 25 is a signal having a constant voltage value (a signal that always maintains the Hi state), the PWM waveform drive signal (Hi and Low are predetermined). It is possible to reduce the power consumption by using a signal that changes in a cycle) than a signal in which the Hi state continues.

  Therefore, when the signals supplied to the coil 24 and the FP coil 25 are PWM waveform drive signals in order to reduce power consumption, magnetic fields are generated in the directions shown in FIG. Referring to FIG. 2, the magnetic field is generated in the direction from the lens 16 side toward the image sensor 11.

  Although the magnetic field is generated in a direction different from the direction shown in FIG. 2 depending on the direction of the current, the description will be continued by taking as an example the case where the magnetic field is generated in the direction shown in FIG.

  The generated magnetic field passes through the image sensor 11. For this reason, the image picked up by the image pickup device 11 may be affected. For example, there is a possibility that noise is generated under the influence of a magnetic field and an image (image signal) in which the noise is mixed is output from the image sensor 11.

  By synchronizing the drive of the PWM waveform and the drive signal of the image sensor 11 so as not to generate a magnetic field during the drive period that causes noise of the image sensor 11, the influence of noise from the magnetic field can be reduced. By such synchronization, an image not affected by the magnetic field can be output from the imaging device 1a.

  A magnetic field generated by supplying a PWM waveform drive signal to the coil 24 also reaches the circuit board 13. A function of detecting the position of the lens 16 by detecting the intensity of the magnetic field reaching the circuit board 13 will be described.

  The FP coil 25, like the coil 24, generates a magnetic field when supplied with a PWM waveform drive signal. However, the FP coil 25 has a smaller area and a lower intensity of the generated magnetic field than the coil 24. . Here, the description will be continued with an example in which the position of the lens 16 is detected by detecting the magnetic field generated by the coil 24 that generates a magnetic field larger than that of the FP coil 25.

  As shown in FIG. 2, the circuit board 13 is provided with a coil 32. By providing the coil 32 in a direction perpendicular to the magnetic field generated by the PWM waveform drive, an induced electromotive force is generated in the coil 32, and the position of the lens 16 (lens holder) in the Z-axis direction is detected based on the magnitude of the induced electromotive force. can do.

  Further, by detecting the position of the lens 16 (lens holder), in other words, by detecting the distance between the lens 16 and the image sensor 11, high-performance lens driving, that is, autofocusing can be performed. Can be realized.

  Further, as shown in FIG. 2, coils 33 a to 33 d are provided on a surface perpendicular to the imaging surface of the image sensor 11. Hereinafter, the coils 33a to 33d are simply referred to as a coil 33 when it is not necessary to distinguish them individually.

  By providing the coil 33 at a position that is in the horizontal direction with the magnetic field generated by the PWM waveform driving, an induced electromotive force is generated in the coil 33, and the X-axis direction of the lens 16 (lens holder) and the lens 16 depend on the magnitude of the induced electromotive force. A position in the Y-axis direction can be detected.

  The coils 33a to 33d are provided on four different surfaces. The coil 33a is a surface that is perpendicular to the imaging surface of the image sensor 11, and is provided on the left surface in FIG. The coil 33b is a surface that is perpendicular to the imaging surface of the image sensor 11, and is provided on the right surface in FIG. 2 (the surface that faces the surface on which the coil 33a is provided).

  The coil 33c is a surface that is perpendicular to the imaging surface of the image sensor 11, and is provided on the back surface in FIG. 2 (a surface that intersects the surface on which the coil 33a is provided). The coil 33d is a surface perpendicular to the imaging surface of the image sensor 11, and is a surface on the near side in FIG. 2 (a surface perpendicular to the surface where the coil 33a is provided, and the surface where the coil 33c is provided). Is provided on the surface facing the surface.

  Thus, by providing the coil 33 in the horizontal direction with the magnetic field generated by the PWM waveform driving, a dielectric electromotive force is generated in the coil 33, and the X-axis direction of the lens 16 (lens holder) depends on the magnitude of the dielectric electromotive force. And the position in the Y-axis direction (position on the XY plane) can be detected.

  First, here, as shown in FIG. 2, a coil 32 constituting a part of the detection circuit 31 (FIG. 6) is mounted on the circuit board 13, thereby inducing the position detection in the Z position direction of the lens 16. An example of detecting power will be shown.

  FIG. 3 is a diagram showing an example of mounting the coil 32 constituting a part of the Z-axis detection circuit 31 of the actuator on the circuit board 13.

  The coil 32 has a start point 32a and an end point 32b, and the start point 32a and the end point 32b are connected to a detection circuit 31 not shown in FIG. Since the coil 32 has a loop shape and does not overlap the line, one of the start point 32a and the end point 32b is located inside the loop, and the other is located outside the loop. become.

  Therefore, considering that the start point 32a and the end point 32b are connected to the detection circuit 31, in other words, taking out lines from the start point 32a and the end point 32b, the coil 32 needs to be formed across a plurality of layers. .

  Refer to FIG. 3A. If the circuit board 13 is formed of one layer, the starting point 32a of the coil 32 is, for example, the lower right point in the figure, and the ending point is the central portion of the coil 32 (shown by a black dot in FIG. 3A). . When a wire is taken out from the end point in the central portion of the coil 32, it is difficult to take out the wire so that there is no portion overlapping the formed coil 32.

  Therefore, the circuit board 13 is formed in two layers as shown in FIG. 3A. The circuit board 13 shown in FIG. 3A is formed of two layers of a circuit board 13-1 and a circuit board 13-2. A starting point 32a of the coil 32 is formed on the circuit board 13-1, and the coil is formed in a loop shape from the starting point 32a toward the inside from the outside.

  In addition, an end point of the coil 32 in the first layer is formed in the central portion of the coil 32 formed on the circuit board 13-1, and the start point of the coil 32 in the second layer is connected from the end point. On the second-layer circuit board 13-2, the coil 32 is formed in a loop shape from the start point toward the outside.

  A loop-shaped coil 32 is formed from the start point 32a formed on the circuit board 13-1 to the end point 32b formed on the circuit board 13-2. Further, it is possible to connect to the detection circuit 31 (not shown) using the start point 32a formed on the circuit board 13-1 and the end point 32b formed on the circuit board 13-2.

  Although not shown in FIG. 3A, a circuit for outputting an electric signal from the image sensor 11 to the outside is formed in a portion other than the portion where the coil 32 is formed.

  In the example shown in FIG. 3A, the case where the circuit board 13 has two layers is shown as an example. However, as shown in FIG. In the example shown in FIG. 3B, the circuit board 13 is formed from the three layers of the circuit boards 13-1 to 13-3, the loop-shaped coil 32 is formed on each circuit board 13, and the coil 32 of each layer is One connected coil is formed.

  Further, as shown in FIG. 3B, when the circuit board 13 is formed with three layers, for example, the coil 32 is provided on the first layer circuit board 13-1 and the third layer circuit board 13-3. The coil 32 is not formed on the second-layer circuit board 13-2, and the circuit board 13-2 is used exclusively for a circuit for outputting an electric signal from the image sensor 11 to the outside. May be.

  When formed in this way, the circuit board 13-2 is provided with wiring for connecting the coil 32 formed on the circuit board 13-1 and the coil 32 formed on the circuit board 13-3. Has been.

  Thus, the circuit board 13 can be formed of a plurality of layers, and the coil 32 can be formed across the plurality of layers. Further, the number of layers and the layer configuration of the circuit board 13 can be the number of layers and the layer configuration shown here, or can be other numbers of layers and layer configurations.

  The circuit board 13 is a board composed of a plurality of layers (layers) wired with copper wires such as FPC, for example, and has a role of outputting an electrical signal of the image sensor 11 (FIG. 1) to the outside. Further, a copper wire is wired on such a circuit board 13 in a coil shape for detecting a magnetic field.

  A magnetic field generated when a current flows through the coil 24 (FIG. 2) in the actuator 18 flows into the coil 32. As a result, an induced electromotive force is generated in the coil 32. The induced electromotive force to be generated can be obtained by Federer's law.

When the magnetic flux penetrating the N winding coil changes by ΔΦ [Wb] during Δt [s], the induced electromotive force V [V] generated in the coil is expressed by the following equation (1).
V = −N · ΔΦ / Δt (1)

  From equation (1), it can be seen that as the number of turns N increases, the induced electromotive force increases. However, as described above, the number of turns can be increased by forming the coil 32 over a plurality of layers of the circuit board 13. And the induced electromotive force can be increased. Therefore, it can be set as the structure which is easy to detect the induced electromotive force to generate | occur | produce.

  The configuration of the detection circuit 31 connected to such a coil 32 will be described. In the following description, the circuit board 13 is illustrated as being formed of one layer, and the description is continued. However, as described above, the circuit board 13 is formed of a plurality of layers.

  Next, an example in which an induced electromotive force for position detection of the lens 16 in the X-axis direction and the Y-axis direction is detected by mounting a coil 33 that constitutes a part of the detection circuit 31 will be described.

  FIG. 4 and FIG. 5 are diagrams showing an example of mounting the coil 33 constituting a part of the X-axis and Y-axis detection circuit 31 of the actuator on the spacer 14. 4 and 5 illustrate the case where the coils 33a to 33d are provided on the spacer 14, the surface is formed on the circuit board 13 in a direction perpendicular or horizontal to the circuit board 13, and It is good also as a structure which provided the coils 33a thru | or 33d in the surface.

  As shown in FIG. 4, the coils 33a to 33d are arranged inside and outside the spacer 14 for connecting the actuator 18 and the circuit board 13 provided with the image pickup element 11, thereby reducing the size of the image pickup apparatus 1a. can do.

  Further, as shown in FIG. 5, the coils 33a to 33d are arranged on the upper surface and the lower surface of the spacer 14 for connecting the actuator 18 and the circuit board 13 provided with the image pickup device 11, thereby reducing the size of the image pickup apparatus 1a. Can be

  Each of the coils 33a to 33d has a start point and an end point, like the coil 32 shown in FIG. The coil 33a includes a start point 33aa and an end point 33ab, the coil 33b includes a start point 33ba and an end point 33bb, the coil 33c includes a start point 33ca and an end point 33cb, and the coil 33d includes a start point 33da and an end point 33db.

  These start points and end points are connected to a detection circuit 31 not shown in FIGS. Since the coil 33 has a loop shape and does not overlap the line, one of the start point and the end point is located inside the loop and the other is located outside the loop. Is done.

  That is, the coil 33 can have the same configuration as the coil 32 described with reference to FIG. 3, and can have, for example, a two-layer or three-layer structure.

  4 and 5 exemplify the case where the four coils 33a to 33d are provided, the two coils 33 may be provided. The case where the two coils 33 are provided will be described later with reference to FIG. 9, and here, the description will be continued with respect to the case where the four coils 33a to 33d are provided.

  Also, the four coils 33a to 33d may be arranged on the same surface side, for example, on the upper surface of the spacer 14 as shown in FIG. 5, or on different surfaces. May be. For example, the coil 33 a and the coil 33 b may be disposed on the upper surface of the spacer 14, and the coil 33 c and the coil 33 d may be disposed on the side surface of the spacer 14.

  A plurality of coils 33 may be arranged on one side of the spacer 14. For example, the coils 33 are arranged on the upper surface and the side surface of one side of the spacer 14, respectively, and the induced electromotive force generated in the coils 33 arranged on the two surfaces is detected and used individually or integrated in the subsequent processing. May be used.

  The present technology can be applied regardless of whether the material of the spacer 14 is inorganic or organic. By forming the spacer 14 using an organic material, the number of turns of the coil 33 formed on the spacer 14 can be increased, and an improvement in characteristics can be expected.

<Configuration of detection circuit>
FIG. 6 is a diagram illustrating a configuration example of the detection circuit 31. The induced electromotive forces generated by the coil 32 and the coils 33a to 33d are respectively input to the amplifying units 51-1 to 51-5 of the detection circuit 31 and amplified. The amplified induced electromotive force is input to A / D (Analog / Digital) converters 52-1 to 52-5, respectively, and converted from analog data to digital data. Hereinafter, when it is not necessary to individually distinguish the amplifying units 51-1 to 51-5, they are simply referred to as the amplifying unit 51. Other parts are described in the same manner.

  The AF / OIS control unit 53 controls the actuator 18, recognizes the focal length of the lens 16 (FIG. 1) with digital data from the A / D conversion unit 52-1, and requires correction. In other words, if it is determined that the image is out of focus, a PWM control signal corresponding to the moving distance necessary for correction is generated and supplied to the actuator 18.

  Further, the AF / OIS control unit 53 recognizes the XY distance of the lens 16 (FIG. 1) with the digital data from the A / D conversion units 52-2 to 52-5, and detects the camera shake from the gyro sensor 21. When it is determined that correction in the XY direction is necessary, in other words, when it is determined that movement in the XY direction is necessary as camera shake correction, a PWM control signal corresponding to the XY movement distance necessary for correction is generated. , Supplied to the actuator 18.

  The AF / OIS control unit 53 also generates a PWM control signal based on a signal from the control unit 54 that controls autofocus (AF) and camera shake correction (OIS), and supplies the PWM control signal to the actuator 18.

  The detection circuit 31 may be mounted in the imaging device 1a as one integrated circuit, or may be mounted outside the imaging device 1a. Further, it may be realized as software instead of an integrated circuit, or as software of an integrated CPU of the camera.

  The present technology has a function of detecting the induced electromotive force and a function of adjusting the focal point of the lens and the XY position of the lens with high precision by the induced electromotive force. Of course, the present invention is not limited to the case where it is realized by software, and the case where it is realized by other methods is also within the scope of the present invention.

  The position of the lens 16 in the X-axis direction, the Y-axis direction, and the Z-axis direction can be detected by detecting the induced electromotive force flowing in the coils 32 and 33. This is the relationship shown in FIG. This is because. FIG. 7 is a graph showing the relationship between the position of the lens 16 and the detected induced electromotive force. In FIG. 7, the vertical axis represents the position of the lens, and the horizontal axis represents the amount of induced electromotive force (digital data).

  As described above, by adjusting the distance between the image sensor 11 and the lens 16, autofocus is realized. Therefore, the distance between the lens 16 and the coil 32 also changes due to autofocus. In other words, as the lens 16 moves, the coil 24 (FIG. 2) in the actuator 18 also moves.

  In addition, camera shake correction is realized by moving the lens 16 in the horizontal direction (XY plane) with respect to the surface of the image sensor 11, but the distance between the lens 16 and the coil 33 changes, in other words, by camera shake correction, As the lens 16 moves, the coil 24 (FIG. 2) in the actuator 18 also moves in the XY direction.

  The influence of the magnetic field generated by the current flowing through the coil 24 on the coil 32 (coil 33, which will be described below by taking the coil 32 as an example) is that the lens 16 (coil 24) is close to the coil 32. It is sometimes large and small when the lens 16 (coil 24) is located away from the coil 32. Therefore, the induced electromotive force increases when the lens 16 (coil 24) is close to the coil 32, and the induced electromotive force decreases when the lens 16 (coil 24) is away from the coil 32. .

  When this is represented by a graph, a graph as shown in FIG. 7 is obtained. FIG. 7 is a graph showing a case where the lens 16 approaches the coil 32 from the upper side to the lower side in the drawing. Moreover, it is a graph which an electric current value becomes large as it goes to the right side from the left side in FIG. In FIG. 7, the central position of the movable range of the lens is 0, and the current value is positive when flowing in a predetermined direction, and is negative when flowing in the opposite direction.

  From the graph shown in FIG. 7, it can be seen that the induced electromotive force changes in a linear function. From these facts, it can be read that the induced electromotive force and the position of the lens 16 are in a one-to-one relationship. Therefore, by detecting the induced electromotive force flowing through the coil 32, the position of the lens 16 at that time can be detected.

  By using such a relationship, for example, the position B of the position of the lens 16 after the control for moving the lens 16 to the desired position A is detected by the AF / OIS control unit 53. It can be detected by the circuit 31.

  If there is a deviation between the desired position A and the detected position B, the deviation can be corrected and moved to the desired position A. Therefore, it is possible to realize high-performance lens movement.

  Further, the position detection on the XY plane of the lens 16 (coil 24) will be described. FIG. 8 is a diagram showing the transition of the induced electromotive force for each of the coils 33a to 33d when the lens 16 is moved in the XY direction by camera shake correction.

  FIG. 8A is a view of the lens 16 as viewed from above. In FIG. 8A, when the horizontal direction is the X-axis direction and the center of the lens 16 is 0, the left side is the minus direction (−X direction) and the right side is the plus direction (+ X direction). In FIG. 8A, when the vertical direction is the Y-axis direction and the center of the lens 16 is 0, the upper side is the negative direction (−Y direction) and the lower side is the positive direction (+ Y direction).

  A coil 33a is provided on the left side (−X side) of the lens 16 in the drawing, and a coil 33b is provided on the right side (+ X side) in the drawing. A magnetic field is generated when the lens 16 (coil 24) moves in the XY plane parallel to the image sensor 11 due to camera shake correction. The influence of the magnetic field on the coil 33 is that the lens 16 (coil 24) is affected by the coil 33. It is large when the lens 16 (coil 24) is at a position close to, and small when the lens 16 (coil 24) is at a position away from the coil 33.

  If this is represented by a graph, it becomes like B thru | or E of FIG. 8B to 8E, the horizontal axis represents the position of the lens 16, and the vertical axis represents the induced electromotive force generated in the coil 33. 8B to 8E, the graph shown at the top is a graph of dielectric electromotive force when the lens 16 is moved from the −X side to the + X side, and the graph shown at the bottom is that the lens 16 is −Y. It is a graph of the dielectric electromotive force when moving from the side to the + Y side.

  Referring to FIG. 8B, when the lens 16 moves from the −X side to the + X side, the lens 16 changes from a state of approaching to a state of moving away from the coil 33a. When such a change occurs, as shown in the upper graph of FIG. 8B, the dielectric electromotive force generated in the coil 33a gradually increases as the lens 16 moves from the −X side to the + X side. Get smaller.

  On the other hand, when the lens 16 moves in the Y-axis direction, the positional relationship between the lens 16 and the coil 33a is constant, and the distance between the lens 16 and the coil 33a does not change, so the dielectric electromotive force generated in the coil 33a There is no change and it becomes a constant value.

  Referring to FIG. 8C, when the lens 16 moves from the −X side to the + X side, the lens 16 changes from a state of being separated to a state of approaching the coil 33b. When such a change occurs, as shown in the upper graph of FIG. 8C, the dielectric electromotive force generated in the coil 33b gradually increases as the lens 16 moves from the −X side to the + X side. growing.

  On the other hand, when the lens 16 moves in the Y-axis direction, the positional relationship between the lens 16 and the coil 33b is constant, and the distance between the lens 16 and the coil 33b does not change, so the dielectric electromotive force generated in the coil 33b There is no change and it becomes a constant value.

  Thus, when the lens 16 moves in the X-axis direction, the induced electromotive force generated in each of the coil 33a and the coil 33b changes. Therefore, by measuring the dielectric electromotive force generated in the coil 33a or the coil 33b, the lens 16 The position in the X-axis direction can be detected.

  Referring to FIG. 8D, when the lens 16 moves in the X-axis direction, the positional relationship between the lens 16 and the coil 33c is constant, and there is no change in the distance between the lens 16 and the coil 33c. There is no change in the dielectric electromotive force generated in, and it becomes a constant value.

  On the other hand, when the lens 16 moves from the −Y side to the + Y side, the lens 16 changes from a state of approaching to the coil 33c to a state of leaving. When such a change occurs, as shown in the lower graph of FIG. 8D, the dielectric electromotive force generated in the coil 33a is gradually increased as the lens 16 moves from the −Y side to the + Y side. Get smaller.

  Referring to FIG. 8E, when the lens 16 moves in the X-axis direction, the positional relationship between the lens 16 and the coil 33d is constant, and the distance between the lens 16 and the coil 33d does not change. There is no change in the dielectric electromotive force generated in, and it becomes a constant value.

  On the other hand, when the lens 16 moves from the -Y side to the + Y side, the lens 16 changes from a state where it is away from the coil 33d to a state where it is approaching. When such a change occurs, the dielectric electromotive force generated in the coil 33d gradually increases as the lens 16 moves from the -Y side to the + Y side, as shown in the lower graph of E in FIG. growing.

  As described above, when the lens 16 moves in the Y-axis direction, the induced electromotive force generated in each of the coil 33c and the coil 33d changes. Therefore, by measuring the dielectric electromotive force generated in the coil 33c or the coil 33d, the lens 16 The position in the Y-axis direction can be detected.

  By using such a relationship, for example, the position B of the position of the lens 16 after the control for moving the lens 16 to the desired position A is detected by the AF / OIS control unit 53. It can be detected by the circuit 31.

  If there is a deviation between the desired position A and the detected position B, the deviation can be corrected and moved to the desired position A. Therefore, it is possible to realize high-performance lens movement.

<Second Embodiment>
As described with reference to FIG. 8, the position of the lens 16 in the X-axis direction can be detected by measuring the dielectric electromotive force generated in the coil 33a or the coil 33b. It can also be set as the structure provided with one side. Moreover, since the position of the lens 16 in the Y-axis direction can be detected by measuring the dielectric electromotive force generated in the coil 33c or the coil 33d, the lens 16 can be configured to include one of the coil 33c or the coil 33d. .

  FIG. 9 shows the configuration of the imaging apparatus 1 having the coil 33 for detecting the position of the lens 16 in the X-axis direction and the coil 33 for detecting the position in the Y-axis direction. The imaging apparatus 1b illustrated in FIG. 9 includes a coil 33b for detecting the position of the lens 16 in the X-axis direction and a coil 33c for detecting the position of the lens 16 in the Y-axis direction.

  In the case of the imaging apparatus 1 shown in FIG. 9, as shown in FIG. 10, the position of the lens 16 in the X-axis direction can be detected by measuring the dielectric electromotive force generated in the coil 33b. That is, as shown in FIG. 10B, when the lens 16 moves from the −X side to the + X side, the dielectric electromotive force generated in the coil 33b is generated even though the lens 16 moves from the −X side to the + X side. Accordingly, since it gradually becomes smaller, this can be used to detect the position of the lens 16 in the X-axis direction.

  Similarly, the position of the lens 16 in the Y-axis direction can be detected by measuring the dielectric electromotive force generated in the coil 33c. That is, as shown in FIG. 10C, when the lens 16 is moved from the -Y side to the + Y side, the dielectric electromotive force generated in the coil 33c is that the lens 16 is moved from the -Y side to the + Y side. Accordingly, since it gradually becomes smaller, this can be used to detect the position of the lens 16 in the Y-axis direction.

  In addition, although the case where the coil 33b and the coil 33c are provided is described as an example here, a configuration including the coil 33a and the coil 33c, the coil 33a and the coil 33d, or the coil 33b and the coil 33d may be used.

  As the configuration of the imaging device 1 that detects the position of the lens 16 on the XY plane, a configuration including the coils 33 on the four sides as shown in FIG. 2 may be adopted, or as shown in FIG. A configuration including the coil 33 on the side may be employed.

  As shown in FIG. 2, when the configuration including the coils 33 on the four sides is adopted, a graph of dielectric electromotive force as shown in B of FIG. 8 can be obtained from the coil 33a. A graph of dielectric electromotive force as shown in 8C can be obtained. That is, two pieces of position information for detecting the position of the lens 16 in the X-axis direction can be obtained.

  Using these two position information, for example, a predetermined calculation such as multiplication, addition, or subtraction of the two position information (induced electromotive force values) is performed. It is possible to detect 16 positions in the X-axis direction.

  Similarly, when the configuration including the coils 33 on the four sides is adopted, a graph of the dielectric electromotive force as shown in FIG. 8D can be obtained from the coil 33c, and the coil 33d is shown in FIG. 8E. A graph of the dielectric electromotive force can be obtained. That is, two pieces of position information for detecting the position of the lens 16 in the Y-axis direction can be obtained.

  Using these two position information, for example, a predetermined calculation such as multiplication, addition, or subtraction of the two position information (induced electromotive force values) is performed. It is possible to detect 16 positions in the Y-axis direction.

  Since the movement amount in the XY plane for camera shake correction is smaller than the movement amount in the Z-axis direction for autofocus, the dielectric electromotive force generated in the coil 33 due to the movement of the lens 16 (coil 24) in the XY plane for camera shake correction. Is smaller than the dielectric electromotive force generated in the coil 32 due to the movement of the lens 16 (coil 24) in the Z-axis direction of autofocus.

  Even when the dielectric electromotive force generated in one coil 33 is small, a configuration in which the coil 33 is provided on four sides is used, and the detection result of the dielectric electromotive force is used from the coils 33 provided on two different sides. Thus, the position detection accuracy can be increased.

  As illustrated in FIG. 9, when the configuration including the coils 33 on the two sides is employed, the position detection accuracy may be lower than when the configuration including the coils 33 on the four sides is employed. However, when the configuration including the coil 33 on the two sides is adopted, the cost can be reduced as compared with the case where the configuration including the coil 33 on the four sides is adopted, and another member is arranged on the side where the coil 33 is not arranged. Thus, it is possible to obtain an effect such as miniaturization of the apparatus.

  Further, by increasing the number of turns of the coil 33 or making the arrangement position of the coil 33 as close as possible to the coil 24, the position detection accuracy can be prevented from being lowered. Further, the imaging apparatus 1 that does not require highly accurate position detection employs a configuration including the coils 33 on two sides, and the imaging apparatus 1 that requires highly accurate position detection has coils 33 on four sides. Of course, it is possible to selectively use such a configuration.

<Third Embodiment>
As another configuration of the imaging apparatus 1, an imaging apparatus 1c further provided with a configuration for effectively inputting an electromagnetic field to the lens position detection coil 33 in the XY directions will be described.

  In FIG. 11, the above-described imaging apparatus 1a is illustrated again, and the magnetic field will be described. The electromagnetic field generated by the coil 24 included in the actuator 18 for driving the lens 16 is generated in the center of the coil 24 as a circle or an ellipse.

  FIG. 11 shows an elliptical magnetic field. In order to efficiently generate an induced electromotive force in the coil 33 due to the influence of such a magnetic field, it is preferable that the magnetic field is incident vertically on the coil 33.

  Therefore, in order to allow the magnetic field to enter the coil 33 perpendicularly, a shield layer 101 is provided on the lower layer of the circuit board 13 as shown in FIG. By providing the shield layer 101, the magnetic field is bent in the shield layer 101 so that the magnetic field can be effectively incident on the coil 33, and the induced electromotive force can be efficiently generated in the coil 33. become.

  Since the coil 33 can efficiently generate the induced electromotive force, the accuracy when detecting the position of the lens 16 from the measured value of the induced electromotive force can be improved.

  Further, in some cases, a portable terminal or the like is configured to shield the imaging apparatus 1 itself as a measure against EMI (Electro-Magnetic Interference), and this shield can be used as the shield layer 101. Therefore, it is possible to prevent the cost from increasing and the size of the imaging device 1 from increasing by providing the shield layer 101 newly.

<Lens tilt detection>
In the above-described embodiment, the case where the position of the lens 16 in the X-axis direction, the Y-axis direction, and the Z-axis direction is detected has been described as an example. By utilizing this fact, the tilt of the lens 16 can also be detected.

  In the above description, as a premise, the lens 16 has no inclination, in other words, the case where the lens 16 and the image sensor 11 are kept in parallel has been described as an example. However, there is a possibility that the lens 16 may be inclined, and when such an inclination is generated, a function capable of detecting and correcting the inclination can be provided.

  Ideally, the lens 16 (coil 24) and the image sensor 11 are in a state in which the optical axis passing through the lens 16 and the image sensor 1 are perpendicular. However, when at least one of the lens 16, the actuator 18, and the image sensor 1 is mounted with a tilt or when tilt occurs during use, the optical axis passing through the lens 16 and the image sensor 1 are perpendicular to each other. There is a possibility that it will be in a state that is not.

  Therefore, a configuration that can detect the tilt of the lens 16 or the image sensor 11 using the induced electromotive force generated in the coil 33 as described above will be described below.

  FIG. 13 is a diagram schematically showing a state in which the lens 16 is tilted with the same configuration as that of the imaging device 1a shown in FIG. The state shown in FIG. 13 illustrates the case where the lens 16 is inclined such that the left side is the upper side and the right side is the lower side in the drawing.

  The situation as shown in FIG. 13 is a situation in which the coil 24 is located far from the coil 33a and close to the coil 33b. Therefore, in such a situation, the induced electromotive force generated in the coil 33a is smaller than the induced electromotive force generated in the coil 33b. The dielectric electromotive force generated in the coil 33 is different depending on the relative positions of the coil 24 and the coil 33 as described above, for example, in the case described with reference to FIG.

  Here, as shown in the left diagram of FIG. 13, the inclination α and inclination β of the lens 16 are set. The inclination α is negative when the lens 16 is inclined closer to the coil 33a in the coils 33a and 33b (X-axis direction) and positive when the lens 16 is inclined closer to the coil 33b. The inclination β is negative when the lens 16 is inclined toward the coil 33c and the coil 33d (in the Y-axis direction), and positive when the lens 16 is inclined toward the coil 33d.

  FIG. 14 shows the distribution of the induced electromotive force when the inclination occurs. Referring to the graph of the dielectric electromotive force of the coil 33a shown in FIG. 14A, when the inclination α changes from minus θ to plus θ, in other words, the coil 24 is inclined in the direction away from the coil 33a. In this case, the dielectric electromotive force decreases. In the coil 33a, as in the case described with reference to FIG. 8, there is no change in the dielectric electromotive force due to the change in the inclination in the Y-axis direction.

  Referring to the graph of the dielectric electromotive force of the coil 33b shown in FIG. 14B, when the inclination α changes from minus θ to plus θ, in other words, the coil 24 is inclined in the direction approaching the coil 33b. In this case, the dielectric electromotive force increases. In the coil 33b, as in the case described with reference to FIG. 8, there is no change in the dielectric electromotive force due to the change in the inclination in the Y-axis direction.

  Referring to the graph of the dielectric electromotive force of the coil 33c shown in FIG. 14C, when the inclination β changes from minus θ to plus θ, in other words, the coil 24 is inclined in the direction away from the coil 33c. In this case, the dielectric electromotive force decreases. In the coil 33c, as in the case described with reference to FIG. 8, there is no change in the dielectric electromotive force due to the change in the inclination in the X-axis direction.

  Referring to the graph of the dielectric electromotive force of the coil 33d shown in FIG. 14D, when the inclination β changes from minus θ to plus θ, in other words, the coil 24 is inclined in the direction approaching the coil 33d. In this case, the dielectric electromotive force increases. In the coil 33d, as in the case described with reference to FIG. 8, there is no change in the dielectric electromotive force due to the change in the tilt in the X-axis direction.

  Thus, the induced electromotive force generated in the coil 33 varies depending on the inclination of the lens 16 (difference in the positional relationship with the coil 24). This is the same as described with reference to FIG.

  For example, when the lens 16 has no inclination in the X-axis direction (when the inclination α = 0), the absolute value of the difference between the dielectric electromotive force of the coil 33a and the reference value is set as a reference (reference value). If the absolute value of the difference between the dielectric electromotive force of the coil 33b and the reference value is equal, it can be determined that there is no inclination in the X-axis direction, and if it is not equal, it can be determined that there is an inclination in the X-axis direction.

  As a result of the determination, if it is determined that there is an inclination, the position of the coil 24 with respect to the coil 33a and the position of the coil 24 with respect to the coil 33b are respectively determined from the magnitude of the dielectric electromotive force, and the positional relationship is obtained. The slope α can also be calculated. Further, when the inclination α is calculated, a correction amount for eliminating the inclination α can be calculated, and the inclination can be corrected based on the correction amount.

  Similarly, with respect to the tilt in the Y-axis direction, the tilt in the Y-axis direction can be detected and corrected from the dielectric electromotive force of the coils 33c and 33d.

  As described above, according to the present technology, the position of the lens 16 in the X-axis direction, the Y-axis direction, and the Z-axis direction and the inclination of the lens 16 can be detected. Therefore, as camera shake correction, not only the XY directions but also tilt correction can be performed, and it is possible to provide the imaging device 1 with higher functionality.

  Furthermore, by detecting the tilt to which the present technology is applied at the time of manufacturing the imaging apparatus 1, the tilt may be corrected, or may be removed from the manufacturing line if the tilt is equal to or greater than a predetermined tilt. become able to. Therefore, it is clear that the optical axis misalignment is improved in the performance test after manufacturing, and the manufacturing cost can be suppressed.

<Fourth embodiment>
The application range of the present technology is a method for detecting the induced electromotive force with respect to the movement of the lens 16 in the XYZ directions with the coil 32 and the coil 33 and detecting the position of the lens 16, and therefore the positions of the coil 32 and the coil 33 are As long as the induced electromotive force can be detected effectively, any installation position is within the scope of the present invention.

  As shown in FIG. 2, the imaging device 1 described above has coils 33 a to 33 d on four surfaces provided in a direction perpendicular to the imaging surface of the imaging device 11 in a positional relationship with the imaging device 11. Although an example of arrangement is shown, as shown in FIG. 15, it corresponds to the coils 33 a to 33 d on the surface provided in a direction parallel to the imaging surface of the imaging device 11 in the positional relationship with the imaging device 11. The coils 133a to 133b may be arranged.

  An imaging apparatus 1d illustrated in FIG. 16 is an embodiment having a two-layer configuration in which coils 133a to 133d are provided below a coil 32 provided on a circuit board 13. The coil 32 provided on the circuit board 13 is a coil for autofocus Z position detection, as in the above-described embodiment. The coils 133a to 133d provided in the lower layer of the circuit board 13 are coils for position detection in the XY directions for camera shake correction.

  In the case of the two-layer configuration, here, the description is continued by taking as an example the case where the coils 133a to 133d are provided in the lower layer of the coil 32, but the coils 133a to 133d are used as the upper layer and the coil is formed in the lower layer. 32, and the coils 133a to 133d may be formed on the circuit board 13.

  The coils 133a to 133d have a coil 133a arranged on the upper left side, a coil 133b arranged on the upper right side, a coil 133c arranged on the lower left side, and a coil 133d arranged on the lower right side.

  Each of the coils 133a to 133d has the same configuration as that of the coil 32, has a start point and an end point not shown, and is connected to the detection circuit 31.

  In the coils 133a to 133d arranged on one plane in this way, when the lens 16 (coil 24) moves in the XY plane, the induced electromotive force generated in each coil 133 will be described with reference to FIG. explain.

  FIG. 16A is a view of the lens 16 as viewed from above. In FIG. 16A, when the horizontal direction is the X-axis direction and the center of the lens 16 is 0, the left side is the minus direction (−X direction) and the right side is the plus direction (+ X direction). In FIG. 16A, when the vertical direction is the Y-axis direction and the center of the lens 16 is 0, the upper side is the negative direction (−Y direction) and the lower side is the positive direction (+ Y direction).

  As shown in FIG. 16A, a coil 133a is provided on the upper left side (−X, −Y side) in the drawing, and a coil 133b is provided on the upper right side (+ X, −Y side) in the drawing. . Further, a coil 133c is provided on the lower left side (-X, + Y side) in the drawing, and a coil 133d is provided on the lower right side (+ X, + Y side) in the drawing.

  A magnetic field is generated when the lens 16 (coil 24) moves in the XY plane parallel to the image sensor 11 due to camera shake correction. The influence of the magnetic field on the coil 133 is that the lens 16 (coil 24) is affected by the coil 133. It is large when the lens 16 (coil 24) is at a position close to, and small when the lens 16 (coil 24) is at a position away from the coil 133. This is the same as the imaging device 1a in the above-described embodiment.

  This is represented by graphs B to E in FIG. In the graphs shown in FIGS. 16B to 16E, the horizontal axis represents the position of the lens 16, and the vertical axis represents the induced electromotive force generated in the coil 133. Further, in FIGS. 16B to 16E, the graph shown at the top is a graph of dielectric electromotive force when the lens 16 is moved from the −X side to the + X side, and the graph shown at the bottom is that the lens 16 is −Y. It is a graph of the dielectric electromotive force when moving from the side to the + Y side.

  Referring to FIG. 16B, when the lens 16 moves from the −X side to the + X side, the lens 16 changes from a state of approaching to a state of moving away from the coil 133a. When such a change occurs, as shown in the upper graph of FIG. 16B, the dielectric electromotive force generated in the coil 133a gradually increases as the lens 16 moves from the −X side to the + X side. Get smaller.

  Referring to FIG. 16B, when the lens 16 moves from the -Y side to the + Y side, the lens 16 changes from a state in which the lens 16 is approaching to a state in which the lens 16 is away from the coil 133a. When such a change occurs, as shown in the lower graph of FIG. 16B, the dielectric electromotive force generated in the coil 133a gradually increases as the lens 16 moves from the -Y side to the + Y side. Get smaller.

  Referring to FIG. 16C, when the lens 16 moves from the −X side to the + X side, the lens 16 changes from a state of being separated to a state of approaching the coil 133b. When such a change occurs, as shown in the upper graph of FIG. 16C, the dielectric electromotive force generated in the coil 133b gradually increases as the lens 16 moves from the −X side to the + X side. growing.

  Referring to FIG. 16C, when the lens 16 moves from the -Y side to the + Y side, the lens 16 changes from a state of approaching to a state of moving away from the coil 133b. When such a change occurs, as shown in the lower graph of FIG. 16C, the dielectric electromotive force generated in the coil 133b gradually increases as the lens 16 moves from the −Y side to the + Y side. Get smaller.

  Referring to FIG. 16D, when the lens 16 moves from the −X side to the + X side, the lens 16 changes from a state of approaching to a state of moving away from the coil 133c. When such a change occurs, the dielectric electromotive force generated in the coil 133c gradually increases as the lens 16 moves from the -X side to the + X side, as shown in the upper graph of D in FIG. Get smaller.

  Referring to FIG. 16D, when the lens 16 moves from the -Y side to the + Y side, the lens 16 changes from a state of being separated to a state of approaching the coil 133c. When such a change occurs, as shown in the lower graph of FIG. 16D, the dielectric electromotive force generated in the coil 133c gradually increases as the lens 16 moves from the -Y side to the + Y side. big.

  Referring to E of FIG. 16, when the lens 16 moves from the −X side to the + X side, the lens 16 changes from a state of being separated to a state of approaching the coil 133d. When such a change occurs, as shown in the upper graph of E of FIG. 16, the dielectric electromotive force generated in the coil 133d gradually increases as the lens 16 moves from the −X side to the + X side. growing.

  Further, referring to E of FIG. 16, when the lens 16 moves from the -Y side to the + Y side, the lens 16 changes from a state where it is away from the coil 133d to a state where it is approaching. When such a change occurs, as shown in the lower graph of E in FIG. 16, the dielectric electromotive force generated in the coil 133 d gradually increases as the lens 16 moves from the −Y side to the + Y side. growing.

  As described above, since the magnitude of the dielectric electromotive force generated in each of the coils 133a to 133d differs depending on the positional relationship between the lens 16 and the coils 133a to 133d, the dielectric electromotive force generated in the coils 133a to 133b is measured. Thus, it is possible to detect the positions of the lens 16 in the X-axis direction and the Y-axis direction, respectively.

  By using such a relationship, for example, the position B of the position of the lens 16 after the control for moving the lens 16 to the desired position A is detected by the AF / OIS control unit 53. It can be detected by the circuit 31.

  If there is a deviation between the desired position A and the detected position B, the deviation can be corrected and moved to the desired position A. Therefore, it is possible to realize high-performance lens movement.

<Fifth embodiment>
As shown in FIG. 15, the coils 133a to 133d may be provided with four coils, but may be provided with two coils. FIG. 17 is a diagram illustrating a configuration of an imaging apparatus 1e including two coils 133 for detecting the position of the lens 16 in the XY direction.

  The imaging device 1e illustrated in FIG. 17 includes a coil 133a and a coil 133d for detecting the positions of the lens 16 in the X-axis direction and the Y-axis direction.

  In the case of the imaging apparatus 1e shown in FIG. 17, when the dielectric electromotive force generated in each of the coils 133a and 133d is measured, a measurement result as shown in FIG. 18 is obtained. This is the same as described with reference to FIGS. 16B and 16E.

  Therefore, the position of the lens 16 in the X-axis direction and the position in the Y-axis direction can be detected by measuring the dielectric electromotive forces generated in the coils 133a and 133d. This is the same as the case of the imaging device 1d described with reference to FIGS.

  In addition, although the case where the coil 133a and the coil 133d are provided is described as an example here, a configuration including the coil 133b and the coil 133c may be employed.

  As a configuration of the imaging apparatus 1 that detects the position of the lens 16 on the XY plane, a configuration including four coils 133 may be employed as illustrated in FIG. 15, or as illustrated in FIG. A configuration including the individual coils 133 may be employed.

  2, 9, 12, 15, and 17, the autofocus Z-axis position detection coil 32 is mounted on the circuit board 13. However, the coil 32 may be mounted in the image sensor 11.

<Sixth Embodiment>
The imaging apparatuses 1a to 1e described above have been described by taking as an example the case where the coil 32 for detecting the position in the Z-axis direction and the coil 33 (133) for detecting the position in the XY direction are provided separately. FIG. 19 shows a configuration example of an imaging device 1f configured integrally with a coil that detects a position in the Z-axis direction and a coil that detects a position in the XY direction.

  In the imaging device 1 f illustrated in FIG. 19, coils 133 a to 133 d are provided on the circuit board 13. In FIG. 19, the image pickup device 11 is not shown, but is provided on the circuit board 13 as in the other embodiments.

  The coils 133a to 133d are the same as the coils 133a to 133d shown in FIG. 15, but are different from the coils 133a to 133d shown in FIG. 15 in that they are provided on the circuit board 13. Moreover, the imaging device 1f shown in FIG. 19 is different from the imaging device 1d shown in FIG. 15 in that a coil corresponding to the coil 32 shown in FIG. 15 is not provided.

  The induced electromotive force generated in each of the coils 133a to 133d shown in FIG. 19 changes as shown in B to E of FIG. A to E in FIG. 20 are the same as A to E in FIG. 16, and the description with reference to FIG. 16 has already been made, so description thereof is omitted here.

  The XY position of the lens 16 can be detected by measuring the induced electromotive force generated in each of the coils 133a to 133d.

  Further, the Z position of the lens 16 can be detected by measuring the dielectric electromotive force generated in each of the coils 133a to 133d and integrating the measured values. As shown in F of FIG. 20, the lens 16 has an upper side in the figure (a direction away from the image sensor 11 not shown) as a plus, and a lower side in the figure (a direction toward the image sensor 11 not shown) as a minus. And

  In FIG. 20G, when the lens 16 (coil 24) moves from the −Z side to the + Z side, in other words, the lens 16 moves away from the approached state relative to the coils 133a to 133d. It is a figure showing the change of the value which integrated the induced electromotive force which generate | occur | produces in the coils 133a thru | or 133d when changing. This figure is the same as FIG. 7, and the dielectric electromotive force gradually decreases as the lens 16 (coil 24) moves from the −Z side to the + Z side.

  When the lens 16 (coil 24) moves in the Z-axis direction, the dielectric electromotive force generated in the coils 133a to 133d changes as shown in G of FIG. 20 because the lens 16 (coil 24) moves away from or approaches the coils 133a to 133d. This is the same as the case of the coil 32 of the imaging device 1a (FIG. 2), for example.

  Thus, by measuring the dielectric electromotive force generated in each of the coils 133a to 133d, the position in the X-axis direction, the position in the Y-axis direction, and the position in the Z-axis direction of the lens 16 can be detected.

  Note that the imaging devices 1a to 1e shown in FIGS. 2, 9, 12, 15, and 17 also have a configuration in which the coil 32 for detecting the position of the autofocus Z-axis is not provided. Similarly to the imaging device 1 f described with reference to 20, the induced electromotive force generated in the coil 33 (133) can be integrated to be used as a function of the coil 32.

  For example, the imaging apparatus 1a illustrated in FIG. 2 has a configuration including a coil 32 and a coil 33, and the coil 33 can be provided on the spacer 14 as illustrated in FIG. When it is set as the structure which does not provide the coil 32, it can be set as the structure with which only the coil 33 provided in this spacer 14 is provided in the imaging device 1a.

<Seventh embodiment>
If the coil 32 and the coil 33 are provided as in the imaging device 1a shown in FIG. 2 and the coil 33 is provided in the spacer 14 as shown in FIG. It can be set as the structure provided.

  As shown in FIG. 21, the coil 32 and the coils 33 a to 33 d are formed on the spacer 14, and the start point 31 a and the end point 32 b for connecting to the detection circuit 31 and the start point 33 aa and the end point are connected to the portion of the spacer 14 that contacts the circuit board 13. 33ab, start point 33ba and end point 33bb, start point 33ca and end point 33cb, start point 33da and end point 33db are formed. In FIG. 21, the coil 33b and the coil 33c are not shown. Further, the start point and end point of the coils 33 are not shown.

  The configuration of the imaging device 1 when the coil 32 is formed on the spacer 14 may be the same as that of the imaging device 1a illustrated in FIG. However, the difference is that the coil 32 is not formed on the circuit board 13. Here, although not shown, the imaging device 1 including the spacer 14 shown in FIG. 21 is described as an imaging device 1g.

  Also in the imaging device 1g, the Z position of the lens 16 can be detected as in the case where the coil 32 is provided below the imaging device 11 (imaging device 1a). Further, the XY position of the lens 16 can be detected in the coil 33.

<Eighth Embodiment>
Any of the configurations of the imaging devices 1a to 1g described above has the same basic configuration, except that the portions where the coils 32 and the coils 33 are formed and the number of the configurations are different. The configuration of 1 is not affected.

  The configuration of the imaging device 1 can be the same configuration regardless of where and how many the coils 32 and 33 are provided. In other words, the present technology can be applied to any configuration of the imaging device 1 without being limited to the configuration of the imaging devices 1a to 1g described above.

  Therefore, another configuration of the imaging device 1 will be described below. However, the configuration described here is also an example and does not indicate a limitation.

  FIG. 22 is a diagram illustrating another configuration example of the imaging apparatus 1. The imaging device 1 h illustrated in FIG. 22 shows a configuration in which a CSP (Chip size package) -shaped imaging element 11 d is applied as the imaging element 11.

  Even when a CSP-shaped image sensor 11d is used as the image sensor 11, the coil 32 and the coil 33 (133) can be formed on the circuit board 13, the spacer 14, and the like, and the position of the lens 16 is detected. It can be set as a structure.

<Ninth embodiment>
FIG. 23 is a diagram illustrating another configuration example of the imaging apparatus 1. The image pickup apparatus 1i shown in FIG. 23 shows a configuration when a CSP-shaped image pickup element 11d is applied as the image pickup element 11 in the same manner as the image pickup apparatus 1h shown in FIG.

  Furthermore, the imaging apparatus 1i shown in FIG. 23 has a function (filter) for cutting infrared rays on the glass substrate of the CSP-shaped imaging element 11d, and a lens 201 is formed on the glass substrate.

  Thus, the thickness of the infrared cut filter can be reduced by providing the function of cutting infrared rays on the glass substrate of the image sensor 11d. Therefore, the height of the imaging device 1i can be reduced.

  In other words, the lens 201 is formed on the glass substrate, and the lowermost lens among the plurality of lenses constituting the lens 16 is formed on the glass substrate of the CSP-shaped imaging element 11d. In addition, the imaging device 1d can be thinned.

  Even for such a thinned imaging device 1d, the coil 32 and the coil 33 (133) can be formed on the circuit board 13, the spacer 14, and the like, and the structure for detecting the position of the lens 16 is adopted. Can do.

<Tenth Embodiment>
FIG. 24 is a diagram illustrating another configuration example of the imaging apparatus 1. The imaging device 1j shown in FIG. 24 has a structure in which the imaging device 11 (for example, the imaging device 11 of the imaging device 1a shown in FIG. 1) is a flip-chip imaging device 11f.

  In the imaging device 1j shown in FIG. 24, the electrical signal output from the imaging device 11f is output to the outside through the holder 211 having a circuit function. The holder 211 also has a holder function with the actuator 18, and an electrical signal from the image sensor 11 f is output to the outside through the thin circuit board 13 connected to the holder 211.

  The coil 32 and the coil 33 (133) can be formed on the circuit board 13, the spacer 14 (corresponding to the holder 211 in the image pickup apparatus 1j), and the like for such an image pickup apparatus 1j. It can be set as the structure which detects.

<Eleventh embodiment>
FIG. 25 is a diagram illustrating another configuration example of the imaging apparatus 1. The imaging device 1k illustrated in FIG. 25 includes the imaging device 11g having a flip-chip structure, similar to the imaging device 11f of the imaging device 1j illustrated in FIG.

  The imaging apparatus 1k shown in FIG. 25 has a structure in which the infrared cut filter 17 serves as a base material when mounted, and the circuit board 13 is bonded to the infrared cut filter 17.

  The imaging device 1k includes a holder 231 having a circuit function, like the imaging device 1j shown in FIG. As shown in FIG. 25, when the image pickup device 11g is provided on the lower side of the circuit board 13 (the side opposite to the side where the lens 16 is provided), the image pickup device 11g is mounted when the image pickup apparatus 1k is mounted on a terminal. A protective material 232 for protection is also provided.

  The coil 32 and the coil 33 (133) can be formed on the circuit board 13 and the spacer 14 (corresponding to the holder 231 or the protective material 232 in the image pickup apparatus 1h) for the image pickup apparatus 1h. The structure of detecting the position of the lens 16 can be adopted.

<Twelfth embodiment>
FIG. 26 is a diagram illustrating another configuration example of the imaging apparatus 1. The imaging device 1m illustrated in FIG. 26 has the same configuration as the imaging device 1a illustrated in FIG. 1 except that a storage unit 251 is added. The storage unit 251 stores data for correcting variations in the imaging apparatus 1.

  The amount of induced electromotive force for adjusting the lens position includes the number and size of windings of the coil 24 (FIG. 2) of the actuator 18 and the formation state (number of windings and circuit board formed) of the coil 32 (FIG. 3) of the circuit board 13. 13), and the variation of the induced electromotive force is measured at the time of manufacturing the image pickup apparatus 1m, and the variation is adjusted, since it varies depending on the formation state of the coil 33 (FIG. 2) or the coil 133 (FIG. 15). The adjustment value for this is stored in the storage unit 251.

  Then, during actual control, in order to correct the variation of the individual imaging devices 1, the adjustment value stored in the storage unit 251 is used for processing. By doing in this way, the position detection and adjustment of the lens 16 which improved the dispersion | variation in each imaging device 1 can be performed.

  The mounting position of the storage unit 251 may be on the circuit board 13 as shown in FIG. 26 or may be mounted outside the imaging device 1m. In addition, here, the imaging apparatus 1m in which the storage unit 251 is mounted is described as an example for the imaging apparatus 1a. However, it is of course possible to mount the storage unit 251 in the imaging apparatuses 1b to 1k.

  Even for such an imaging apparatus 1m, only the coil 32, the coil 33 (133), or the coil 33 (133) can be formed on the circuit board 13, the spacer 14, and the like, and the position of the lens 16 is detected. It can be a structure.

  According to the present technology, power consumption can be reduced by PWM driving the lens. Further, it is possible to detect an induced electromotive force generated by a magnetic field generated by an actuator (inner coil) that drives the lens when PWM driving is performed.

  Further, the position of the lens can be detected by detecting such an induced electromotive force. Further, by detecting the position of the lens, it is possible to correct it when there is a shift in the position.

  According to the present technology, high performance and downsizing can be realized by controlling the focal position of the lens of the imaging device.

  The imaging device 1 described above can be used for a digital video camera, a digital still camera, and the like. The imaging device 1 described above can also be used for an image input camera such as a surveillance camera or an in-vehicle camera. The imaging device 1 described above can also be used in electronic devices such as a scanner device, a facsimile device, a television telephone device, and a mobile terminal device with a camera.

<Application example to endoscopic surgery system>
The technology according to the present disclosure can be applied to various products. For example, the technology according to the present disclosure may be applied to an endoscopic surgery system.

  FIG. 27 is a diagram illustrating an example of a schematic configuration of an endoscopic surgery system to which the technology (present technology) according to the present disclosure can be applied.

  FIG. 27 shows a state where an operator (doctor) 11131 is performing an operation on a patient 11132 on a patient bed 11133 using an endoscopic operation system 11000. As shown in the figure, an endoscopic surgery system 11000 includes an endoscope 11100, other surgical instruments 11110 such as an insufflation tube 11111 and an energy treatment instrument 11112, and a support arm device 11120 that supports the endoscope 11100. And a cart 11200 on which various devices for endoscopic surgery are mounted.

  The endoscope 11100 includes a lens barrel 11101 in which a region having a predetermined length from the distal end is inserted into the body cavity of the patient 11132, and a camera head 11102 connected to the proximal end of the lens barrel 11101. In the illustrated example, an endoscope 11100 configured as a so-called rigid mirror having a rigid lens barrel 11101 is illustrated, but the endoscope 11100 may be configured as a so-called flexible mirror having a flexible lens barrel. Good.

  An opening into which the objective lens is fitted is provided at the tip of the lens barrel 11101. A light source device 11203 is connected to the endoscope 11100, and light generated by the light source device 11203 is guided to the tip of the lens barrel by a light guide extending inside the lens barrel 11101. Irradiation is performed toward the observation target in the body cavity of the patient 11132 through the lens. Note that the endoscope 11100 may be a direct endoscope, a perspective mirror, or a side endoscope.

  An optical system and an imaging device are provided inside the camera head 11102, and reflected light (observation light) from the observation target is condensed on the imaging device by the optical system. Observation light is photoelectrically converted by the imaging element, and an electrical signal corresponding to the observation light, that is, an image signal corresponding to the observation image is generated. The image signal is transmitted to a camera control unit (CCU) 11201 as RAW data.

  The CCU 11201 is configured by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like, and comprehensively controls operations of the endoscope 11100 and the display device 11202. Further, the CCU 11201 receives an image signal from the camera head 11102 and performs various kinds of image processing for displaying an image based on the image signal, such as development processing (demosaic processing), for example.

  The display device 11202 displays an image based on an image signal subjected to image processing by the CCU 11201 under the control of the CCU 11201.

  The light source device 11203 is composed of a light source such as an LED (Light Emitting Diode), for example, and supplies irradiation light to the endoscope 11100 when photographing a surgical site or the like.

  The input device 11204 is an input interface for the endoscopic surgery system 11000. A user can input various information and instructions to the endoscopic surgery system 11000 via the input device 11204. For example, the user inputs an instruction to change the imaging conditions (type of irradiation light, magnification, focal length, etc.) by the endoscope 11100.

  The treatment instrument control device 11205 controls driving of the energy treatment instrument 11112 for tissue ablation, incision, blood vessel sealing, or the like. In order to inflate the body cavity of the patient 11132 for the purpose of securing the field of view by the endoscope 11100 and securing the operator's work space, the pneumoperitoneum device 11206 passes gas into the body cavity via the pneumoperitoneum tube 11111. Send in. The recorder 11207 is an apparatus capable of recording various types of information related to surgery. The printer 11208 is a device that can print various types of information related to surgery in various formats such as text, images, or graphs.

  Note that the light source device 11203 that supplies the irradiation light when imaging the surgical site to the endoscope 11100 can be configured by a white light source configured by, for example, an LED, a laser light source, or a combination thereof. When a white light source is configured by a combination of RGB laser light sources, the output intensity and output timing of each color (each wavelength) can be controlled with high accuracy. Therefore, the light source device 11203 adjusts the white balance of the captured image. It can be carried out. In this case, laser light from each of the RGB laser light sources is irradiated on the observation target in a time-sharing manner, and the drive of the image sensor of the camera head 11102 is controlled in synchronization with the irradiation timing, thereby corresponding to each RGB. It is also possible to take the images that have been taken in time division. According to this method, a color image can be obtained without providing a color filter in the image sensor.

  Further, the driving of the light source device 11203 may be controlled so as to change the intensity of light to be output every predetermined time. Synchronously with the timing of changing the intensity of the light, the drive of the image sensor of the camera head 11102 is controlled to acquire an image in a time-sharing manner, and the image is synthesized, so that high dynamic without so-called blackout and overexposure A range image can be generated.

  The light source device 11203 may be configured to be able to supply light of a predetermined wavelength band corresponding to special light observation. In special light observation, for example, by utilizing the wavelength dependence of light absorption in body tissue, the surface of the mucous membrane is irradiated by irradiating light in a narrow band compared to irradiation light (ie, white light) during normal observation. A so-called narrow band imaging is performed in which a predetermined tissue such as a blood vessel is imaged with high contrast. Alternatively, in special light observation, fluorescence observation may be performed in which an image is obtained by fluorescence generated by irradiating excitation light. In fluorescence observation, the body tissue is irradiated with excitation light to observe fluorescence from the body tissue (autofluorescence observation), or a reagent such as indocyanine green (ICG) is locally administered to the body tissue and applied to the body tissue. It is possible to obtain a fluorescence image by irradiating excitation light corresponding to the fluorescence wavelength of the reagent. The light source device 11203 can be configured to be able to supply narrowband light and / or excitation light corresponding to such special light observation.

  FIG. 28 is a block diagram illustrating an example of functional configurations of the camera head 11102 and the CCU 11201 illustrated in FIG.

  The camera head 11102 includes a lens unit 11401, an imaging unit 11402, a driving unit 11403, a communication unit 11404, and a camera head control unit 11405. The CCU 11201 includes a communication unit 11411, an image processing unit 11412, and a control unit 11413. The camera head 11102 and the CCU 11201 are connected to each other by a transmission cable 11400 so that they can communicate with each other.

  The lens unit 11401 is an optical system provided at a connection portion with the lens barrel 11101. Observation light taken from the tip of the lens barrel 11101 is guided to the camera head 11102 and enters the lens unit 11401. The lens unit 11401 is configured by combining a plurality of lenses including a zoom lens and a focus lens.

  The imaging unit 11402 includes an imaging element. One (so-called single plate type) image sensor may be included in the imaging unit 11402, or a plurality (so-called multi-plate type) may be used. In the case where the imaging unit 11402 is configured as a multi-plate type, for example, image signals corresponding to RGB may be generated by each imaging element, and a color image may be obtained by combining them. Alternatively, the imaging unit 11402 may be configured to include a pair of imaging elements for acquiring right-eye and left-eye image signals corresponding to 3D (Dimensional) display. By performing the 3D display, the operator 11131 can more accurately grasp the depth of the living tissue in the surgical site. Note that in the case where the imaging unit 11402 is configured as a multi-plate type, a plurality of lens units 11401 can be provided corresponding to each imaging element.

  Further, the imaging unit 11402 is not necessarily provided in the camera head 11102. For example, the imaging unit 11402 may be provided inside the lens barrel 11101 immediately after the objective lens.

  The drive unit 11403 includes an actuator, and moves the zoom lens and focus lens of the lens unit 11401 by a predetermined distance along the optical axis under the control of the camera head control unit 11405. Thereby, the magnification and the focus of the image captured by the imaging unit 11402 can be adjusted as appropriate.

  The communication unit 11404 is configured by a communication device for transmitting / receiving various types of information to / from the CCU 11201. The communication unit 11404 transmits the image signal obtained from the imaging unit 11402 as RAW data to the CCU 11201 via the transmission cable 11400.

  In addition, the communication unit 11404 receives a control signal for controlling driving of the camera head 11102 from the CCU 11201 and supplies the control signal to the camera head control unit 11405. The control signal includes, for example, information for designating the frame rate of the captured image, information for designating the exposure value at the time of imaging, and / or information for designating the magnification and focus of the captured image. Contains information about the condition.

  Note that the imaging conditions such as the frame rate, exposure value, magnification, and focus may be appropriately specified by the user, or may be automatically set by the control unit 11413 of the CCU 11201 based on the acquired image signal. Good. In the latter case, a so-called AE (Auto Exposure) function, AF (Auto Focus) function, and AWB (Auto White Balance) function are mounted on the endoscope 11100.

  The camera head control unit 11405 controls driving of the camera head 11102 based on a control signal from the CCU 11201 received via the communication unit 11404.

  The communication unit 11411 is configured by a communication device for transmitting and receiving various types of information to and from the camera head 11102. The communication unit 11411 receives an image signal transmitted from the camera head 11102 via the transmission cable 11400.

  In addition, the communication unit 11411 transmits a control signal for controlling driving of the camera head 11102 to the camera head 11102. The image signal and the control signal can be transmitted by electrical communication, optical communication, or the like.

  The image processing unit 11412 performs various types of image processing on an image signal that is RAW data transmitted from the camera head 11102.

  The control unit 11413 performs various types of control related to imaging of the surgical site or the like by the endoscope 11100 and display of a captured image obtained by imaging of the surgical site or the like. For example, the control unit 11413 generates a control signal for controlling driving of the camera head 11102.

  In addition, the control unit 11413 causes the display device 11202 to display a captured image in which an operation part or the like is reflected based on the image signal subjected to image processing by the image processing unit 11412. At this time, the control unit 11413 may recognize various objects in the captured image using various image recognition techniques. For example, the control unit 11413 detects surgical tools such as forceps, specific biological parts, bleeding, mist when using the energy treatment tool 11112, and the like by detecting the shape and color of the edge of the object included in the captured image. Can be recognized. When displaying the captured image on the display device 11202, the control unit 11413 may display various types of surgery support information superimposed on the image of the surgical unit using the recognition result. Surgery support information is displayed in a superimposed manner and presented to the operator 11131, thereby reducing the burden on the operator 11131 and allowing the operator 11131 to proceed with surgery reliably.

  A transmission cable 11400 for connecting the camera head 11102 and the CCU 11201 is an electric signal cable corresponding to electric signal communication, an optical fiber corresponding to optical communication, or a composite cable thereof.

  Here, in the illustrated example, communication is performed by wire using the transmission cable 11400, but communication between the camera head 11102 and the CCU 11201 may be performed wirelessly.

  Here, although an endoscopic surgery system has been described as an example, the technique according to the present disclosure may be applied to, for example, a microscope surgery system and the like.

<Application examples to mobile objects>
The technology according to the present disclosure can be applied to various products. For example, the technology according to the present disclosure is realized as a device that is mounted on any type of mobile body such as an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, personal mobility, an airplane, a drone, a ship, and a robot. May be.

  FIG. 29 is a block diagram illustrating a schematic configuration example of a vehicle control system that is an example of a mobile control system to which the technology according to the present disclosure can be applied.

  The vehicle control system 12000 includes a plurality of electronic control units connected via a communication network 12001. In the example shown in FIG. 29, the vehicle control system 12000 includes a drive system control unit 12010, a body system control unit 12020, an outside information detection unit 12030, an in-vehicle information detection unit 12040, and an integrated control unit 12050. Further, as a functional configuration of the integrated control unit 12050, a microcomputer 12051, an audio image output unit 12052, and an in-vehicle network I / F (interface) 12053 are illustrated.

  The drive system control unit 12010 controls the operation of the device related to the drive system of the vehicle according to various programs. For example, the drive system control unit 12010 includes a driving force generator for generating a driving force of a vehicle such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to wheels, and a steering angle of the vehicle. It functions as a control device such as a steering mechanism that adjusts and a braking device that generates a braking force of the vehicle.

  The body system control unit 12020 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 12020 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as a headlamp, a back lamp, a brake lamp, a blinker, or a fog lamp. In this case, the body control unit 12020 can be input with radio waves transmitted from a portable device that substitutes for a key or signals from various switches. The body system control unit 12020 receives input of these radio waves or signals, and controls a door lock device, a power window device, a lamp, and the like of the vehicle.

  The vehicle outside information detection unit 12030 detects information outside the vehicle on which the vehicle control system 12000 is mounted. For example, the imaging unit 12031 is connected to the vehicle exterior information detection unit 12030. The vehicle exterior information detection unit 12030 causes the imaging unit 12031 to capture an image outside the vehicle and receives the captured image. The vehicle outside information detection unit 12030 may perform an object detection process or a distance detection process such as a person, a car, an obstacle, a sign, or a character on a road surface based on the received image.

  The imaging unit 12031 is an optical sensor that receives light and outputs an electrical signal corresponding to the amount of received light. The imaging unit 12031 can output an electrical signal as an image, or can output it as distance measurement information. Further, the light received by the imaging unit 12031 may be visible light or invisible light such as infrared rays.

  The vehicle interior information detection unit 12040 detects vehicle interior information. For example, a driver state detection unit 12041 that detects a driver's state is connected to the in-vehicle information detection unit 12040. The driver state detection unit 12041 includes, for example, a camera that images the driver, and the vehicle interior information detection unit 12040 determines the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 12041. It may be calculated or it may be determined whether the driver is asleep.

  The microcomputer 12051 calculates a control target value of the driving force generator, the steering mechanism, or the braking device based on the information inside / outside the vehicle acquired by the vehicle outside information detection unit 12030 or the vehicle interior information detection unit 12040, and the drive system control unit A control command can be output to 12010. For example, the microcomputer 12051 realizes an ADAS (Advanced Driver Assistance System) function including vehicle collision avoidance or impact mitigation, vehicle-based tracking, vehicle speed maintenance, vehicle collision warning, or vehicle lane departure warning. It is possible to perform cooperative control for the purpose.

  Further, the microcomputer 12051 controls the driving force generator, the steering mechanism, the braking device, and the like based on the information around the vehicle acquired by the vehicle exterior information detection unit 12030 or the vehicle interior information detection unit 12040. It is possible to perform cooperative control for the purpose of automatic driving that autonomously travels without depending on the operation.

  Further, the microcomputer 12051 can output a control command to the body system control unit 12020 based on information outside the vehicle acquired by the vehicle outside information detection unit 12030. For example, the microcomputer 12051 controls the headlamp according to the position of the preceding vehicle or the oncoming vehicle detected by the outside information detection unit 12030, and performs cooperative control for the purpose of anti-glare, such as switching from a high beam to a low beam. It can be carried out.

  The sound image output unit 12052 transmits an output signal of at least one of sound and image to an output device capable of visually or audibly notifying information to a vehicle occupant or the outside of the vehicle. In the example of FIG. 29, an audio speaker 12061, a display unit 12062, and an instrument panel 12063 are illustrated as output devices. The display unit 12062 may include at least one of an on-board display and a head-up display, for example.

  FIG. 30 is a diagram illustrating an example of the installation position of the imaging unit 12031.

  In FIG. 30, the vehicle 12100 includes imaging units 12101, 12102, 12103, 12104, and 12105 as the imaging unit 12031.

  The imaging units 12101, 12102, 12103, 12104, and 12105 are provided, for example, at positions such as a front nose, a side mirror, a rear bumper, a back door, and an upper part of a windshield in the vehicle interior of the vehicle 12100. The imaging unit 12101 provided in the front nose and the imaging unit 12105 provided in the upper part of the windshield in the vehicle interior mainly acquire an image in front of the vehicle 12100. The imaging units 12102 and 12103 provided in the side mirror mainly acquire an image of the side of the vehicle 12100. The imaging unit 12104 provided in the rear bumper or the back door mainly acquires an image behind the vehicle 12100. The forward images acquired by the imaging units 12101 and 12105 are mainly used for detecting a preceding vehicle or a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like.

  FIG. 30 shows an example of the imaging range of the imaging units 12101 to 12104. The imaging range 12111 indicates the imaging range of the imaging unit 12101 provided in the front nose, the imaging ranges 12112 and 12113 indicate the imaging ranges of the imaging units 12102 and 12103 provided in the side mirrors, respectively, and the imaging range 12114 The imaging range of the imaging part 12104 provided in the rear bumper or the back door is shown. For example, by superimposing the image data captured by the imaging units 12101 to 12104, an overhead image when the vehicle 12100 is viewed from above is obtained.

  At least one of the imaging units 12101 to 12104 may have a function of acquiring distance information. For example, at least one of the imaging units 12101 to 12104 may be a stereo camera including a plurality of imaging elements, or may be an imaging element having pixels for phase difference detection.

  For example, the microcomputer 12051, based on the distance information obtained from the imaging units 12101 to 12104, the distance to each three-dimensional object in the imaging range 12111 to 12114 and the temporal change of this distance (relative speed with respect to the vehicle 12100). In particular, it is possible to extract, as a preceding vehicle, a three-dimensional object that travels at a predetermined speed (for example, 0 km / h or more) in the same direction as the vehicle 12100, particularly the closest three-dimensional object on the traveling path of the vehicle 12100. it can. Further, the microcomputer 12051 can set an inter-vehicle distance to be secured in advance before the preceding vehicle, and can perform automatic brake control (including follow-up stop control), automatic acceleration control (including follow-up start control), and the like. Thus, cooperative control for the purpose of autonomous driving or the like autonomously traveling without depending on the operation of the driver can be performed.

  For example, the microcomputer 12051 converts the three-dimensional object data related to the three-dimensional object to other three-dimensional objects such as two-wheeled vehicles, ordinary vehicles, large vehicles, pedestrians, and power poles based on the distance information obtained from the imaging units 12101 to 12104. It can be classified and extracted and used for automatic avoidance of obstacles. For example, the microcomputer 12051 identifies obstacles around the vehicle 12100 as obstacles that are visible to the driver of the vehicle 12100 and obstacles that are difficult to see. The microcomputer 12051 determines the collision risk indicating the risk of collision with each obstacle, and when the collision risk is equal to or higher than the set value and there is a possibility of collision, the microcomputer 12051 is connected via the audio speaker 12061 or the display unit 12062. By outputting an alarm to the driver and performing forced deceleration or avoidance steering via the drive system control unit 12010, driving assistance for collision avoidance can be performed.

  At least one of the imaging units 12101 to 12104 may be an infrared camera that detects infrared rays. For example, the microcomputer 12051 can recognize a pedestrian by determining whether a pedestrian is present in the captured images of the imaging units 12101 to 12104. Such pedestrian recognition is, for example, whether or not the user is a pedestrian by performing a pattern matching process on a sequence of feature points indicating the outline of an object and a procedure for extracting feature points in the captured images of the imaging units 12101 to 12104 as infrared cameras. It is carried out by the procedure for determining. When the microcomputer 12051 determines that there is a pedestrian in the captured images of the imaging units 12101 to 12104 and recognizes the pedestrian, the audio image output unit 12052 has a rectangular contour line for emphasizing the recognized pedestrian. The display unit 12062 is controlled so as to be superimposed and displayed. Moreover, the audio | voice image output part 12052 may control the display part 12062 so that the icon etc. which show a pedestrian may be displayed on a desired position.

  In this specification, the system represents the entire apparatus constituted by a plurality of apparatuses.

  In addition, the effect described in this specification is an illustration to the last, and is not limited, Moreover, there may exist another effect.

  The embodiments of the present technology are not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present technology.

In addition, this technique can also take the following structures.
(1)
A lens that collects the subject light;
An image sensor that photoelectrically converts the subject light from the lens;
A circuit substrate including a circuit for outputting a signal from the image sensor to the outside;
An actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a PWM (Pulse Width Modulation) waveform;
An imaging device comprising: a detection unit that detects a magnetic field generated by a coil included in the actuator.
(2)
The imaging device according to (1), wherein the actuator drives the lens to move a focal point, or drives the lens to reduce the influence of camera shake.
(3)
The imaging apparatus according to (2), wherein the Z-axis direction is a direction for moving the focal point, and the X-axis direction and the Y-axis direction are directions for reducing the influence of the camera shake.
(4)
The imaging device according to any one of (1) to (3), wherein the detection unit detects an induced electromotive force generated by the magnetic field.
(5)
The imaging device according to (4), wherein the detection unit detects the position of the lens from the induced electromotive force.
(6)
The detector is
A first coil that detects a position of the lens in the X-axis direction and a position in the Y-axis direction;
The imaging device according to (5), further comprising: a second coil that detects a position of the lens in the Z-axis direction.
(7)
The imaging device according to (6), wherein the first coil is a surface that is perpendicular to the imaging surface of the imaging element and is provided on each of two different surfaces or four surfaces.
(8)
The imaging device according to (6), wherein two or four of the first coils are provided on a surface that is horizontal to the imaging surface of the imaging element.
(9)
The imaging device according to (6), wherein the first coil is provided on the circuit base.
(10)
The first coil is provided in a lower layer of the circuit base,
The imaging device according to (6), wherein the second coil is provided on the circuit base.
(11)
A spacer for fixing the image sensor and the circuit substrate;
The first coil is provided on the spacer,
The imaging device according to (6), wherein the second coil is provided on the circuit base.
(12)
A spacer for fixing the image sensor and the circuit substrate;
The imaging device according to (6), wherein the first coil and the second coil are provided in the spacer.
(13)
The imaging unit according to any one of (1) to (12), wherein the detection unit includes a coil that detects a position of the lens in the X-axis direction, a position in the Y-axis direction, and a position in the Z-axis direction. apparatus.
(14)
The imaging unit according to any one of (1) to (13), wherein the detection unit detects an inclination of the lens.
(15)
A lens that collects the subject light;
An image sensor that photoelectrically converts the subject light from the lens;
A circuit substrate including a circuit for outputting a signal from the image sensor to the outside;
An actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a PWM (Pulse Width Modulation) waveform;
An electronic apparatus comprising: an imaging device comprising: a detection unit that detects a magnetic field generated by a coil included in the actuator.

  DESCRIPTION OF SYMBOLS 1 Image pick-up device, 11 Image pick-up element, 12 Metal wire, 13 Circuit board, 14 Spacer, 15 Adhesive agent, 16 Lens, 17 Infrared cut filter, 18 Actuator, 19 Connector, 20 Auto focus driver, 31 Detection circuit, 32 Coil, 33 Coil, 51 amplifying unit, 52 A / D conversion unit, 53 AF control unit, 54 control unit, 133 coil

Claims (15)

A lens that collects the subject light;
An image sensor that photoelectrically converts the subject light from the lens;
A circuit substrate including a circuit for outputting a signal from the image sensor to the outside;
An actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a PWM (Pulse Width Modulation) waveform;
An imaging device comprising: a detection unit that detects a magnetic field generated by a coil included in the actuator. The imaging device according to claim 1, wherein the actuator drives the lens to move a focal point, or drives the lens to reduce the influence of camera shake. The imaging apparatus according to claim 2, wherein the Z-axis direction is a direction for moving the focal point, and the X-axis direction and the Y-axis direction are directions for reducing the influence of the camera shake. The imaging device according to claim 1, wherein the detection unit detects an induced electromotive force generated by the magnetic field. The imaging device according to claim 4, wherein the detection unit detects a position of the lens from the induced electromotive force. The detector is
A first coil that detects a position of the lens in the X-axis direction and a position in the Y-axis direction;
The imaging device according to claim 5, further comprising: a second coil that detects a position of the lens in the Z-axis direction. The imaging device according to claim 6, wherein the first coil is a surface that is perpendicular to an imaging surface of the imaging element, and is provided on each of two different surfaces or four surfaces. The imaging device according to claim 6, wherein two or four first coils are provided on a surface that is horizontal to an imaging surface of the imaging element. The imaging device according to claim 6, wherein the first coil is provided on the circuit base. The first coil is provided in a lower layer of the circuit base,
The imaging device according to claim 6, wherein the second coil is provided on the circuit base. A spacer for fixing the image sensor and the circuit substrate;
The first coil is provided on the spacer,
The imaging device according to claim 6, wherein the second coil is provided on the circuit base. A spacer for fixing the image sensor and the circuit substrate;
The imaging device according to claim 6, wherein the first coil and the second coil are provided in the spacer. The imaging device according to claim 1, wherein the detection unit includes a coil that detects a position of the lens in the X-axis direction, a position in the Y-axis direction, and a position in the Z-axis direction. The imaging device according to claim 1, wherein the detection unit detects an inclination of the lens. A lens that collects the subject light;
An image sensor that photoelectrically converts the subject light from the lens;
A circuit substrate including a circuit for outputting a signal from the image sensor to the outside;
An actuator that drives the lens in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction with a PWM (Pulse Width Modulation) waveform;
An electronic apparatus comprising: an imaging device comprising: a detection unit that detects a magnetic field generated by a coil included in the actuator.

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