JP2021089326A - Optical device, omnidirectional camera, and method for manufacturing omnidirectional camera - Google Patents

Abstract

To acquire a small and high-quality image by a wide-vision optical device formed by combining a plurality of lens systems (an omnidirectional camera, an optical device for a stereoscopic vision, or a panoramic imaging optical device, for example).SOLUTION: In an optical device having a sensor and a plurality of lens systems, an image circle generated by the lens systems is partially located outside the sensor. The optical device has a plurality of lens systems and the optical axes of the lens systems and straight lines as extended lines of the optical axes do not intersect with one another. Alternatively, the optical device has at least four lens systems and the optical paths intersect with one another.SELECTED DRAWING: Figure 1

Description

The present invention relates to an optical device suitable for photographing a digital camera, a film camera, a video camera, etc., a spherical camera, and a method for manufacturing a spherical camera.

Conventionally, spherical cameras (cameras capable of spherical imaging), stereoscopic optical devices, panoramic imaging optical devices, and the like have been used as wide-field optical devices in various fields. In these optical devices, in order to have high performance in a wide field of view, that is, a wide angle of view, a high-performance lens system may be used, or a plurality of lens systems may be combined to acquire a plurality of imaged images. Is being done.
When a high-performance lens system was used, the entire lens system became large due to an increase in the number of lenses and an increase in the lens radial direction due to a wide angle of view. Further, it has been requested to increase the number of pixels so that a high resolution can be obtained in accordance with a high-performance lens system.
When a plurality of lens systems are combined, the entire optical device tends to be large due to the arrangement of all the lens systems. Further, it has been desired to use a large number of pixels for joining a plurality of images obtained from those lens systems.

US Application Publication No. 2018/0332206

The spherical camera according to the first aspect has a plurality of lens systems, and the optical axis of each lens system and the straight line extending the optical axis do not have an intersection.

Further, the spherical camera according to the second embodiment has four or more lens systems, and optical paths intersect.

Further, in the optical device according to the third embodiment, in an optical device including a sensor and a lens system, a part of an image circle generated by the lens system is outside the sensor.

Further, the spherical camera or the optical device according to the fourth aspect receives an image formed by a plurality of lens systems by sensors arranged on the same plane.

Further, in the method for manufacturing an all-sky camera according to the fifth embodiment, a plurality of lens systems are provided, and the optical axis of each lens system and the straight line extending the optical axis are arranged so as not to have an intersection. An optical device having four or more lens systems and arranged so that optical paths intersect, or an optical device having a sensor and a lens system in which a part of an image circle generated by the lens system is outside the sensor. At least four are arranged.

It is the schematic of the spherical camera (tetrahedron) which concerns on the 1st form. It is an embodiment of the spherical camera (tetrahedron) according to the first embodiment. It is an embodiment of an omnidirectional camera (regular hexahedron) according to the first embodiment. It is an embodiment of an omnidirectional camera (regular dodecahedron) according to the first embodiment. It is explanatory drawing of the spherical camera (tetrahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (regular hexahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (regular hexahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (regular hexahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (regular hexahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (regular hexahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (regular hexahedron) which concerns on the 1st form. It is explanatory drawing of the spherical camera (tetrahedron) which concerns on the 2nd form. It is explanatory drawing of the spherical camera (tetrahedron) which concerns on the 2nd form. It is explanatory drawing of the spherical camera (tetrahedron) which concerns on the 2nd form. It is explanatory drawing of the spherical camera (tetrahedron) which concerns on the 2nd form. It is explanatory drawing of the area ratio of the polygonal shape in the image sensor which concerns on the 3rd form. It is explanatory drawing of the area ratio of the equilateral triangle shape (regular tetrahedron, etc.) in the image sensor which concerns on the 3rd form. It is explanatory drawing of the area ratio of the square shape (regular hexahedron) in the image sensor which concerns on the 3rd form. It is explanatory drawing of the regular pentagon shape (regular dodecahedron) in the image sensor which concerns on the 3rd form. It is explanatory drawing of the optical apparatus which concerns on 4th form. It is explanatory drawing of the optical apparatus which concerns on 4th form. It is explanatory drawing of the optical apparatus which concerns on 4th form. It is a flow chart which shows the manufacturing method 1 of the spherical camera which concerns on 5th form. It is a flow chart which shows the manufacturing method 2 of the spherical camera which concerns on 5th form. It is a flow chart which shows the manufacturing method 3 of the spherical camera which concerns on 5th form. It is sectional drawing of the lens system which concerns on 1st Example. It is a figure of various aberrations of the lens system which concerns on 1st Example. It is sectional drawing of the lens system which concerns on 2nd Example. It is a figure of various aberrations of the lens system which concerns on 2nd Example. It is sectional drawing of the lens system which concerns on 3rd Example. It is a figure of various aberrations of the lens system which concerns on 3rd Example. It is sectional drawing of the lens system which concerns on 4th Example. It is a figure of various aberrations of the lens system which concerns on 4th Example. It is sectional drawing of the lens system which concerns on 5th Example. It is a figure of various aberrations of the lens system which concerns on 5th Example. It is sectional drawing of the lens system which concerns on 6th Example. 6 is a diagram of various aberrations of the lens system according to the sixth embodiment. It is sectional drawing of the lens system which concerns on 7th Example. It is a figure of various aberrations of the lens system which concerns on 7th Example. It is sectional drawing of the lens system which concerns on 8th Example. It is a figure of various aberrations of the lens system which concerns on 8th Example. It is sectional drawing of the lens system which concerns on 9th Example. 9 is a diagram of various aberrations of the lens system according to the ninth embodiment. It is sectional drawing of the lens system which concerns on 10th Example. It is a diagram of various aberrations of a lens system according to a tenth embodiment. It is sectional drawing of the lens system which concerns on eleventh embodiment. It is a diagram of various aberrations of a lens system according to the eleventh embodiment. It is sectional drawing of the lens system which concerns on 12th Example. It is a diagram of various aberrations of a lens system according to a twelfth embodiment. It is sectional drawing of the lens system which concerns on 13th Example. It is a diagram of various aberrations of a lens system according to a thirteenth embodiment. It is sectional drawing of the lens system which concerns on 14th Example. It is a figure of various aberrations of the lens system which concerns on 14th Example. It is sectional drawing of the lens system which concerns on 15th Example. It is a diagram of various aberrations of a lens system according to a fifteenth embodiment. It is sectional drawing of the lens system which concerns on 16th Example. It is a figure of various aberrations of the lens system which concerns on the 16th Example. It is a schematic diagram (regular tetrahedron, regular hexahedron, regular dodecahedron) of a general spherical camera. It is explanatory drawing of the maximum angle necessary for capturing a subject from one surface of a regular tetrahedron. It is explanatory drawing of a pentahedron and a heptahedron. It is explanatory drawing of the omnidirectional camera and the optical device. It is a chart which shows the property of a regular polyhedron. It is a figure explaining the arrangement of the sensor of a general regular tetrahedron. It is a layout drawing of a lens system arranged on a general regular tetrahedron. (2) is the one in which the lenses other than the lens on the most object side are hidden from the lens system of (1). It is explanatory drawing of the optical apparatus which image | imaged 2 lens systems by 2 sensors.

Hereinafter, a method for manufacturing an optical device, a spherical camera, and a spherical camera according to the present embodiment will be described. However, the present invention is not limited to the following embodiments, and any combination may be used. In addition, each reference code for the drawings according to each embodiment may be used independently for each drawing in order to avoid complication of explanation due to an increase in the reference code. Therefore, even if they have a reference code common to other drawings, they do not necessarily have a common configuration with other drawings.

Further, in the following description of the all-sky camera, in the present specification, spheres, polyhedrons (regular polyhedrons, regular tetrahedrons, regular hexahedrons, regular octahedrons, regular twelve faces, regular icosahedrons, triangular prisms, etc.) and polygons Use the term (regular polygon, regular triangle, square, regular pentagon, triangle, quadrangle, rectangle, etc.). However, these terms are used to express an insubstantial virtual shape, and may not be included in the components of each embodiment.

For example, when spherical photography is performed with two lens systems, one lens system is responsible for the hemisphere, and at least an angle of view of 2ω = 180 ° (degrees) is required as a photographing area. The photographing area covered by one lens system in this way is hereinafter referred to as 2ωA. However, ω is a half angle of view.
In reality, it is necessary to have an angle of view that considers parallax, stitching (pasting of images), manufacturing error, and the like. For example, assuming that the corresponding angle of view is 40 °, 180 ° + 40 ° = 220 ° is the required angle of view. Hereinafter, this is referred to as 2ωB.

Generally, when comparing lenses with the same number of lenses and the same total length, the optical performance deteriorates as the angle of view of a standard lens increases and the angle of view of a wide-angle lens increases.
On the other hand, there is a demand for shooting with higher resolution than before, and high optical performance is required.
Therefore, it has been considered to reduce the burden of the angle of view carried by one lens system, that is, to narrow the angle of view by increasing the number of lens systems from 2.

First, assume a sphere and consider dividing it into four or more.
In this case, it is desirable that each part is equal when dividing the sphere. This is because the lens system can be made common by dividing the image evenly, and the resolving power of the obtained image can be made the same.

For example, consider a virtual regular polyhedron inside the sphere as a method of dividing the sphere evenly. There are five regular polyhedrons: regular tetrahedron, regular hexahedron, regular octahedron, regular dodecahedron, and regular icosahedron. One lens system may be assigned to one surface, and in FIG. 58, as such a regular polyhedron, a regular tetrahedron (see FIG. 58 (1)) and a regular hexahedron (see FIG. 58 (2)). An example is shown in which the lens system is arranged on the regular dodecahedron (see FIG. 58 (3)).
Now consider the regular tetrahedron illustrated in FIG. 59. FIG. 59 is a regular tetrahedron inscribed in a sphere (not shown). It becomes. Moreover, this angle is common to all surfaces as long as it is a regular tetrahedron.

Next, instead of evenly dividing the sphere, a method of dividing the sphere so that the angle of view of each lens system is common is also conceivable. As a case where it is not a regular polyhedron, for example, a triangular prism can be considered. Of the five triangular prisms, two are triangular and three are quadrangular. The quadrangle may be a rectangle and the ratio of the short side to the long side may be 1: √3. The triangle may be an equilateral triangle and should be the same side as the long side of the quadrangle, and the ratio of the side lengths is √3. At this time, 2ωA = 126.87 ° (see FIG. 60 (1)).
Similarly, in the case of a pentagonal prism, the two sides are pentagonal and the five sides are quadrangular. The quadrangle should be a rectangle and the ratio of the short side to the long side should be (1 + √5): (10-2√5). At this time, 2ωA = 102.1 ° (see FIG. 60 (2)).

By considering a polyhedron inside the sphere and allocating a lens system to each surface of the polyhedron in this way, the sphere can be divided into four or more.
Specifically, a sphere is first assumed, a virtual polyhedron is provided inside the assumed sphere, and one lens system is assigned to one surface for all the surfaces of the polyhedron.
In addition, each lens system uses, for example, the axis perpendicular to the surface as the optical axis, the external direction of the sphere as the object side, and the internal direction of the sphere as the image side so that the light flux incident on the assigned surface can be fully captured. By arranging them so as to be, a plurality of lens systems can be assigned to form an omnidirectional camera.
In this case, for example, the lens system is arranged so that the optical axes of all the lens systems and the straight line extending the optical axes intersect at the position of the center of gravity (geometric center) of the polyhedron, or the optical axes of all the lens systems and the said. A straight line extending the optical axis can be arranged so as to pass through the position of the center of gravity of each surface of the polyhedron.

Next, the spherical camera will be described with reference to FIG.
In this specification, a device provided with a lens system and a sensor is referred to as an optical device, and the spherical camera is composed of one optical device or a plurality of optical devices.
However, even if it is an optical device, it may be referred to as a lens system when explaining the characteristics of the lens system (for example, the optical axis).
FIG. 61 is a diagram showing an example of the configuration of an omnidirectional camera CAM equipped with an optical device OL.

As shown in FIG. 61, the omnidirectional camera CAM is an omnidirectional camera including an optical device OL having a lens system 2 and a sensor 3 and three optical devices common thereto, for a total of four optical devices. ..
Hereinafter, the imaging principle of the optical device OL will be described. However, the description of the other three optical devices having the same imaging principle will be omitted.

In the spherical camera CAM, the light from an object (subject) (not shown) is collected by the lens system 2 and is captured by the lens system 2 and passed through an OLPF (Optical low pass filter) (not shown) to capture the image plane of the sensor 3. Form a subject image on top. Then, the subject image is photoelectrically converted by the photoelectric conversion element provided in the sensor 3, and the image of the subject is generated. This image is combined with the images of the other three optical devices by an image processing device (not shown) provided in the spherical camera CAM to form a spherical image. The spherical image is sent to a display device (not shown) by a telecommunication line. The photographer can observe the subject through a display device or the like. When the photographer presses the release button (not shown), the image of the subject generated by the sensor 3 is combined with the images of the other three optical devices to form a spherical image, which is stored in a memory (not shown) or the like. It will be remembered. In this way, the photographer can shoot the subject with the spherical camera CAM.

As the spherical camera CAM, an example of a spherical camera corresponding to a regular tetrahedron has been described, but the configuration and functions of optical devices are the same for spherical cameras compatible with other polyhedra, so the explanation will be given. Omit. Further, the optical device and the spherical camera are not limited to those having the above configuration.

Here, consider the polygons that make up the polyhedron.
As shown in FIG. 62, the regular tetrahedron, the regular octahedron, and the regular dodecahedron are composed of regular triangles on each side, the regular hexahedron is composed of regular squares on each side, and the regular dodecahedron is composed of regular pentagons on each side.
This is also considered for the shape of the image required by the lens system assigned to each surface of the polyhedron.
That is, a regular tetrahedron, a regular octahedron, and a regular dodecahedron have an image shape of a regular triangle, a regular hexahedron has a regular square shape, and a regular dodecahedron has a regular pentagon shape.
Regarding the lens system, as shown in FIG. 62, the maximum angle at which each surface of the polyhedron is expected is 141.1 degrees for the regular tetrahedron, 109.5 degrees for the regular hexahedron, and 109.5 degrees for the regular octahedron. The dodecahedron has a temperature of 74.8 degrees, and the regular icosahedron has a temperature of 74.8 degrees.

(First form and second form)
Some known techniques have been disclosed for the lens system arrangement in the polyhedral configuration, but the arrangement suitable for miniaturization has not been disclosed.
Regarding this, first, the lens system arrangement in the configuration of the regular tetrahedron will be described.

For a regular tetrahedron, as shown in FIG. 63 (1), when the optical axis of the four lens systems assigned to each surface or a straight line extending the optical axis intersects at the center O of the regular tetrahedron, a sensor is used. It is necessary to provide a space in the center so that they do not come into contact with each other.
In order to explain this, first, let us consider an equilateral triangle surface that constitutes a regular tetrahedron as shown in FIG. 63 (2).

In FIG. 63 (2), in which the image circle IC is arranged as usual with respect to the position of the sensor IS, the short side of the sensor IS and the image circle IC are inscribed, and the equilateral triangle A is located outside the image circle IC. Have been placed. In this case, the centers C of the image circle IC, the sensor IS, and the equilateral triangle A coincide with each other. By considering a regular tetrahedron in which all the faces are such equilateral triangles A, the sensors are located inside the equilateral triangles, and it is possible to prevent the sensors from coming into contact with each other.
However, the sensor cannot be placed inside the regular tetrahedron configured in this way. That is, the lens system is separated from the central portion of the regular tetrahedron, and the entire spherical camera becomes large (see FIGS. 58 (1), 63 (1), and 64).

Further, regarding the arrangement of the optical devices having a regular tetrahedron configuration, as shown in FIG. 58 (2), when six optical axes or straight lines extending the optical axes intersect at the center, the sensors are located at the center so as not to contact each other. It is necessary to provide a space, and like a regular tetrahedron, an optical device and a sensor cannot be arranged inside the tetrahedron. That is, the optical device is separated from the central part of the regular hexahedron, and the size is increased.
Further, regarding the arrangement of the optical device having a regular dodecahedron structure, as shown in FIG. 58 (3), when 12 optical axes or a straight line extending the optical axes intersect at the center, the sensors are centered so as not to contact each other. It is necessary to provide a space in the portion, and like the regular tetrahedron and the regular hexahedron, the optical device and the sensor cannot be arranged inside the regular tetrahedron and the regular hexahedron. That is, the optical device is separated from the central part of the regular dodecahedron, and the size is increased.
In addition, the regular octahedron and the regular icosahedron are also factors that increase in size in the same manner.
Therefore, the spherical camera of the first embodiment is configured as follows.

<Embodiment 1>
The spherical camera according to the first embodiment has a plurality of lens systems, and the optical axis of each lens system and the straight line extending the optical axis do not have an intersection.
With this configuration, it is possible to improve the image quality and reduce the size of the entire spherical camera even though it has a plurality of lens systems.
FIG. 1 is a schematic view showing that the optical axes of the four lens systems and a straight line extending the optical axes (hereinafter, referred to as “optical axis”) do not have an intersection. Further, FIG. 2 shows two embodiments of FIG. 1.
In this way, in the case of a regular tetrahedron, since the four optical axes do not intersect at the central portion O, it is not necessary to provide a space in the central portion so that the sensors do not come into contact with each other, and the entire spherical camera is miniaturized. be able to.

Similarly, in the case of a regular hexahedron, as shown in FIGS. 3 (1), 3 (2), and 3 (3), the six optical axes do not intersect at the center, so that the sensors do not contact each other. It is not necessary to provide a space in the center as described above, and the entire spherical camera can be miniaturized.
Further, in the case of the regular dodecahedron as well, as shown in FIG. 4, since the 12 optical axes do not intersect at the central portion O, it is not necessary to provide a space in the central portion so that the sensors do not come into contact with each other. The entire spherical camera can be miniaturized.
Similarly, for other polyhedra, the entire omnidirectional camera can be miniaturized by adopting the above configuration.

The spherical camera according to the first embodiment preferably has four or more lens systems.
With this configuration, it is possible to obtain a high-quality image with four or more lens systems and then reduce the size.

In the spherical camera according to the first embodiment, it is desirable that the number of the lens systems is 4, 6, 8, 12, or 20.
With this configuration, a spherical camera having an appropriate number of lens systems corresponding to a regular polyhedron, that is, a regular tetrahedron, a regular hexahedron, a regular octahedron, a regular dodecahedron, and a regular icosahedron is realized. be able to.

It is desirable that the spherical cameras according to the first embodiment have the same lens system.
With this configuration, the same members and processing mechanisms can be used for all lens systems, which makes assembly and adjustment work easy and efficient production. Moreover, since the specifications and aberrations of the lens system are all the same, it becomes easier to control and stitch, and the processing speed is improved. A simpler configuration also contributes to miniaturization and higher image quality.

The spherical camera according to the first embodiment has four lens systems having a maximum angle of view of 140 degrees or more, or eight lens systems having a maximum angle of view of 109 degrees or more, or a maximum image. It is desirable to include 12 of the lens systems having an angle of 74 degrees or more, or 20 of the lens systems having a maximum angle of view of 74 degrees or more.

With this configuration, it is possible to realize a spherical camera having an appropriate lens system corresponding to each of the regular tetrahedron, the regular octahedron, the regular dodecahedron, and the regular icosahedron.
Hereinafter, each of a regular tetrahedron, a regular octahedron, a regular dodecahedron, and a regular icosahedron will be specifically described.

(Regular tetrahedron)
In the case of a regular tetrahedron, it is desirable to include four lens systems having a maximum angle of view of 140 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to a regular tetrahedron, and it is possible to reduce the size of the entire spherical camera.
If the maximum angle of view is less than 140 degrees, it is not possible to capture an image with a field of view necessary for constructing an image suitable for a spherical camera.
When the maximum angle of view is 150 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 160 degrees or more, the effect of stitching can be further enhanced, which is preferable.

For example, as shown in FIG. 5 (1), four optical axes (GA, FB, HD, EC) by four lens systems (not shown) assigned to each surface of the regular tetrahedron ADEF are regular tetrahedrons. Consider a regular hexahedron ABDCHEGF that shares vertices (A, D, E, F) with a regular tetrahedron when they intersect at the center O of. Of these, only the vertices (A, B, D, C) of the four optical axes located in the square on the upper surface of the regular hexahedron are viewed from directly above, and the midpoints (a, b, d,) of the sides of the square are clockwise. It is assumed that the user has moved to c) (see FIG. 5 (2)). In this case, the angle of view required for each of the four lens systems is at least 2ωA = 157.8 °.
As a result, the four optical axes are arranged so as not to intersect at the center, and the entire spherical camera can be miniaturized as shown in FIG. 1, for example. FIG. 2 (1) shows this embodiment.
In order to prevent the optical axis of the lens system and the straight line extending the optical axis from having an intersection, the vertices (A, B, D, C) of the optical axis located in the square on the upper surface of the regular cube. The movement is not limited to the movement to the midpoint (a, b, d, c) of the sides of the square, and the movement amount on each side may be shared to move to a place other than the midpoint. Does not have to have the same amount of movement on each side. FIG. 2 (2) shows this embodiment.

(Octahedron)
In the case of a regular octahedron, it is desirable to include eight lens systems having a maximum angle of view of 109 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to the octahedron, and it is possible to reduce the size of the entire spherical camera.
When the maximum angle of view is less than 109 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 120 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 140 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Regular dodecahedron)
In the case of a regular dodecahedron, it is desirable to include 12 of the lens systems having a maximum angle of view of 109 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to the regular dodecahedron, and it is possible to reduce the size of the entire spherical camera.
When the maximum angle of view is less than 109 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 120 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 140 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Icosahedron)
In the case of a regular icosahedron, it is desirable to include 20 of the lens systems having a maximum angle of view of 74 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to the regular icosahedron, and it is possible to reduce the size of the entire spherical camera.
If the maximum angle of view is less than 74 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 90 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 100 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Six sides)
It is desirable that the spherical camera according to the first embodiment includes six lens systems having a maximum angle of view of 109 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to a regular hexahedron, and it is possible to reduce the size of the entire spherical camera.
When the maximum angle of view is less than 109 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 120 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 140 degrees or more, the effect of stitching can be further enhanced, which is preferable.

In the case of a regular hexahedron, for example, it is considered that each optical device moves in parallel with an optical axis passing through the center of gravity of the regular hexahedron and a straight line extending the optical axis (hereinafter, referred to as "optical axis"). FIG. 3 (1) is a translation of the optical devices of FIG. 58 (2) having optical axes at intersections in a direction perpendicular to the optical axis.
At this rate, although it has not contributed to miniaturization yet, after moving the optical axis in parallel as shown in FIGS. 3 (2) and 3 (3), the optical devices move so as to approach each other in the optical axis direction. By making it possible, miniaturization can be realized.

This will be described in detail with reference to FIGS. 6 to 8.
Generally, a lens system suitable for an omnidirectional camera has a wide angle of view, and the object side surface of the lens on the most object side has the largest maximum effective diameter among all lens systems. Assuming that the maximum effective diameter is φ1, for example, as shown in FIG. 6 (1), a virtual cylinder having φ1 as the diameter of the bottom surface and the length SL in the optical axis direction as the height (hereinafter referred to as “cylinder”). ) Can be assumed, and a lens system and an optical device (or a part thereof) can be arranged inside the lens system.
6 (2) and 7 (1) are oblique views of a cylinder in which a lens system is arranged.
Next, assuming the same cylinder for all the lens systems constituting the regular hexahedron, in order to realize the spherical camera, for example, as described above, the movement is as shown in FIGS. 3 (1) to 3 (3). It is conceivable to let it.

Specifically, as shown in FIG. 7 (2), for example, the optical axis x passing through the center of gravity of a regular hexahedron is moved in parallel by a distance k in the vertical direction to obtain the optical axis x', and a cylinder (lens system) having that axis as the axis. Then, such parallel movement is performed on all the cylinders, and within the range where the cylinders do not interfere with each other, the position of the center of gravity of all the cylinders or the lens surface on the most object side of each lens system is on the optical axis. When the length is TL, the distance between the side surface of the most object and the image plane on the optical axis is TL, and the entire cylinder (lens system) is illuminated so that the positions on the optical axis separated by TL / 2 are close to each other. Consider an arrangement that is moved in the axial direction. It should be noted that the above-mentioned "to approach each other" is the shortest distance at which the cylinders do not interfere with each other at the position between the cylinders or between the lens systems, considering the restrictions imposed by various members constituting the spherical camera. It is desirable that the distance is within 1.5 times.

Further, in the arrangement shown in FIG. 7 (2), the lengths of φ1 and k are equal, and the length of SL is three times the length of φ1, and in this case, there is no interference between the cylinders. Further, since it is not necessary to arrange the sensor in the center of the regular hexahedron, the size can be reduced.
When a regular hexahedron is superimposed on FIG. 7 (2), it becomes FIG. 7 (3). In contrast to FIG. 7 (4) in which the cylinder is erased for easy explanation, for example, the cylinder (a, b) in FIG. 7 (2). , C, d, e, f) and as shown in FIG. 7 (1), the components divided into 1, 2, 3 and 3 equal parts in order from the object side of the lens system are arranged as shown in FIG. .. In the arrangement shown in FIG. 7 (2), the SL is three times as long as φ1, but the present embodiment 1 is not limited to this arrangement.
Here, "top" in FIG. 8 is the arrangement of the upper steps when FIG. 7 (4) is viewed from above.
Further, "middle" in FIG. 8 is the arrangement of the steps in the middle when FIG. 7 (4) is viewed from above.
Further, "bottom" in FIG. 8 is the arrangement of the lower tiers when FIG. 7 (4) is viewed from above.
For example, it can be understood that the “a1” in the “top” of FIG. 8 is the cylinder of the “a” in FIG. 7 (2), which is divided into the “1” in FIG. 7 (1).
Further, for example, it can be understood that the "e2" in the "middle" of FIG. 8 is the cylinder of the "e" in FIG. 7 (2) divided into the "2" in FIG. 7 (1).
When considering the cylinder (a), the optical system is arranged so that a1 is on the object side and a3 is on the image side. Similarly, for the cylinder (b, c, d, e, f), place (b, c, d, e, f) 1 on the object side and (b, c, d, e, f) 3 on the image side. This allows the six optics to obtain images from all sides of the regular hexahedron. Note that (a, b, c, d, e, f) 1 may be arranged on the image side, and (a, b, c, d, e, f) 3 may be arranged on the object side.
By arranging the regular hexahedron in this way, it is possible to obtain high-quality images with the six lens systems and effectively use the space, and the entire spherical camera is appropriately miniaturized. can do.

In the all-sky camera according to the first embodiment, the distance on the optical axis between the outermost object side surface of the lens system and the image plane is TL, and the maximum effective diameter of the object side surface of the lens on the most object side of the lens system is φ1. Then, the following conditional expression is satisfied.
1.0 <TL / φ1 <5.0 (1)

The conditional expression (1) is a conditional expression for the lens system for miniaturizing the spherical camera corresponding to the regular hexahedron.
First, the relationship between the length of TL and the length of SL will be described with reference to FIGS. 6 and 9.
For example, in the lens system shown in FIG. 6 (1), the length of the TL is slightly shorter than the length SL of the cylinder, but the length is almost the same, which is so different.
When this cylinder is viewed from an angle, it is as shown in FIG. 6 (2).
Then, assuming the same cylinder for all the lens systems constituting the regular hexahedron as described above, in order to realize the spherical camera, for example, the arrangement as shown in FIG. 9 can be considered. As shown in FIG. 9, the length SL of the cylinder d is three times as long as φ1, and as described above, the TL of the lens system shown in FIG. 6 (1) is also substantially the same length. That is, the value of the conditional expression (1) is about 3 (TL / φ1≈3). The other cylinders are the same as the cylinder d, though not shown. In this case, since all the cylinders fit in the cube (see FIG. 7 (4)), it can be said that this lens system is suitable for miniaturization of the spherical camera corresponding to the regular hexahedron.
Further, as shown in FIG. 9, assuming that the case where the TL has the same length as φ1 is t1 and the case where the length is 5 times φ1 is t3, if the TL is within the range of t1 to t3, it corresponds to a regular hexahedron. A lens system suitable for miniaturization of spherical cameras has become possible, and conditional expression (1) shows this.

On the other hand, if the upper limit of the conditional expression (1) is exceeded, the TL of the lens system exceeds the above t3, the TL becomes longer than necessary with respect to φ1, and as a result, the entire spherical camera becomes large. ..
In order to further ensure the effect of the conditional expression (1), the upper limit value of the conditional expression (1) is preferably 4.5, more preferably 4.0, and further preferably 3.5.
Further, when the value falls below the lower limit of the conditional expression (1), the TL of the lens system becomes less than t1 and the length of the lens system in the optical axis direction becomes shorter than necessary, whereas the optical axis proportional to φ1. The amount of translation becomes relatively large, and as a result, the entire spherical camera becomes large.
In order to further ensure the effect of the conditional expression (1), the lower limit value of the conditional expression (1) is preferably 1.5, more preferably 2.0, and further preferably 2.5.

In the configuration of the spherical camera, the lengths of φ1 and k are the same, but the configuration is not limited to this. If 1 ≦ k / φ1, it is included in the first embodiment. Further, it is desirable for miniaturization that 1 ≦ k / φ1 ≦ 7.

Next, as an appropriate lens system used in the entire spherical camera, assuming that the maximum effective diameter of the object side surface of the second lens from the object side is φ2, for example, φ2 as shown in FIG. 10 (1). Can be assumed as a virtual cylinder (hereinafter referred to as "cylinder") having the diameter of the bottom surface and the length SL in the optical axis direction as the height, and the length of the maximum effective diameter of the corresponding lens systems inside the cylinder. All other lenses or some other lenses can be arranged except for the long first lens. By doing so, the cylinder can be made thinner than the case where φ1 shown in FIG. 6 (1) is used as the bottom surface.
Further, by arranging in the same manner as the relationship between k and φ1 in FIG. 7 (2) above, making the lengths of φ2 and k equal, and making the SL length three times the length of φ2, the space between the cylinders It is not necessary to place the sensor in the center of the regular hexahedron without interfering with it, and further miniaturization is possible.
FIG. 10 (2) is an oblique view of a cylinder in which a part of the lens system is arranged inside.
Here, as shown in 10 (2), consider the lens system divided into 1, 2, 3 and 3 in order from the direction in which the light beam is incident on the lens system.
Then, it is arranged as shown in FIG. 8 in the same manner as the lens system of FIG. 6 described above.
By arranging the regular hexahedron in this way, it is possible to obtain high-quality images with the six lens systems and effectively use the space, and the entire spherical camera is appropriately miniaturized. can do.

In the all-sky camera according to the first embodiment, the distance on the optical axis between the outermost object side surface of the lens system and the image plane is TL, and the maximum effect of the object side surface of the second lens from the object side of the lens system Assuming that the diameter is φ2, the following conditional expression is satisfied.
1.0 <TL / φ2 <10.0 (2)

The conditional expression (2) is a conditional expression for the lens system for further miniaturizing the spherical camera corresponding to the regular hexahedron.
First, the relationship between the length of TL and the length of SL will be described with reference to FIGS. 10 and 11.
For example, in the lens system shown in FIG. 10 (1), the TL is longer on both the object side and the elephant side than the cylindrical SL, the SL is 3 times as long as φ2, and the TL is about 4 times as long as φ2. It has become.
When this cylinder is viewed from an angle, it is as shown in FIG. 10 (2).
Then, assuming the same cylinder for all the lens systems constituting the regular hexahedron as described above, in order to realize the spherical camera, for example, the arrangement as shown in FIG. 11 can be considered. In this case, as shown in FIG. 11, the length of the cylinder d in the object side (lower side of the paper surface) direction t0 is from the object side surface of the lens on the most object side of the lens system to the object side surface of the second lens from the object side. The distance on the optical axis. Further, the lens L11d on the most object side is arranged in the region of t0, but since this region does not interfere with the adjacent cylinders in the radial direction of the lens, it can be made larger than φ2. Further, the length SL of the cylinder d is three times as long as φ2, while the length of TL is about four times as long as φ2. The other cylinders are the same as the cylinder d, though not shown.
In this case, the value of the conditional expression (2) is about 4 (TL / φ2≈4), and as shown in FIG. 11, the most object-side lens L11d and the elephant-side portion of the lens system corresponding to the cylinder d are cubes ( Although it protrudes into the outer region of FIG. 7 (4), this is the elephant side part of the lens system corresponding to the cylinder a arranged point-symmetrically with respect to the center of gravity of the hexahedron and the most object side of the lens system. By similarly protruding the lens L11a, it is possible to prevent a part of the lens L11a from protruding from the cube.
The relationship between the cylinder d and the cylinder a is the same as the relationship between the cylinder b and the cylinder e and the relationship between the cylinder f and the cylinder c.
In this way, it is possible to prevent a part of the cube from protruding and protruding, and since each surface of the regular hexahedron is formed in a well-balanced manner, this lens system is suitable for miniaturization of spherical cameras compatible with the regular hexahedron. It can be said that it is a lens system.
Therefore, if it is within the range of the conditional expression (2), a lens system more suitable for miniaturization of the spherical camera corresponding to the regular hexahedron becomes possible.

On the other hand, if the upper limit of the conditional expression (2) is exceeded, the TL becomes longer than necessary with respect to φ2, and as a result, the entire spherical camera becomes large.
In order to make the effect of the conditional expression (2) more reliable, the upper limit value of the conditional expression (2) is preferably 9.0, more preferably 8.0, 7.0, and further 6.0. preferable.
Further, when the value falls below the lower limit of the conditional expression (2), the TL of the lens system becomes less than φ2, and the length of the lens system in the optical axis direction becomes shorter than necessary, whereas the parallel optical axis proportional to φ2 The amount of movement becomes relatively large, and as a result, the entire spherical camera becomes large.
In order to make the effect of the conditional expression (2) more reliable, the lower limit value of the conditional expression (2) is preferably 2.0, more preferably 3.0, 4.0, and further 5.0. preferable.

In the configuration of the spherical camera, the lengths of φ2 and k are the same, but the configuration is not limited to this. If 1 ≦ k / φ2, it is included in the first embodiment. Further, it is more desirable if 1 ≦ k / φ2 ≦ 7.

Regarding the cylinder in the case of the above-mentioned regular hexahedron, a virtual cylinder in which φ1 or φ2 is the diameter of the bottom surface and the length SL is three times that in the optical axis direction is assumed, but the cylinder is not limited to this. ..
If a part of the configuration of the lens system or the optical device fits in a virtual cylinder having a height (length) three times the diameter of the bottom surface centered on the optical axis, for example, FIG. 7 ( Since the arrangement shown in 2) can be realized, the present embodiment 1 can be used. Further, the value of k at that time may be a value equal to or larger than the diameter of the bottom surface of the cylinder.

The spherical camera according to the first embodiment satisfies the following conditional expression, where fa is the focal length from the outermost object side surface to the diaphragm and fb is the focal length from the diaphragm to the most image side surface of the lens system. Is desirable.
-20.0 <fa / fb <20.0 (3)

Conditional expression (3) is the focal length from the outermost object side surface of the lens system to the aperture (hereinafter referred to as the "front group") and the focal length from the aperture to the most image side surface (hereinafter referred to as the "rear group"). It defines an appropriate power balance. Within the range of this conditional expression (3), the lens system has an appropriate size suitable for an omnidirectional camera with less curvature of field and distortion. Therefore, the omnidirectional lens system can be combined with this lens system. The entire camera can be miniaturized. When the upper limit of the conditional expression (3) is exceeded, the refractive power of the rear group becomes larger than the refractive power of the front group, the lens system becomes longer in the optical axis direction, and the entire spherical camera becomes larger. ..
In order to further ensure the effect of the conditional expression (3), the upper limit value of the conditional expression (3) is preferably 15.0, more preferably 10.0, 7.0, and further 5.0. preferable.
If it falls below the lower limit of the conditional expression (3), the refractive power of the rear group becomes smaller than the refractive power of the front group, and as a result, the relative power of the front group becomes too strong, making aberration correction difficult. Become. In particular, the effect on curvature of field becomes large.
In order to make the effect of the conditional expression (3) more reliable, the lower limit of the conditional expression (3) is preferably -15.0, and -10.0, -7.0, and further -5.0. More preferably.

In the omnidirectional camera according to the first embodiment, TL is the distance on the optical axis between the most object side surface of the lens system and the image plane, and S is the distance on the optical axis from the diaphragm to the image plane. , It is desirable to satisfy the following conditional expression.
0.20 <S / TL <0.80 (4)

Conditional equation (4) defines the position of the aperture in the lens system, and when conditional equation (4) is satisfied, a lens in which astigmatism and coma suitable for spherical cameras are satisfactorily corrected (suppressed). The system can be achieved.
If it is less than the lower limit of this conditional expression, coma aberration and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (4) more reliable, the lower limit value of the conditional expression (4) is preferably 0.25, more preferably 0.30, 0.35, and further 0.40. preferable.
Even if the upper limit of the conditional expression (4) is exceeded, coma and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (4) more reliable, the upper limit value of the conditional expression (4) is preferably 0.75, more preferably 0.70, 0.65, and further 0.60. preferable.

The spherical camera of the second embodiment is configured as follows.

<Embodiment 2>
The spherical camera according to the second embodiment has four or more lens systems, and optical paths intersect.

Regarding the intersection of optical paths, first consider the case of having three lens systems on a plane.
FIG. 12 shows this in a schematic view of the optical path. FIG. 12 shows only a simplified optical path with a lens system assigned to the three surfaces.
In FIG. 12 (1) where the optical paths of the three lens systems do not intersect and the optical axes intersect at the center O, in FIG. 12 (2) where the optical paths of the three lens systems intersect at the center O, each lens Since the size of the optical path of the system does not change and the area occupied by the entire optical path is reduced, it can be understood that the spherical camera can be miniaturized. Specifically, by changing the size of the sphere from CAM1 in FIG. 12 (1) to CAM2 in FIG. 12 (2), the ratio of length is about 50%, so the ratio of area is about 25% and volume. It is possible to reduce the ratio to about 12.5%.

Next, consider the case where the three-dimensional lens system has four lenses.
With this configuration, for example, as shown in FIGS. 58, 64, and 13 (1), an optical axis by four lens systems assigned to each surface and a straight line extending the optical axis (hereinafter, "" The optical axis (referred to as "optical axis") intersected at the center of the regular tetrahedron, but the optical paths intersected when the optical paths of the four lens systems intersected as shown in FIGS. 13 (2) and 13 (3). Later, as the optical paths are separated from each other, the distance between the sensors is also increased, contact between the sensors is avoided, and it is not necessary to provide a space in the center of the regular tetrahedron.
Here, when the optical paths of the second embodiment intersect, one of the light rays incident from the object side, which passes through the other lens system before a part of the light rays passing through the lens system reaches the sensor. It means to intersect with the department.
Note that FIG. 13 (1) shows a case where the optical paths of the four lens systems do not intersect, FIG. 13 (2) shows a case where the optical paths of the four lens systems intersect, and FIG. 13 (3) shows the case where the optical paths of the four lens systems intersect. In (2), the lens (one each on the object side and the elephant side) and the optical axis closest to the intersection of the optical paths are shown.

In addition, with this configuration, no member is placed at the intersection of the optical paths, or by arranging a member common to each lens system, a space shared by each lens system (or). A member) can be provided, and the space (member) can be effectively used. Further, since the space shared by one lens system is also shared by the other three lens systems, the common space for at least three lens systems becomes unnecessary. Furthermore, since the distance between the optical axes increases after the optical paths intersect until the image is formed, the sensors and the like can be arranged at locations distant from each other, and the overall size can be reduced. ..

The above description is for a regular tetrahedron composed of four lens systems, but for a polyhedron other than the regular tetrahedron, and a lens system corresponding to such a polyhedron. The same can be said when there are four or more.

The spherical camera according to the second embodiment has four or more lens systems.
With this configuration, it is possible to obtain a high-quality image with four or more lens systems and then reduce the size.

In the spherical camera according to the second embodiment, four lens systems are arranged as regular tetrahedrons.
With this configuration, it is possible to receive the light flux incident from the four surfaces of the regular tetrahedron without leaving any residue, and it is possible to obtain a high-quality image.
In addition, taking the arrangement of the regular tetrahedron means having a virtual regular tetrahedron inside the assumed sphere, assigning one lens system to one surface of the regular tetrahedron, and assigning the lens system. It means that the axis perpendicular to the plane is the optical axis, the outer direction of the sphere is the object side, and the inner direction of the sphere is the image side.

The spherical camera according to the second embodiment has the same lens system.
With this configuration, the same members and processing mechanism can be used for all lens systems, and since the configuration of common parts is the same, simpler assembly and adjustment work becomes easier and efficient production. Can be done. Moreover, since the specifications and aberrations of the lens system are all the same, it becomes easier to control and stitch, and the processing speed is improved. A simpler configuration also contributes to miniaturization and higher image quality.

Further, in the spherical camera according to the second embodiment, the distance on the optical axis between the outermost object side surface of the lens system and the image plane is TL, and the distance between the intersection of the optical paths and the image plane is on the optical axis. If the distance of is K, the following conditional expression is satisfied.
0.1 <K / TL <0.9 (5)

The conditional expression (5) defines an appropriate distance between the intersection of the optical paths and the image plane.
Within the range of the conditional expression (5), the spherical camera represented by the polyhedron can be miniaturized.
This will be described below with reference to FIGS. 14 and 15.
FIG. 14 (1) is a regular octahedron. When this is viewed from the front as shown in FIG. 14 (2), it is a regular hexagon (the shape connecting the vertices ABCDEF is a regular hexagon) together with the facing surfaces.
Assuming an optical path (G in FIGS. 14 (2) and 14 (3)) having a cylindrical shape in the direction perpendicular to the paper surface inside the regular hexagon shown in FIG. 14 (2), the optical path is the two facing faces of the octahedron. It intersects, but does not intersect the other six sides. When this cylinder is arranged so as to pass through the apex of the regular tetrahedron and the central portion of the surface facing the apex, it is shown as shown in FIG. 15 (1). FIG. 15 (2) is obtained by removing the cylinder from FIG. 15 (1). It is composed of a regular octahedron having a side length of 1 and four regular tetrahedrons having a side length of 1, and one surface of the regular octahedron and one surface of the regular tetrahedron overlap each other. It is a regular tetrahedron with a side length of 2 as a whole. A total of four cylinders passing through the vertices of such a regular tetrahedron and the central portion of the surface facing the vertices can be considered, and the optical paths do not interfere with each other except in the region of the regular octahedron. Moreover, since the cylinder is considered to be a part of the optical path of the lens system, the region of the regular octahedron, which is a common region where the optical paths intersect in such a lens system, is composed of the same medium, for example, air or glass, and becomes a regular tetrahedron. By crossing the optical paths of the four corresponding lens systems, it is possible to miniaturize the entire celestial sphere camera.
Specifically, for example, the lens system constitutes the lens system and other lenses adjacent to the lens are arranged so that the surface distance between the two lenses corresponds to the distance between the two facing surfaces of the octahedron, and the surface distance between the two lenses is arranged. It may be configured so as to intersect the optical path (optical axis, etc.) of another lens system at the midpoint.
Then, the conditional expression (5) defines an appropriate distance between the intersection of the optical paths and the image plane in the lens system suitable for miniaturizing such an omnidirectional camera.

Within the range of the conditional expression (5), the sensor can be arranged at a position away from the center of the regular tetrahedron, and the spherical camera can be miniaturized by avoiding contact between the sensors. When the upper limit value of the conditional expression (5) is exceeded, the distance between the lenses arranged on the object side becomes shorter, so that contact between the lenses on the object side is likely to occur. The upper limit of the conditional expression (5) is preferably 0.85, more preferably 0.8, 0.75, 0.7, 0.65, 0.6, and even more preferably 0.55.
Further, when the value is lower than the lower limit of the conditional expression (5), the sensors are arranged near the center of the regular tetrahedron, so that contact between the sensors is likely to occur. The lower limit of the conditional expression (5) is preferably 0.15, more preferably 0.2, 0.25, 0.3, 0.35, 0.4, and further preferably 0.45.

Further, it is desirable that the spherical camera according to the second embodiment has a maximum angle of view of 140 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to a regular tetrahedron, and it is possible to reduce the size of the entire spherical camera.
If the maximum angle of view is less than 140 degrees, it is not possible to capture an image with a field of view necessary for constructing an image suitable for a spherical camera.
When the maximum angle of view is 150 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 160 degrees or more, the effect of stitching can be further enhanced, which is preferable.

Further, the spherical camera according to the second embodiment satisfies the following conditional expression, where fa is the focal length from the outermost object side surface to the aperture of the lens system and fb is the focal length from the aperture to the most image side surface. Is desirable.
-20.0 <fa / fb <20.0 (6)

Conditional expression (6) is the focal length from the outermost object side surface of the lens system to the aperture (hereinafter referred to as the "front group") and the focal length from the aperture to the most image side surface (hereinafter referred to as the "rear group"). It defines an appropriate power balance. It is preferable that the condition is within the range of the conditional expression (6) because the lens system has an appropriate size suitable for an omnidirectional camera in which curvature of field and distortion are small. When the upper limit of the conditional expression (6) is exceeded, the refractive power of the rear group becomes larger than the refractive power of the front group, the lens system becomes longer in the optical axis direction, and the entire spherical camera becomes larger. ..
In order to further ensure the effect of the conditional expression (6), the upper limit of the conditional expression (6) is preferably 15.0, more preferably 10.0, 7.0, and further 5.0. preferable.
If it falls below the lower limit of the conditional expression (6), the refractive power of the rear group becomes smaller than the refractive power of the front group, and as a result, the relative power of the front group becomes too strong, making it difficult to correct aberrations. Become. In particular, the effect on curvature of field becomes large.
In order to make the effect of the conditional expression (6) more reliable, the lower limit of the conditional expression (6) is preferably -15.0, and -10.0, -7.0, and further -5.0. More preferably.

Further, in the spherical camera according to the second embodiment, among the optical elements adjacent to the portion where the optical paths of the lens system intersect, the maximum diameter is φ3, and the length of the portion where the optical paths intersect is D. Then, it is desirable to satisfy the following conditional expression.
0.1 <D / φ3 <10.0 (7)

Conditional expression (7) defines an appropriate range of the intersections of optical paths in the lens system.
Within the range of the conditional expression (7), the spherical camera represented by the polyhedron can be miniaturized.
This will be described below with reference to FIGS. 14 and 15.

FIG. 14 (1) is a regular octahedron. When this is viewed from the front as shown in FIG. 14 (2), it is a regular hexagon (the shape connecting the vertices ABCDEF is a regular hexagon) together with the facing surfaces.
Assuming an optical path (G in FIGS. 14 (2) and 14 (3)) having a cylindrical shape in the direction perpendicular to the paper surface inside the regular hexagon shown in FIG. 14 (2), the optical path intersects the two surfaces of the octahedron. However, it does not intersect with the other six sides. When this cylinder is arranged so as to pass through the apex of the regular tetrahedron and the central portion of the surface facing the apex, it is shown as shown in FIG. 15 (1). FIG. 15 (2) is obtained by removing the cylinder from FIG. 15 (1). A total of four cylinders passing through the vertices of such a regular tetrahedron and the central portion of the surface facing the vertices can be considered, and the optical paths do not interfere with each other except in the region of the regular octahedron. Moreover, since the cylinder is considered to be a part of the optical path of the lens system, the region of the regular octahedron, which is a common region where the optical paths intersect in such a lens system, is composed of the same medium, for example, air or glass, and becomes a regular tetrahedron. By crossing the optical paths of the four corresponding lens systems, it is possible to miniaturize the entire celestial sphere camera.
Specifically, for example, the lens system constitutes the lens system and other lenses adjacent to the lens are arranged so that the surface distance between the two lenses corresponds to the distance between the two facing surfaces of the octahedron, and the surface distance between the two lenses is arranged. And the range of the optical path (cylindrical range) may be configured to intersect with the optical path of another lens system.
Then, the conditional expression (7) defines the relationship with the portion (cylinder) where the appropriate optical paths intersect in the lens system suitable for miniaturizing such an omnidirectional camera.
It should be noted that the portion where the optical paths intersect can be the portion where the optical paths of the second embodiment intersect if it intersects with a part of the optical path of another lens system.

If the upper limit of the conditional expression (7) is exceeded, the length of the portion where the optical paths intersect in the optical axis direction becomes long, but the width of the light flux becomes narrow, making it difficult to miniaturize or darkening. Optical performance deteriorates.
The upper limit of the conditional expression (7) is preferably 9.0, more preferably 8.0, 7.0, and even 6.0.
If it is less than the lower limit of the conditional expression (7), the length of the portion where the optical paths intersect in the optical axis direction becomes short, but the width of the luminous flux becomes wide, and the optical paths of the lens system cannot intersect properly. It ends up.
The lower limit of the conditional expression (7) is preferably 0.2, more preferably 0.3, 0.4, and even 0.5.

Further, in the spherical camera according to the second embodiment, the distance on the optical axis from the outermost object side surface of the lens system to the image plane is TL, and the distance from the diaphragm to the image plane is S. Then, it is desirable to satisfy the following conditional expression.
0.20 <S / TL <0.80 (8)

Conditional equation (8) defines the position of the aperture in the lens system, and when conditional equation (8) is satisfied, a lens in which astigmatism and coma suitable for spherical cameras are satisfactorily corrected (suppressed). The system can be achieved.
If it is less than the lower limit of this conditional expression, coma aberration and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (8) more reliable, the lower limit value of the conditional expression (8) is preferably 0.25, more preferably 0.30, 0.35, and further 0.40. preferable.
Even if the upper limit of the conditional expression (8) is exceeded, coma and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (8) more reliable, the upper limit value of the conditional expression (8) is preferably 0.75, more preferably 0.70, 0.65, and further 0.60. preferable.

Further, in the spherical camera according to the second embodiment, it is conceivable that light advances to an optical path other than the original optical path at a portion where the optical paths of the lens system intersect, and flare or ghost occurs. Therefore, it is more preferable to provide a wall, a flare cutter, or the like around the optical path to block light.

(Third form)
In general photography, the image circle formed by the lens system is configured so that the entire area is inside the sensor.
In addition, the imaged image area required by a plurality of lens systems used in spherical cameras and the like is often polygonal, and such a polygonal imaged image area is formed by the image circle of the lens system. It is arranged so that it is on the inside.
For example, as described above, a regular tetrahedron, a regular octahedron, and a regular icosahedron are composed of equilateral triangle faces, so that the imaged image area required by the lens system corresponding to each face is also an equilateral triangle. However, usually, as shown in FIG. 17 (1), these equilateral triangles are arranged so as to be located further inside the image circle IC inside the sensor IS.
In FIGS. 17, 18 and 19, the IC requires an image circle in which all the regions are inside the sensor, the IC'is an image circle of the lens system according to the third embodiment, the IS is a sensor, and the K and K'are required. The imaged image area, b is the length of the short side of the image sensor, P is the center of the sensor, O is the center of the image circle in which all the areas are inside the sensor, and O'is the image of the lens system according to the third embodiment. It is the center of the circle.

Similarly, since a regular hexahedron is composed of regular quadrangular faces, the imaged image area required by the lens system corresponding to each face is a regular quadrangle. Normally, these regular quadrangles are shown in FIG. 18 (1). As shown, the entire area is arranged so as to be located further inside the image circle IC inside the sensor.

Similarly, since the regular dodecahedron is composed of regular pentagonal faces, the imaged image area required by the lens system corresponding to each face is a regular pentagon. Normally, these regular pentagons are shown in FIG. As shown in (1), the entire region is arranged so as to be located further inside the image circle IC inside the image pickup sensor.

Such a configuration is advantageous in terms of parallax, stitching, manufacturing error, etc., but the number of pixels of the image obtained after stitching is reduced. So far, arrangements of optical devices corresponding to regular tetrahedrons and regular hexahedrons have been proposed, but only spatial arrangements have been made, and no concrete proposals for the optical devices themselves or sensor arrangements have been made. It was.
Further, such a situation is not limited to the spherical camera, but is also the same situation in, for example, an optical device for stereoscopic vision. Therefore, the optical device of the third embodiment is configured as follows.

<Embodiment 3>
The optical device according to the third embodiment is an optical device including a sensor and a lens system, in which a part of an image circle generated by the lens system is outside the sensor.
With this configuration, the diameter of the image circle can be made larger than the short side b of the image pickup sensor, so that the number of pixels of the image pickup sensor used for image pickup can be increased.
Specifically, the equilateral triangular imaged image region K shown in FIG. 17 (1) can be configured to be inscribed in the sensor IS as shown in K'in FIG. 17 (2), and the sensor can take an image. The number of pixels can be increased.
Further, the square imaged image region K shown in FIG. 18 (1) can be configured to be inscribed in the sensor as shown in K'in FIG. 18 (2), and the number of pixels when the sensor is imaged. Can be increased.
Further, the image-forming image region K having a regular pentagram shape shown in FIG. 19 (1) can be configured to be inscribed in the sensor as shown in K'in FIG. 19 (2), and the pixels at the time of imaging by the sensor can be configured. You can increase the number.

Further, in FIG. 16, regardless of the shape of the regular polygon corresponding to the regular polyhedron, the required image shapes in the image circle generated by the lens system are equilateral triangles, regular tetragons, regular pentagons, regular hexagons, regular octagons, and regulars. The case of a hexagon is shown. Normally, as shown in the relationship diagram between the image circle on the left side of FIG. 16 and the sensor, these polygons are further inscribed inside the region in the image circle inscribed in the sensor.
In the third embodiment, as shown in the relationship diagram between the image circle on the right side of FIG. 16 and the sensor, a part of the image circle generated by the lens system is configured to be outside the sensor, so that these polygons are formed. Can be configured to be inscribed in the sensor, the imaging area of the image sensor can be expanded, and the number of pixels at the time of imaging can be increased.

The optical device according to the third embodiment satisfies the following conditional expression, where S2 is the area of the image circle and S1 is the area of the image circle inscribed in the sensor.
S2 / S1> 1.10 (9)

Conditional expression (9) defines an appropriate area ratio (S2 / S1) between the area of the image circle inscribed in the sensor and the area of the image circle generated by the lens system.
With this configuration, the area of the image circle generated by the lens system can be made larger than the area of the image circle inscribed in the sensor, so that the number of pixels can be increased accordingly.
As shown in FIG. 16 above, this area ratio is such that the required image shape in the image circle generated by the lens system is, for example, an equilateral triangle, a regular tetrahedron, a regular pentagon, a regular hexagon, a regular octagon, or a regular decagon. In the case, it becomes 1.78, 2.00, 1.22, 1.33, 1.17, and 1.11 respectively. That is, the imaged image area required by a plurality of lens systems used in, for example, an omnidirectional camera is often a polygon, and the number of pixels of these polygons is measured according to the ratio of this area ratio. It can be increased by expanding the imaged image area inside. Therefore, if it is within the range of this conditional expression (9), the number of sensor pixels required in the case of all the polygons shown above can be increased.
If it falls below the lower limit of the conditional expression (9), the sensor pixels cannot be effectively used.
In order to make the effect of the conditional expression (9) more certain, the lower limit of the conditional expression (9) is preferably 1.15, more preferably 1.20, 1.25, and even 1.30. ..

In the optical device according to the third embodiment, the center position of the sensor and the center position of the image circle are different.
With this configuration, the diameter of the image circle can be made larger than the short side of the image sensor, and the number of pixels can be increased accordingly.
This is specifically shown in FIGS. 17 and 19. FIG. 17 is an explanatory view when the required image shape corresponding to the equilateral triangles constituting the faces of the regular tetrahedron, the regular octahedron, and the regular dodecahedron is an equilateral triangle, and FIG. It is explanatory drawing when the required image shape corresponding to a regular pentahedron is a regular pentahedron.
Normally, as shown in FIG. 17 (1) or FIG. 19 (1), an equilateral triangle or a regular pentagon is inscribed inside the region in the image circle inscribed in the sensor.
In the third embodiment, as shown in FIG. 17 (2) or FIG. 19 (2), the center position P of the sensor and the center position O'of the image circle generated by the lens system are configured to be different from each other. The triangle or regular pentagon can be configured to be inscribed in the sensor, the imaging area of the imaging sensor can be expanded, and the number of pixels for imaging can be increased.

It is desirable that the optical device according to the third embodiment satisfies the following conditional expression.
0.00 ≤ d / b ≤ 0.17 (10)
However,
d: The distance between the center position of the sensor and the center position of the image circle in the short side direction of the sensor,
b: The length of the short side of the sensor.

The conditional expression (10) defines an appropriate distance between the center position of the sensor and the center position of the image circle generated by the lens system in the short side direction of the sensor. This distance d is the difference between the center position P of the sensor and the center position O'of the image circle generated by the lens system as shown in FIGS. 17 (2) and 19 (2).
Within the range of the conditional expression (10), the number of sensor pixels required for polygons constituting the polyhedron, particularly equilateral triangles and regular pentagons, can be increased.
If the upper limit of the conditional expression (10) is exceeded, the polygon will not fit in the sensor and the image will be chipped.

It is desirable that the spherical camera according to the third embodiment includes the optical device and has at least four lens systems.
With this configuration, it is possible to obtain a high-quality image with the four lens systems and then reduce the size.

It is desirable that the spherical cameras according to the third embodiment have the same lens system.
With this configuration, the same members and processing mechanisms can be used for all lens systems, which makes assembly and adjustment work easy and efficient production. Moreover, since the specifications and aberrations of the lens system are all the same, it becomes easier to control and stitch, and the processing speed is improved. A simpler configuration also contributes to miniaturization and higher image quality.

It is desirable that the spherical camera according to the third embodiment satisfies the following conditional expression.
0.10 ≤ d / b ≤ 0.17 (10-1)

The conditional expression (10-1) takes into consideration the shape of the polyhedron corresponding to the spherical camera with respect to the conditional expression (10), in the direction of the short side of the sensor between the center position of the sensor and the center position of the image circle. It further defines the appropriate distance for. This distance d is, for example, the difference between the distance between the center position P of the sensor and the center position O'of the image circle, as shown in FIG. 17 (2).
Within the range of this conditional expression (10-1), for example, in an omnidirectional camera in which the required image shape is an equilateral triangle, that is, a regular tetrahedron, a regular octahedron, and a regular icosahedron. The pixel area of the sensor can be widely used, and an image having a large number of pixels and high resolution can be acquired (see FIG. 17 (2)).
If the upper limit of the conditional expression (10-1) is exceeded, the polygon may not fit in the sensor and the image may be chipped, or proper stitching may not be possible.
In order to further ensure the effect of the conditional expression (10-1), the upper limit of the conditional expression (10-1) is preferably 0.16, 0.15, 0.14, and 0.13. Is more preferable.
Further, if the value falls below the lower limit of the conditional expression (10-1), the sensor pixels cannot be effectively used.
In order to further ensure the effect of the conditional expression (10-1), the lower limit of the conditional expression (10-1) is preferably 0.09, 0.08, 0.07, and 0.06. Is more preferable.

The spherical camera according to the third embodiment has at least seven lens systems, and it is desirable that the following conditional expression is satisfied.
0.01 ≤ d / b ≤ 0.06 (10-2)

Similar to the conditional expression (10-1), the conditional expression (10-2) considers the shape of the polyhedron corresponding to the spherical camera with respect to the conditional expression (10), so that the center position of the sensor and the image circle are taken into consideration. It further defines the appropriate distance from the center position of the sensor in the short side direction of the sensor. This distance d is, for example, the difference between the distance between the center position P of the sensor and the center position O'of the image circle, as shown in FIG. 19 (2).
Within the range of this conditional expression (10-2), the required image shape has a wide pixel area of the sensor in, for example, a regular pentagon, that is, an omnidirectional camera represented by a regular dodecahedron. It can be used, and an image having a large number of pixels and high resolution can be acquired (see FIG. 19 (2)).
If the upper limit of the conditional expression (10-2) is exceeded, the polygon may not fit in the sensor and the image may be chipped, or proper stitching may not be possible.
In order to ensure the effect of the conditional expression (10-2), the upper limit of the conditional expression (10-2) is preferably 0.05, more preferably 0.04, and further 0.03. preferable.
Further, if the value falls below the lower limit of the conditional expression (10-2), the sensor pixels cannot be effectively used.
In order to make the effect of the conditional expression (10-2) more reliable, the lower limit of the conditional expression (10-2) is preferably 0.015, more preferably 0.02, and further 0.025. preferable.

The all-sky camera according to the third embodiment has four lens systems having a maximum angle of view of 140 degrees or more, or six lens systems having a maximum angle of view of 109 degrees or more, or a maximum image. Eight lens systems having an angle of 109 degrees or more, twelve lens systems having a maximum angle of view of 74 degrees or more, or 20 lens systems having a maximum angle of view of 74 degrees or more. Is desirable.

With this configuration, it is possible to realize a spherical camera having an appropriate lens system corresponding to each of a regular tetrahedron, a regular hexahedron, a regular octahedron, a regular dodecahedron, and a regular icosahedron.
Hereinafter, a regular tetrahedron, a regular hexahedron, a regular octahedron, a regular dodecahedron, and a regular icosahedron will be specifically described.

(Regular tetrahedron)
In the case of a regular tetrahedron, it is desirable to include four lens systems having a maximum angle of view of 140 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to a regular tetrahedron, and it is possible to reduce the size of the entire spherical camera.
If the maximum angle of view is less than 140 degrees, it is not possible to capture an image with a field of view necessary for constructing an image suitable for a spherical camera.
When the maximum angle of view is 150 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 160 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Six sides)
In the case of a regular hexahedron, it is desirable to include six of the lens systems having a maximum angle of view of 109 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to a regular hexahedron, and it is possible to reduce the size of the entire spherical camera.
When the maximum angle of view is less than 109 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 120 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 140 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Octahedron)
In the case of a regular octahedron, it is desirable to include eight lens systems having a maximum angle of view of 109 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to the octahedron, and it is possible to reduce the size of the entire spherical camera.
When the maximum angle of view is less than 109 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 120 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 140 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Regular dodecahedron)
In the case of a regular dodecahedron, it is desirable to include 12 of the lens systems having a maximum angle of view of 109 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to the regular dodecahedron, and it is possible to reduce the size of the entire spherical camera.
When the maximum angle of view is less than 109 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 120 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 140 degrees or more, the effect of stitching can be further enhanced, which is preferable.

(Icosahedron)
In the case of a regular icosahedron, it is desirable to include 20 of the lens systems having a maximum angle of view of 74 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to the regular icosahedron, and it is possible to reduce the size of the entire spherical camera.
If the maximum angle of view is less than 74 degrees, it is not possible to capture the field-of-view image necessary for constructing an appropriate image as a spherical camera.
When the maximum angle of view is 90 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 100 degrees or more, the effect of stitching can be further enhanced, which is preferable.

The spherical camera according to the third embodiment satisfies the following conditional expression, where fa is the focal length from the outermost object side surface to the aperture of the lens system and fb is the focal length from the aperture to the most image side surface.
-20.0 <fa / fb <20.0 (11)

Conditional expression (11) is the focal length from the outermost object side surface of the lens system to the aperture (hereinafter referred to as the "front group") and the focal length from the aperture to the most image side surface (hereinafter referred to as the "rear group"). It defines an appropriate power balance. Within the range of the conditional expression (11), a lens system having an appropriate size suitable for an omnidirectional camera with less curvature of field and distortion is preferable. When the upper limit of the conditional equation (11) is exceeded, the refractive power of the rear group becomes larger than the refractive power of the front group, the lens system becomes longer in the optical axis direction, and the entire spherical camera becomes larger. ..

In order to further ensure the effect of the conditional expression (11), the upper limit of the conditional expression (11) is preferably 15.0, more preferably 10.0, 7.0, and further 5.0. preferable.
If it falls below the lower limit of the conditional expression (11), the refractive power of the rear group becomes smaller than the refractive power of the front group, and as a result, the relative power of the front group becomes too strong, making it difficult to correct aberrations. Become. In particular, the effect on curvature of field becomes large.
In order to make the effect of the conditional expression (11) more reliable, the lower limit of the conditional expression (11) is preferably -15.0, and -10.0, -7.0, and further -5.0. More preferably.

In the spherical camera according to the third embodiment, TL is the distance on the optical axis between the outermost object side surface of the lens system and the image plane, and S is the distance on the optical axis from the diaphragm to the image plane. , The following conditional expression is satisfied.
0.20 <S / TL <0.80 (12)

Conditional equation (12) defines the position of the aperture in the lens system, and when conditional equation (12) is satisfied, a lens in which astigmatism and coma suitable for spherical cameras are satisfactorily corrected (suppressed). The system can be achieved.
If it is less than the lower limit of this conditional expression, coma aberration and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (12) more reliable, the lower limit value of the conditional expression (12) is preferably 0.25, more preferably 0.30, 0.35, and further 0.40. preferable.
Even if the upper limit of the conditional expression (12) is exceeded, coma and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (12) more reliable, the upper limit value of the conditional expression (12) is preferably 0.75, more preferably 0.70, 0.65, and further 0.60. preferable.

(Fourth form)
In normal photography, as shown in FIG. 65 (1), one image is received by one sensor. Therefore, for two images, for example, as in Japanese Patent Application Laid-Open No. 2013-45089. , Two images are received by two sensors (see FIGS. 65 (2) and 65 (3)).
As shown in FIGS. 65 (1), (2), and (3), since the sensor is generally square and the image is circular, only a part of the sensor area overlaps with the image circle, which contributes to imaging. The number of pixels is reduced.
This is remarkable in the case of an omnidirectional camera using a plurality of lens systems, and the same situation applies to an optical device for stereoscopic viewing and the like.
Therefore, the optical device of the fourth embodiment is configured as follows.

<Embodiment 4>
The optical device according to the fourth embodiment receives images formed by a plurality of lens systems with sensors arranged on the same plane.

With this configuration, it is possible to increase the number of pixels of the sensor that contribute to imaging. In addition, the sensor placement work and adjustment work are facilitated, and the cost can be reduced with a simple configuration. It also contributes to the miniaturization of the sensor area.
Specifically, for example, as shown in FIGS. 20 (1), (2), and (3), two images are received by an image sensor arranged on the same plane.
In this way, even if the diameter of the image circle is the same as or smaller than the short side of the image sensor, the work required for arranging the sensors can be simplified by receiving a plurality of images with the image sensors arranged on the same plane. In addition, efficient adjustment work can be performed by making similar adjustments to two images formed on the same plane. In addition, the area occupied by the sensor can be reduced from the entire optical device.
In the fourth embodiment, the sensors arranged on the same plane include a plurality of sensors arranged on the same plane.
Further, in the fourth embodiment, the "lens system" may not include an optical element (including an optical fiber) or a sensor.

In the optical device according to the fourth embodiment, the sensors arranged on the same plane are one sensor.

With this configuration, it is possible to reduce the number of unused pixels while reducing the number of sensors used. Further, the same image processing can be performed on a plurality of lens systems.
Specifically, for example, as shown in FIGS. 20 (2) and 20 (3), two images are received by one image sensor.
As described above, even when the diameter of the image circle is the same as or smaller than the short side of the image sensor, the number of pixels of the sensor that contributes to image capture can be increased by receiving a plurality of images with one sensor.
Further, since there is only one sensor corresponding to a plurality of lens systems, it is sufficient to control only that one sensor, the adjustment work and the configuration are simplified, there is no individual difference, and measures such as noise and brightness are easy.
Further, by using a plurality of lens systems corresponding to one sensor, the number of pixels contributing to imaging increases, and higher optical performance can be obtained.

In the fourth embodiment, one sensor means a sensor having a common control circuit provided inside the sensor or an image plane of the sensor integrally configured.

The optical device according to the fourth embodiment includes an optical element that bends an optical path.
With this configuration, the degree of freedom in arranging the lens system is increased, so that the entire optical device can be easily miniaturized.
Specifically, for example, in FIG. 20 (2), lens systems are arranged on the left side and the right side of the paper surface with respect to a prism (an optical element that bends an optical path), and light rays incident on the prism from both lens systems are directed by the prism. It is configured so that it can be reflected (bent) to the side and received by sensors arranged on the same plane.
Without such an optical element that bends the optical path, it is difficult for the sensors arranged on the same plane to receive light, and it is difficult to reduce the area occupied by the sensor from the entire optical device.
In the fourth embodiment, the optical element that bends the optical path refers to a prism, a reflection mirror, an optical fiber, or the like.

The optical device according to the fourth embodiment has a plurality of lens systems and a plurality of image images.
With this configuration, it is possible to receive an image formed by a plurality of lens systems with one sensor, so that the pixels of the sensor can be effectively used and a high-quality image can be obtained. Become. Moreover, since the number of sensors can be reduced, it contributes to miniaturization.

The optical device according to the fourth embodiment satisfies the following conditional expression, where P is the aspect ratio of the sensor.
1.0 ≤ P <3.0 (13)

According to the conditional expression (13) that defines the optimum aspect ratio (width / height) of the sensor, it is possible to appropriately receive the image formed by the two lens systems and obtain and process a high-quality image. .. If the upper limit of the conditional expression (13) is exceeded, the imaged image in the height direction of the sensor cannot fit in the sensor and the image is chipped. Further, if it is less than the lower limit value of the conditional expression (13), the imaged image in the width direction of the sensor cannot fit in the sensor and the image is chipped.
In order to make the effect of the conditional expression (13) more reliable, it is preferable to set the upper limit value of the conditional expression (13) to 2.9, 2.8, 2.7, 2.6, 2.5, 2 It is more preferably .4, 2.3, 2.2, 2.1, 2.0, 1.9, 1.8, 1.7, and even 1.6.
In order to make the effect of the conditional expression (13) more reliable, it is preferable to set the lower limit value of the conditional expression (13) to 1.1, 1.2, 1.3, 1.4, 1.5, 1 It is more preferably 1.6, 1.7, 1.8, and even 1.9.

The spherical camera according to the fourth embodiment includes the optical device and has at least four lens systems.
With this configuration, in an omnidirectional camera represented by a polyhedron having four or more faces, it is possible to obtain high-quality images with at least four lenses and reduce the number of sensors. , It is possible to reduce the size.

The spherical camera according to the fourth embodiment has a virtual polyhedron inside the assumed sphere, and one lens system is assigned to one surface of the polyhedron.
With this configuration, it is possible to receive the light flux incident from all the surfaces of the polyhedron without leaving it, and it is possible to obtain a high-quality image.

The spherical camera according to the fourth embodiment receives an image of light incident from two adjacent surfaces of the polyhedron with the one sensor.
With this configuration, the optical path can be bent by one optical element for each light incident from two adjacent surfaces of the polyhedron, so that the number of optical elements is reduced and one sensor is connected. Since the two lens systems to be imaged can be arranged close to each other, the spherical camera can be further miniaturized.
Specifically, in FIG. 21 (1), consider a triangle PYQ formed by connecting the vertices P and Q of the regular tetrahedron PQRS and the midpoint Y of the side RS of the regular tetrahedron. Then, assuming that the side incident from the surface PRS of the regular tetrahedron is the A side, the side incident from the surface QSR is the B side, the angle PYQ is θ, and the length of one side of the regular hexahedron inscribed in the regular tetrahedron is 1. The above triangle has a value as shown in FIG. 21 (2).
Here, consider a light ray D incident from the A side of the triangle as shown in FIG. 21 (3).
For example, as shown in FIG. 20 (2), the light ray D is bent so as to be incident on the sensor directly below, and the optical path is bent by the optical element C (C is an optical element that bends the optical path such as a reflection mirror). Let the reflected light ray be the light ray E.
Further, when the incident angle of the light ray D incident on the triangle is α, and the optical element that bends the optical path is a reflective mirror, the angle of the reflective mirror is β with respect to the line perpendicular to the sensor arranged directly below the reflective mirror. Assuming that the angle between the reflection surface of the above and the side YP of the triangle on the RSP surface of the regular tetrahedron is γ, α, β, and γ are the values shown in FIG. 21 (4).
With such a configuration, it is possible to bend the optical path of the light incident from the A side and appropriately guide the light to the sensor. Since the same configuration is applied to the B side, the description thereof will be omitted. Further, the spherical camera can be further miniaturized by bending the optical paths on the A side and the B side with one optical element (for example, a prism or the like).

By configuring the optical element that bends the optical path in this way, it is possible to appropriately receive the image of the light incident from two adjacent faces of the regular tetrahedron with one sensor, and the spherical camera can be made compact. Can be transformed into.
This is the case of a regular tetrahedron, but the same can be considered for a polyhedron.
It should be noted that these numerical values may be satisfied within the range of plus or minus 5% centering on the numerical values indicated in consideration of design error, stitching and the like.
By setting such a bending angle, it is possible to bend the optical path with one optical element for each light incident from two adjacent surfaces of the polyhedron, so that the number of optical elements can be reduced. , The entire spherical camera can be miniaturized.

The spherical camera according to the fourth embodiment includes at least two of the sensors.
With this configuration, for example, in an omnidirectional camera corresponding to a regular tetrahedron, an image formed by four lens systems can be received by two sensors. For example, in FIG. 22, which shows this, a ray a2 incident from the surface ABC and a ray a1 incident from the surface DCB are received by one image sensor IS1, and a ray b1 incident from the surface ADC and a ray b2 incident from the surface ADB are received by another image sensor IS1. It is received by one image sensor IS2 of. In this way, by providing two sensors corresponding to the two lens systems, the number of sensors can be reduced by two as compared with the normal case, and the spherical camera can be further miniaturized.
This also applies to spherical cameras that support other polyhedra.

In the spherical camera according to the fourth embodiment, it is desirable that all the lens systems are the same lens system.
With this configuration, the same members and processing mechanisms can be used for all lens systems, which makes assembly and adjustment work easy and efficient production. Moreover, since the specifications and aberrations of the lens system are all the same, it becomes easier to control and stitch, and the processing speed is improved.
A simpler configuration also contributes to miniaturization and higher image quality.

With this configuration, it is possible to realize an omnidirectional camera having an appropriate lens system.
Hereinafter, the regular tetrahedron will be specifically described.

In the case of a regular tetrahedron, it is desirable to include four lens systems having a maximum angle of view of 140 degrees or more.
With this configuration, it is possible to obtain a high-quality image with an appropriate lens system corresponding to a regular tetrahedron, and it is possible to reduce the size of the entire spherical camera.
If the maximum angle of view is less than 140 degrees, it is not possible to capture an image with a field of view necessary for constructing an image suitable for a spherical camera.
When the maximum angle of view is 150 degrees or more, it has a good effect on parallax and manufacturing error, which is preferable.
When the maximum angle of view is 160 degrees or more, the effect of stitching can be further enhanced, which is preferable.

The spherical camera according to the fourth embodiment satisfies the following conditional expression, where fa is the focal length from the outermost object side surface to the diaphragm and fb is the focal length from the diaphragm to the most image side surface of the lens system.
-20.0 <fa / fb <20.0 (14)

Conditional expression (14) is the focal length from the outermost object side surface of the lens system to the aperture (hereinafter referred to as the "front group") and the focal length from the aperture to the most image side surface (hereinafter referred to as the "rear group"). It defines an appropriate power balance. If it is within the range of this conditional expression (14), the lens system has an appropriate size suitable for an omnidirectional camera with less curvature of field and distortion. Therefore, the omnidirectional lens system can be combined with this lens system. The entire camera can be miniaturized. When the upper limit of the conditional equation (14) is exceeded, the refractive power of the rear group becomes larger than the refractive power of the front group, the lens system becomes longer in the optical axis direction, and the entire spherical camera becomes larger. ..
In order to further ensure the effect of the conditional expression (14), the upper limit of the conditional expression (14) is preferably 15.0, more preferably 10.0, 7.0, and further 5.0. preferable.
If it falls below the lower limit of the conditional expression (14), the refractive power of the rear group becomes smaller than the refractive power of the front group, and as a result, the relative power of the front group becomes too strong, making aberration correction difficult. Become. In particular, the effect on curvature of field becomes large.
In order to make the effect of the conditional expression (14) more reliable, the lower limit of the conditional expression (14) is preferably -15.0, and -10.0, -7.0, and further -5.0. More preferably.

In the spherical camera according to the fourth embodiment, TL is the distance on the optical axis between the outermost object side surface of the lens system and the image plane, and S is the distance on the optical axis from the diaphragm to the image plane. , The following conditional expression is satisfied.
0.20 <S / TL <0.80 (15)

Conditional equation (15) defines the position of the aperture in the lens system, and when conditional equation (15) is satisfied, a lens in which astigmatism and coma suitable for spherical cameras are satisfactorily corrected (suppressed). The system can be achieved.
If it is less than the lower limit of this conditional expression, coma aberration and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (15) more reliable, the lower limit value of the conditional expression (15) is preferably 0.25, more preferably 0.30, 0.35, and further 0.40. preferable.
Even if the upper limit of the conditional expression (15) is exceeded, coma and astigmatism worsen, which is not preferable.
In order to make the effect of the conditional expression (15) more reliable, the upper limit value of the conditional expression (15) is preferably 0.75, more preferably 0.70, 0.65, and further 0.60. preferable.

(Fifth form)
<Embodiment 5>
Hereinafter, the manufacturing method of the spherical camera according to the fifth embodiment will be described separately for the manufacturing method 1, the manufacturing method 2, and the manufacturing method 3.

First, the manufacturing method 1 of the spherical camera according to the fifth embodiment has a plurality of lens systems, and the optical axes of the respective lens systems and the straight line extending the optical axes are arranged so as not to have an intersection.
Hereinafter, the outline of the manufacturing method 1 of the spherical camera OL according to the fifth embodiment will be described with reference to FIG. 23. First, a plurality of lens systems are arranged (S1). Next, the optical axis of each lens system and the straight line extending the optical axis are arranged so as not to have an intersection (S2).
According to the above-described spherical camera manufacturing method 1, a miniaturized spherical camera can be manufactured.

Next, the manufacturing method 2 of the spherical camera according to the fifth embodiment has four or more lens systems and is arranged so that the optical paths intersect.
Hereinafter, the outline of the manufacturing method 2 of the spherical camera OL according to the fifth embodiment will be described with reference to FIG. 24. First, four or more lens systems are arranged (S1). Next, these are arranged so that the optical paths intersect (S2).
According to the above-described spherical camera manufacturing method 2, a miniaturized spherical camera can be manufactured.

Further, in the method 3 for manufacturing an omnidirectional camera according to the fifth embodiment, in an optical device including a sensor and a lens system, at least 4 optical devices in which a part of an image circle generated by the lens system is outside the sensor. Arrange the pieces.
Hereinafter, the outline of the manufacturing method 3 of the spherical camera OL according to the fifth embodiment will be described with reference to FIG. 25. First, an optical device equipped with a sensor and a lens system is placed (S1). Next, a part of the image circle generated by the lens system is arranged so as to be outside the sensor (S2). Then, at least four of the above optical devices are arranged (S3).
According to the above-described spherical camera manufacturing method 3, it is possible to manufacture a spherical camera having a large number of pixels.

It should be noted that the conditions and configurations described above each exert the above-mentioned effects, and are not limited to those satisfying all the conditions and configurations, and any of the conditions or configurations, or any of them. It is possible to obtain the above-mentioned effects even if the combination of the above conditions or configurations is satisfied.

Further, the contents described below can be appropriately adopted as long as the optical performance is not impaired.

The lens can also be applied to autofocus and is also suitable for driving motors (such as ultrasonic motors) for autofocus. Further, in the case of pan focus, the configuration can be further simplified.

Further, the lens, the lens group, or the partial lens group is moved so as to have a displacement component in the direction orthogonal to the optical axis, or is rotationally moved (swinged) in the in-plane direction including the optical axis to cause image blur caused by camera shake. It may be a group of anti-vibration lenses for correcting the above.

Further, the lens surface may be formed on a spherical surface or a flat surface, or may be formed on an aspherical surface. When the lens surface is spherical or flat, lens processing and assembly adjustment are facilitated, and deterioration of optical performance due to processing and assembly adjustment errors can be prevented, which is preferable. Further, even if the image plane is deviated, the depiction performance is less deteriorated, which is preferable. When the lens surface is aspherical, the aspherical surface is an aspherical surface formed by grinding, a glass mold aspherical surface formed by forming glass into an aspherical shape, or a composite aspherical surface formed by forming resin on the glass surface into an aspherical shape. Any aspherical surface may be used. Further, the lens surface may be a diffraction surface, and the lens may be a refractive index distribution type lens (GRIN lens) or a plastic lens.

The aperture diaphragm S is preferably arranged inside or outside the lens group, but the role may be substituted by the frame of the lens without providing the member as the aperture diaphragm.

Further, each lens surface may be provided with an antireflection film having high transmittance in a wide wavelength range in order to reduce flare and ghost and achieve high optical performance with high contrast.

With the above configuration, it is possible to provide an omnidirectional camera having good optical performance, a bright lens system, an optical device OL, and the optical device OL.

Hereinafter, each embodiment according to each embodiment will be described with reference to the drawings. Tables 1 to 16 are shown below, and these are tables of specifications of each lens system in the first to sixteenth examples.

The cross-sectional view of the optical system shown in FIG. 26 is a cross-sectional view of the optical system of the first embodiment.
Each lens in FIG. 26 is shown as L11, L12, L13, ... In order from the object side (left side of the paper surface).
Further, FIG. 27 is an aberration diagram of the first embodiment. However, FNO is an F number, Y is an image height, and d, g, C, and F are d-line, g-line, C-line, and F-line aberration curves, respectively.
However, in astigmatism, the solid line indicates the sagittal image plane and the dotted line indicates the meridional image plane.
Regarding the cross-sectional view of the optical system and the aberration diagram, the above items are common to the drawings according to other embodiments.

It should be noted that each reference code for the figure according to each embodiment is used independently for each example in order to avoid complicated explanation due to an increase in the number of digits of the reference code. Therefore, even if they have the same reference numerals as the drawings according to the other embodiments, they do not necessarily have the same configuration as the other embodiments.

In each embodiment, C line (wavelength 656.3 nm), d line (wavelength 587.6 nm), F line (wavelength 486.1 nm), and g line (wavelength 435.8 nm) are selected as the calculation targets of the aberration characteristics.

In the (basic specifications) in the table, f is the focal length of the lens system, FNO is the F number, Y is the image height, and TL is the total length of the lens (the distance from the frontmost surface of the lens to the final surface of the lens on the optical axis). BF indicates the back focus (distance from the final surface of the lens on the optical axis to the near-axis image plane).

In (plane data) in the table, the plane number is the order of the optical planes from the object side along the traveling direction of the light beam, r is the radius of curvature of each optical plane, and d is the next optical plane (or the next optical plane) from each optical plane. The plane spacing, which is the distance on the optical axis to the image plane), nd indicates the refractive index of the material of the optical member with respect to the d-line, and νd indicates the Abbe number based on the d-line of the material of the optical member. The (object surface) is the object surface, the radius of curvature "∞" is the plane or aperture, the (aperture) is the aperture aperture S, the image plane is the image plane I, and the BF is the back focus (from the final surface of the lens on the optical axis). The distance to the paraxial image plane) is shown respectively. BF includes the case where it is variable even if it is not shown as (variable). The refractive index of air "1.000000" is omitted.

In the table (appropriate spherical camera aspect), the polyhedron represents a suitable polyhedron corresponding to the optical device OL composed of a lens system and a sensor. The surface shape indicates the shape of the surface constituting the polyhedron. The angle of view 2ωA indicates the minimum angle of view that can be realized by the omnidirectional camera with the optical device OL, and the angle of view 2ωB indicates the maximum applicable angle of view of the optical device OL.
In addition, the lens system of each embodiment is usually applicable to other polyhedra having a larger number of faces than the polyhedron shown here.

In the table (appropriate sensor aspect), b is the length of the short side of the sensor, a is the length of the long side of the sensor, and 2Y-b is the length of the short side of the sensor from the value obtained by doubling the image height. If this value is positive, it means that a part of the image circle generated by the lens system is outside the sensor.

In (appropriate embodiment) in the table, among the above-described embodiments, an embodiment suitable for applying the lens system of each embodiment is shown. However, embodiments other than those shown here may also be applicable.

Hereinafter, in all the specification values, "mm" is generally used for the focal length f, the radius of curvature r, the surface spacing d, other lengths, etc., unless otherwise specified, but the optical device is proportionally expanded. Alternatively, it is not limited to this because the same optical performance can be obtained even if the proportional reduction is performed. Further, the unit is not limited to "mm", and other appropriate units can be used.

The description of the table so far is common to all the examples, and the description below will be omitted.

(First Example)
The first embodiment will be described with reference to FIGS. 26, 27 and Table 1. As shown in FIG. 26, the lens system according to the first embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconcave shape arranged in order from the object side along the optical axis. It is composed of a negative lens L13 and a biconvex positive lens L14.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 26 shows the image plane I of this lens system.
Table 1 below shows the values of each specification in the first embodiment.

(Table 1) First Example (Basic Specifications)
f 1.2
FNO 2.4
Y 1.9
TL 25.3
BF 4.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 11.6728 1.0000 1.816000 46.59
2 4.2875 2.8000
3 392.8840 1.0000 1.651600 58.57
4 2.7357 2.2000
5 -48.1033 1.0000 1.618000 63.34
6 5.7672 1.0000
7 11.4369 2.3000 1.784700 26.27
8 -6.3985 1.7000
9 (Aperture) ∞ 1.5000
10 15.8418 1.0000 1.846660 23.80
11 2.7021 3.4000 1.640000 60.20
12 -6.7021 0.2000
13 6.8935 2.0000 1.487490 70.31
14 -7.3412 4.1507
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Regular tetrahedron Surface shape: Equilateral triangle Angle of view 2ωA = 141.06 °
Angle of view 2ωB = 189.54 °

(Appropriate sensor aspect)
b 3.6
a 4.8
2Y-b 0.2

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 27 is a diagram of various aberrations of the optical system according to the first embodiment of the present application.
From FIG. 27, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(Second Example)
The second embodiment will be described with reference to FIGS. 28, 29 and Table 2. As shown in FIG. 28, the lens system according to the second embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GFs are a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a meniscus-shaped negative lens L12 arranged in order from the object side along the optical axis. It is composed of a meniscus-shaped negative lens L13 with a convex surface facing and a biconvex positive lens L14.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 28 shows the image plane I of this lens system.
Table 2 below shows the values of each specification in the second embodiment.

(Table 2) Second Example (Basic Specifications)
f 5.0
FNO 2.4
Y 6.3
TL 101.1
BF 16.7

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 74.2196 4.0000 1.816000 46.59
2 17.9744 11.2000
3 71.2348 4.0000 1.651600 58.57
4 12.7880 8.8000
5 224.3105 4.0000 1.618000 63.34
6 15.9543 4.0000
7 57.4800 9.2000 1.784700 26.27
8 -21.2053 6.8000
9 (Aperture) ∞ 6.0000
10 1614.8232 4.0000 1.846660 23.80
11 11.6377 13.6000 1.640000 60.20
12 -19.7584 0.8000
13 24.6901 8.0000 1.487490 70.31
14 -42.0412 16.6522
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Regular hexahedron Surface shape: Regular quadrangle Angle of view 2ωA = 109.47 °
Angle of view 2ωB = 150.50 °

(Appropriate sensor aspect)
b 8.8
a 13.2
2Y-b 3.8

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 29 is an aberration diagram of the optical system according to the second embodiment of the present application.
From FIG. 29, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(Third Example)
The third embodiment will be described with reference to FIGS. 30, 31 and 3. As shown in FIG. 30, the lens system according to the third embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. A junction lens consisting of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15, a meniscus-shaped positive lens L16 with a concave surface facing the object side, and a meniscus shape with a concave surface facing the object side. It is composed of a bonded lens made of the negative lens L17 of the above.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 30 shows the image plane I of this lens system.
Table 3 below shows the values of each specification in the third embodiment.

(Table 3) Third Example (Basic Specifications)
f 10.6
FNO 2.9
Y 10.1
TL 105.0
BF 41.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 59.1940 2.1000 1.772500 49.62
2 15.2430 9.7000
3 78.1034 1.7000 1.834810 42.73
4 20.9438 5.7000
5 56.8025 4.0000 1.581440 40.98
6 -22.4154 0.3000
7 -19.9258 2.8000 1.772500 49.62
8 11.9633 5.0000 1.728250 28.38
9 -62.7285 9.5000
10 -54.3964 2.6000 1.517420 52.20
11 -12.9020 1.4000 1.902650 35.73
12 -20.9423 1.8000
13 (Aperture) ∞ 8.3000
14 -1129.0079 1.5000 1.846660 23.80
15 33.7105 4.0000 1.497820 82.57
16 -27.3470 0.2000
17 44.4578 3.2000 1.651600 58.57
18 -50.4316 41.2208
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Regular dodecahedron Surface shape: Regular pentagon Angle of view 2ωA = 74.75 °
Angle of view 2ωB = 115.64 °

(Appropriate sensor aspect)
b 13.8
a 20.7
2Y-b 6.4

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 31 is a diagram of various aberrations of the optical system according to the third embodiment of the present application.
From FIG. 31, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(Fourth Example)
A fourth embodiment will be described with reference to FIGS. 32, 33 and Table 4. As shown in FIG. 32, the lens system according to the fourth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. A junction lens consisting of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15, a meniscus-shaped positive lens L16 with a concave surface facing the object side, and a meniscus shape with a concave surface facing the object side. It is composed of a bonded lens made of the negative lens L17 of the above.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 32 shows the image plane I of this lens system.
Table 4 below shows the values of each specification in the fourth embodiment.

(Table 4) Fourth Example (Basic Specifications)
f 10.6
FNO 2.9
Y 11.8
TL 105.0
BF 41.2

(Surface data)
Surface number rd nd νd
1 60.1136 2.1000 1.772500 49.62
2 15.3022 9.7000
3 79.6717 1.7000 1.834810 42.73
4 20.9269 5.7000
5 56.4966 4.0000 1.581440 40.98
6 -22.9875 0.3000
7 -20.3569 2.8000 1.772500 49.62
8 11.9459 5.0000 1.728250 28.38
9 -62.1390 9.5000
10 -55.8816 2.6000 1.517420 52.20
11 -12.9209 1.4000 1.902650 35.73
12 -21.1407 1.8000
13 (Aperture) ∞ 8.3000
14 -1343.4000 1.5000 1.846660 23.80
15 33.6080 4.0000 1.497820 82.57
16 -27.3417 0.2000
17 45.0478 3.2000 1.651600 58.57
18 -49.8177 41.2223
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Hexagonal prism shape: Rectangle, regular hexagon Angle of view 2ωA = 98.21 °
Angle of view 2ωB = 139.22 °

(Appropriate sensor aspect)
b 15.6
a 23.6
2Y-b 8.0

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 33 is an aberration diagram of the optical system according to the fourth embodiment of the present application.
From FIG. 33, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(Fifth Example)
A fifth embodiment will be described with reference to FIGS. 34, 35 and Table 5. As shown in FIG. 34, the lens system according to the fifth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. A junction lens consisting of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15, a meniscus-shaped positive lens L16 with a concave surface facing the object side, and a meniscus shape with a concave surface facing the object side. It is composed of a bonded lens made of the negative lens L17 of the above.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 34 shows the image plane I of this lens system.
Table 5 below shows the values of each specification in the fifth embodiment.

(Table 5) Fifth Example (Basic Specifications)
f 10.6
FNO 2.9
Y 11.5
TL 105.0
BF 41.2

(Surface data)
Surface number rd nd νd
1 59.5096 2.1000 1.772500 49.62
2 15.2641 9.7000
3 78.3754 1.7000 1.834810 42.73
4 20.9309 5.7000
5 56.7899 4.0000 1.581440 40.98
6 -22.6020 0.3000
7 -20.0667 2.8000 1.772500 49.62
8 11.9574 5.0000 1.728250 28.38
9 -62.4989 9.5000
10 -54.7635 2.6000 1.517420 52.20
11 -12.9062 1.4000 1.902650 35.73
12 -21.0011 1.8000
13 (Aperture) ∞ 8.3000
14 -1197.8838 1.5000 1.846660 23.80
15 33.6728 4.0000 1.497820 82.57
16 -27.3468 0.2000
17 44.6445 3.2000 1.651600 58.57
18 -50.2228 41.2213
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Truncated hexahedron Surface shape: Equilateral triangle, regular octagon Angle of view 2ωA = 94.53 °
Angle of view 2ωB = 134.82 °

(Appropriate sensor aspect)
b 15.6
a 23.6
2Y-b 7.4

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 35 is an aberration diagram of the optical system according to the fifth embodiment of the present application.
From FIG. 35, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(6th Example)
A sixth embodiment will be described with reference to FIGS. 36, 37 and Table 6. As shown in FIG. 36, the lens system according to the sixth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. It is composed of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 36 shows the image plane I of this lens system.
Table 6 below shows the values of each specification in the sixth embodiment.

(Table 6) Sixth Example (Basic Specifications)
f 10.6
FNO 2.9
Y 9.3
TL 105.0
BF 41.2

(Surface data)
Surface number rd nd νd
1 71.9072 2.1000 1.772500 49.62
2 17.1053 9.7000
3 40.1145 1.7000 1.834810 42.73
4 16.8705 5.7000
5 64.2046 4.0000 1.581440 40.98
6 -20.2776 0.3000
7 -18.2901 2.8000 1.772500 49.62
8 13.8623 5.0000 1.728250 28.38
9 -60.1567 15.3000
10 (Aperture) ∞ 8.3000
11 162.6653 1.5000 1.846660 23.80
12 25.7615 4.0000 1.497820 82.57
13 -30.6071 0.2000
14 36.1144 3.2000 1.651600 58.57
15 -50.6940 41.2163
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Truncated cube surface shape: Equilateral triangle, regular decagon Angle of view 2ωA = 66.03 °
Angle of view 2ωB = 106.42 °

(Appropriate sensor aspect)
b 13.8
a 20.7
2Y-b 4.8

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 37 is a diagram of various aberrations of the optical system according to the sixth embodiment of the present application.
From FIG. 37, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(7th Example)
A seventh embodiment will be described with reference to FIGS. 38, 39 and Table 7. As shown in FIG. 38, the lens system according to the seventh embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF includes a meniscus-shaped negative lens L11 having a convex surface facing the object side, a biconcave negative lens L12, and a biconvex positive lens L13 arranged in order from the object side along the optical axis. It is composed of a junction lens composed of a biconcave negative lens L14 and a biconvex positive lens L15, and a junction lens composed of a biconvex positive lens L16 and a meniscus-shaped negative lens L17 with a concave surface facing the object side.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 38 shows the image plane I of this lens system.
Table 7 below shows the values of each specification in the seventh embodiment.

(Table 7) Seventh Example (Basic Specifications)
f 5.3
FNO 2.9
Y 7.1
TL 52.3
BF 20.6

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 19.0510 1.0500 1.772500 49.62
2 7.7351 4.1500
3 -53.2941 0.8500 1.834810 42.73
4 10.8083 5.1500
5 18.1526 2.0000 1.581440 40.98
6 -12.9851 0.1500
7 -11.2798 1.4000 1.772500 49.62
8 5.9220 2.5000 1.728250 28.38
9 -33.5208 2.9500
10 114.5371 1.3000 1.517420 52.20
11 -7.7586 0.7000 1.902650 35.73
12 -17.8547 0.9000
13 (Aperture) ∞ 4.1500
14 -287.5466 0.7500 1.846660 23.80
15 15.1655 2.0000 1.497820 82.57
16 -12.2550 0.1000
17 22.1529 1.6000 1.651600 58.57
18 -24.4248 20.6125
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Polyhedral surface shape: Triangular angle of view 2ωA = 150.00 °
Angle of view 2ωB = 191.64 °

(Appropriate sensor aspect)
b 13.0
a 17.3
2Y-b 1.1

(Appropriate embodiment)
Embodiments 1, 2, 3, 4, 5

FIG. 39 is an aberration diagram of the optical system according to the seventh embodiment of the present application.
From FIG. 39, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(8th Example)
The eighth embodiment will be described with reference to FIGS. 40, 41 and 8. As shown in FIG. 40, the lens system according to the eighth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconcave shape arranged in order from the object side along the optical axis. It is composed of a negative lens L13 and a biconvex positive lens L14.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 40 shows the image plane I of this lens system.
Table 8 below shows the values of each specification in the eighth embodiment.

(Table 8) Eighth Example (Basic Specifications)
f 1.2
FNO 2.4
Y 2.0
TL 25.3
BF 4.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 11.2896 1.0000 1.816000 46.59
2 4.4729 2.8000
3 34.6641 1.0000 1.651600 58.57
4 2.6641 2.2000
5 -26.3544 1.0000 1.618000 63.34
6 5.1320 1.0000
7 8.6583 2.3000 1.784700 26.27
8 -7.1171 1.7000
9 (Aperture) ∞ 1.5000
10 23.3054 1.0000 1.846660 23.80
11 2.7304 3.4000 1.640000 60.20
12 -6.3833 0.2000
13 5.2791 2.0000 1.487490 70.31
14 -9.0012 4.1543
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Polyhedron Face shape: Triangular angle of view 2ωA = 168.99 °
Angle of view 2ωB = 210.46 °

(Appropriate sensor aspect)
b 3.6
a 4.8
2Y-b 0.4

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 41 is an aberration diagram of the optical system according to the eighth embodiment of the present application.
From FIG. 41, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(9th Example)
A ninth embodiment will be described with reference to FIGS. 42, 43 and 9. As shown in FIG. 42, the lens system according to the ninth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GFs are a meniscus-shaped positive lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a meniscus-shaped negative lens L12 arranged in order from the object side along the optical axis. It is composed of a meniscus-shaped negative lens L13 with a convex surface facing, a meniscus-shaped negative lens L14 with a convex surface facing the object side, and a biconvex positive lens L15.

The rear group GR consists of a meniscus-shaped positive lens L21 having a concave surface facing the object side, a biconcave negative lens L22, and a meniscus shape having a concave surface facing the object side, arranged in order from the object side along the optical axis. It is composed of a positive lens L23 and a biconvex positive lens L24.

An image is formed on the sensor by this lens system and an image is taken. FIG. 42 shows the image plane I of this lens system.
Table 9 below shows the values of each specification in the ninth embodiment.

(Table 9) 9th Example (Basic Specifications)
f 24.7
FNO 2.9
Y 21.6
TL 100.5
BF 38.7

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 78.0268 3.2000 1.607380 56.74
2 253.6694 0.1000
3 32.8224 2.0000 1.620410 60.25
4 16.9540 5.4000
5 31.2315 1.7000 1.620410 60.25
6 15.2730 11.9000
7 81.5836 10.3000 1.620040 36.40
8 49.8037 0.9000
9 28.3581 7.0000 1.672700 32.19
10 -85.8793 0.5000
11 (Aperture) ∞ 2.0000
12 -443.5370 3.3000 1.620410 60.25
13 -24.8916 1.7000
14 -19.1429 3.8000 1.755200 27.57
15 51.7457 1.4000
16 -54.7480 2.7000 1.620410 60.25
17 -19.6274 0.1000
18 62.5972 3.8000 1.603110 60.69
19 -37.5242 38.7419
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Dihedral surface shape: Pentagon Angle of view 2ωA = 41.56 °
Angle of view 2ωB = 83.68 °

(Appropriate sensor aspect)
b 32.8
a 43.8
2Y-b 10.4

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 43 is an aberration diagram of the optical system according to the ninth embodiment of the present application.
From FIG. 43, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(10th Example)
The tenth embodiment will be described with reference to FIGS. 44, 45 and 10. As shown in FIG. 44, the lens system according to the tenth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF includes a meniscus-shaped negative lens L11 having a convex surface facing the object side and a biconvex positive lens L12 arranged in order from the object side along the optical axis.

The rear group GR consists of a biconcave negative lens L21 arranged in order from the object side along the optical axis, a meniscus-shaped positive lens L22 with a concave surface facing the object side, and a biconvex positive lens L23. Become.

An image is formed on the sensor by this lens system and an image is taken. FIG. 44 shows the image plane I of this lens system.
Table 10 below shows the values of each specification in the tenth embodiment.

(Table 10) Example 10 (basic specifications)
f 28.8
FNO 2.9
Y 21.6
TL 85.1
BF 38.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 35.2519 1.8000 1.744000 44.81
2 15.6000 22.0000
3 27.5072 3.7000 1.667550 41.87
4 -44.7541 3.4000
5 (Aperture) ∞ 6.1000
6 -16.2873 2.5000 1.755200 27.57
7 55.0934 0.7000
8 -92.3218 3.2000 1.620410 60.25
9 -17.2910 0.1000
10 1171.3554 3.4000 1.620410 60.25
11 -25.8389 38.2029
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Dihedral surface shape: Pentagon Angle of view 2ωA = 38.21 °
Angle of view 2ωB = 75.76 °

(Appropriate sensor aspect)
b 32.8
a 43.8
2Y-b 10.4

(Appropriate embodiment)
Embodiments 1, 3, 4, 5

FIG. 45 is a diagram of various aberrations of the optical system according to the tenth embodiment of the present application.
From FIG. 45, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(11th Example)
The eleventh embodiment will be described with reference to FIGS. 46, 47 and 11. As shown in FIG. 46, the lens system according to the eleventh embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconcave shape arranged in order from the object side along the optical axis. It is composed of a negative lens L13 and a biconvex positive lens L14.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 46 shows the image plane I of this lens system.
Table 11 below shows the values of each specification in the eleventh embodiment.

(Table 11) Eleventh Example (Basic Specifications)
f 1.3
FNO 2.4
Y 1.8
TL 29.4
BF 4.1

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 13.9231 1.0000 1.816000 46.59
2 5.7304 2.8000
3 11.5364 1.0000 1.640000 60.20
4 3.5677 2.2000
5 -7.0323 1.0000 1.618000 63.34
6 6.0645 1.0000
7 48.5130 2.3000 1.784720 25.64
8 -7.1368 6.4000
9 (Aperture) ∞ 1.0000
10 8.6863 1.0000 1.860740 23.08
11 3.4253 3.4000 1.640000 60.20
12 -7.7283 0.2000
13 5.0069 2.0000 1.497820 82.57
14 -111.8112 4.1435
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Polyhedron Face shape: Triangular angle of view 2ωA = 141.06 °
Angle of view 2ωB = 176.95 °

(Appropriate sensor aspect)
b 3.6
a 4.8
2Y-b 0.0

(Appropriate embodiment)
Embodiments 2, 4, 5

FIG. 47 is an aberration diagram of the optical system according to the eleventh embodiment of the present application.
From FIG. 47, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(12th Example)
A twelfth embodiment will be described with reference to FIGS. 48, 49 and Table 12. As shown in FIG. 48, the lens system according to the twelfth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GFs are a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a meniscus-shaped negative lens L12 arranged in order from the object side along the optical axis. It is composed of a meniscus-shaped negative lens L13 with a convex surface facing and a meniscus-shaped positive lens L14 with a concave surface facing the object side.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 48 shows the image plane I of this lens system.
Table 12 below shows the values of each specification in the twelfth embodiment.

(Table 12) 12th Example (Basic Specifications)
f 1.6
FNO 2.4
Y 2.4
TL 26.8
BF 5.5

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 19.5882 1.0000 1.785900 44.17
2 5.1167 2.8000
3 34.8507 1.0000 1.651600 58.57
4 3.0717 2.1000
5 23.1776 1.0000 1.620410 60.25
6 6.3466 1.0000
7 -93.1757 2.0000 1.805180 25.45
8-5.4075 3.7000
9 (Aperture) ∞ 1.0000
10 18.0176 1.0000 1.755200 27.57
11 3.3693 2.6000 1.456000 91.36
12 -5.1070 0.2000
13 8.2839 1.9000 1.487490 70.31
14 -6.5914 5.4920
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Polyhedron Face shape: Triangular angle of view 2ωA = 147.68 °
Angle of view 2ωB = 187.68 °

(Appropriate sensor aspect)
b 3.6
a 4.8
2Y-b 1.12

(Appropriate embodiment)
Embodiments 2, 3, 4, 5

FIG. 49 is an aberration diagram of the optical system according to the twelfth embodiment of the present application.
From FIG. 49, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(13th Example)
The thirteenth embodiment will be described with reference to FIGS. 50, 51 and 13. As shown in FIG. 50, the lens system according to the thirteenth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. A junction lens consisting of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15, a meniscus-shaped positive lens L16 with a concave surface facing the object side, and a meniscus shape with a concave surface facing the object side. It is composed of a bonded lens made of the negative lens L17 of the above.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 50 shows the image plane I of this lens system.
Table 13 below shows the values of each specification in the thirteenth embodiment.

(Table 13) 13th Example (Basic Specifications)
f 5.3
FNO 2.9
Y 6.3
TL 52.5
BF 20.6

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 30.0568 1.0500 1.772500 49.62
2 7.6511 4.8500
3 39.8358 0.8500 1.834810 42.73
4 10.4634 2.8500
5 28.2483 2.0000 1.581440 40.98
6 -11.4938 0.1500
7 -10.1784 1.4000 1.772500 49.62
8 5.9730 2.5000 1.728250 28.38
9 -31.0695 4.7500
10 -27.9408 1.3000 1.517420 52.20
11 -6.4605 0.7000 1.902650 35.73
12 -10.5703 0.9000
13 (Aperture) ∞ 4.1500
14 -671.7000 0.7500 1.846660 23.80
15 16.8040 2.0000 1.497820 82.57
16 -13.6708 0.1000
17 22.5239 1.6000 1.651600 58.57
18 -24.9089 20.6111
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Octahedron Surface shape: Equilateral triangle Angle of view 2ωA = 109.47 °
Angle of view 2ωB = 150.02 °

(Appropriate sensor aspect)
b 8.8
a 13.2
2Y-b 3.7

(Appropriate embodiment)
Embodiments 3, 4, 5

FIG. 51 is an aberration diagram of the optical system according to the thirteenth embodiment of the present application.
From FIG. 51, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(14th Example)
The 14th embodiment will be described with reference to FIGS. 52, 53 and 14. As shown in FIG. 52, the lens system according to the 14th embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. A junction lens consisting of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15, a meniscus-shaped positive lens L16 with a concave surface facing the object side, and a meniscus shape with a concave surface facing the object side. It is composed of a bonded lens made of the negative lens L17 of the above.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 52 shows the image plane I of this lens system.
Table 14 below shows the values of each specification in the 14th embodiment.

(Table 14) 14th Example (Basic Specifications)
f 10.6
FNO 2.9
Y 10.2
TL 105.0
BF 41.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 58.7110 2.1000 1.772500 49.62
2 15.3501 9.7000
3 96.6445 1.7000 1.834810 42.73
4 21.1455 5.7000
5 52.2647 4.0000 1.581440 40.98
6 -23.5276 0.3000
7 -20.7612 2.8000 1.772500 49.62
8 11.8123 5.0000 1.728250 28.38
9 -64.2676 9.5000
10 -63.6732 2.6000 1.517420 52.20
11 -12.9573 1.4000 1.902650 35.73
12 -21.5909 1.8000
13 (Aperture) ∞ 8.3000
14 -1118.3104 1.5000 1.846660 23.80
15 33.9487 4.0000 1.497820 82.57
16 -26.9411 0.2000
17 45.9639 3.2000 1.651600 58.57
18 -49.7473 41.2241
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Regular icosahedron Face shape: Equilateral triangle Angle of view 2ωA = 74.75 °
Angle of view 2ωB = 115.40 °

(Appropriate sensor aspect)
b 13.8
a 20.7
2Y-b 6.4

(Appropriate embodiment)
Embodiments 3, 4, 5

FIG. 53 is an aberration diagram of the optical system according to the 14th embodiment of the present application.
From FIG. 53, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(15th Example)
A fifteenth embodiment will be described with reference to FIGS. 54, 55 and 15. As shown in FIG. 54, the lens system according to the fifteenth embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GF has a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a biconvex shape arranged in order from the object side along the optical axis. A junction lens consisting of a positive lens L13, a biconcave negative lens L14, and a biconvex positive lens L15, a meniscus-shaped positive lens L16 with a concave surface facing the object side, and a meniscus shape with a concave surface facing the object side. It is composed of a bonded lens made of the negative lens L17 of the above.

The rear group GR includes a junction lens composed of a biconcave negative lens L21 and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 54 shows the image plane I of this lens system.
Table 15 below shows the values of each specification in the 15th embodiment.

(Table 15) Fifteenth Example (Basic Specifications)
f 10.6
FNO 2.9
Y 6.3
TL 105.0
BF 41.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 60.1136 2.1000 1.772500 49.62
2 15.3022 9.7000
3 79.6717 1.7000 1.834810 42.73
4 20.9269 5.7000
5 56.4966 4.0000 1.581440 40.98
6 -22.9875 0.3000
7 -20.3569 2.8000 1.772500 49.62
8 11.9459 5.0000 1.728250 28.38
9 -62.1390 9.5000
10 -55.8816 2.6000 1.517420 52.20
11 -12.9209 1.4000 1.902650 35.73
12 -21.1407 1.8000
13 (Aperture) ∞ 8.3000
14 -1343.4000 1.5000 1.846660 23.80
15 33.6080 4.0000 1.497820 82.57
16 -27.3417 0.2000
17 45.0478 3.2000 1.651600 58.57
18 -49.8177 41.2223
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Octahedron Surface shape: Equilateral triangle Angle of view 2ωA = 109.47 °
Angle of view 2ωB = 150.02 °

(Appropriate sensor aspect)
b 8.8
a 13.2
2Y-b 3.7

(Appropriate embodiment)
Embodiments 3, 4, 5

FIG. 55 is an aberration diagram of the optical system according to the fifteenth embodiment of the present application.
From FIG. 55, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

(16th Example)
The sixteenth embodiment will be described with reference to FIGS. 56, 57 and 16. As shown in FIG. 56, the lens system according to the 16th embodiment has a front group GF having a negative refractive power, an aperture diaphragm S, and a positive refractive power arranged in order from the object side along the optical axis. It is composed of a rear group GR that has.

The front group GFs are a meniscus-shaped negative lens L11 having a convex surface facing the object side, a meniscus-shaped negative lens L12 having a convex surface facing the object side, and a meniscus-shaped negative lens L12 arranged in order from the object side along the optical axis. It is composed of a meniscus-shaped negative lens L13 with a convex surface facing and a biconvex positive lens L14.

The rear group GR consists of a junction lens consisting of a meniscus-shaped negative lens L21 with a convex surface facing the object side and a biconvex positive lens L22 arranged in order from the object side along the optical axis, and a biconvex positive lens. It consists of L23.

An image is formed on the sensor by this lens system and an image is taken. FIG. 56 shows the image plane I of this lens system.
Table 16 below shows the values of each specification in the 16th embodiment.

(Table 16) 16th Example (Basic Specifications)
f 1.3
FNO 2.4
Y 2.0
TL 25.3
BF 4.2

(Surface data)
Surface number rd nd νd
0 (object surface) ∞ (variable)
1 18.0049 1.0000 1.785900 44.17
2 4.0576 2.8000
3 24.2007 1.0000 1.651600 58.57
4 2.8982 2.2000
5 40.6251 1.0000 1.620410 60.25
6 4.0195 1.0000
7 27.1564 2.3000 1.805180 25.45
8-4.8159 1.7000
9 (Aperture) ∞ 1.5000
10 19.1090 1.0000 1.784720 25.64
11 2.6361 3.4000 1.603110 60.69
12 -4.5563 0.2000
13 11.3779 2.0000 1.487490 70.31
14 -12.5346 4.1837
Image plane ∞

(Appropriate spherical camera aspect)
Polyhedron: Hemisphere (two eyes)
Angle of view 2ωA = 180.00 °
Angle of view 2ωB = 221.88 °

(Appropriate sensor aspect)
b 3.6
a 4.8
2Y-b 0.5

(Appropriate embodiment)
Embodiments 3, 4, 5

FIG. 57 is an aberration diagram of the optical system according to the 16th embodiment of the present application.
From FIG. 57, it can be seen that the optical system according to this embodiment has excellent imaging performance with various aberrations corrected satisfactorily.
It can also be seen that the chromatic aberration is well corrected.

Hereinafter, Table 17 shows the values of each conditional expression of each embodiment.

According to each of the above embodiments, it was possible to acquire a compact and high-quality image even though the wide-field optical device is a combination of a plurality of lens systems.

Up to this point, in order to make the present invention easier to understand, the present invention has been described with the constituent requirements of the embodiments as described above, but it goes without saying that the present invention is not limited thereto.

OL optics GF 1st lens group GR 2nd lens group S Aperture aperture I image plane IS sensor a Length of long side of sensor b Length of short side of sensor IC image circle CAM spherical camera (optical device)

Claims (44)

A spherical camera having a plurality of lens systems, in which the optical axis of each lens system and the straight line extending the optical axis do not have an intersection. The spherical camera according to claim 1, wherein the number of the lens systems is 4 or more. The spherical camera according to claim 1 or 2, wherein the number of the lens systems is 4, 6, 8, 12, or 20. The spherical camera according to any one of claims 1 to 3, wherein the lens systems are all the same lens system. Four lens systems with a maximum angle of view of 140 degrees or more, eight lens systems with a maximum angle of view of 109 degrees or more, or twelve lens systems with a maximum angle of view of 74 degrees or more. The omnidirectional camera according to claim 4, further comprising 20 lenses or the lens system having a maximum angle of view of 74 degrees or more. The omnidirectional camera according to claim 4, further comprising the six lens systems having a maximum angle of view of 109 degrees or more. Assuming that the distance on the optical axis between the most object side surface of the lens system and the image plane is TL and the maximum effective diameter of the object side surface of the lens system on the most object side is φ1, the following conditional expression is satisfied. The spherical camera according to 6.
1.0 <TL / φ1 <5.0 Assuming that the distance on the optical axis between the outermost object side surface of the lens system and the image plane is TL, and the maximum effective diameter of the object side surface of the second lens from the object side of the lens system is φ2, the following conditional expression is satisfied. The spherical camera according to claim 6 or 7.
1.0 <TL / φ2 <10.0 The present invention according to any one of claims 1 to 8, where the focal length from the outermost object side surface to the aperture of the lens system is fa and the focal length from the aperture to the most image side surface is fb, which satisfies the following conditional expression. Spherical camera.
-20.0 <fa / fb <20.0 If the distance on the optical axis from the outermost object side surface of the lens system to the image plane is TL and the distance from the diaphragm to the image plane on the optical axis is S, the following conditional equations are satisfied. The spherical camera according to any one of 9.
0.20 <S / TL <0.80 An omnidirectional camera that has four or more lens systems and intersects optical paths. The omnidirectional camera according to claim 11, which has four lens systems. The spherical camera according to claim 11 or 12, wherein the four lens systems are arranged in a regular tetrahedron. The spherical camera according to any one of claims 11 to 13, wherein the lens systems are all the same lens system. Assuming that the distance on the optical axis between the most object side surface of the lens system and the image plane is TL, and the distance between the intersection of the optical paths and the image plane on the optical axis is K, the following conditional expression is satisfied. The spherical camera according to any one of claims 11 to 14.
0.1 <K / TL <0.9 The spherical camera according to any one of claims 11 to 15, further comprising the lens system having a maximum angle of view of 140 degrees or more. The present invention according to any one of claims 11 to 16, where the focal length from the outermost object side surface to the aperture of the lens system is fa and the focal length from the aperture to the most image side surface is fb, which satisfies the following conditional expression. Spherical camera.
-20.0 <fa / fb <20.0 Claim 11 satisfies the following conditional expression, where φ3 is the maximum diameter of the optical elements adjacent to the portions where the optical paths of the lens system intersect and the length of the portion where the optical paths intersect is D in the optical axis direction. The spherical camera according to any one of 17 to 17.
0.1 <D / φ3 <10.0 If the distance on the optical axis from the outermost object side surface of the lens system to the image plane is TL and the distance from the diaphragm to the image plane on the optical axis is S, the following conditional equations are satisfied. The spherical camera according to any one of 18.
0.20 <S / TL <0.80 In an optical device including a sensor and a lens system, an optical device in which a part of an image circle generated by the lens system is outside the sensor. The optical device according to claim 20, wherein the area of the image circle is S2 and the area of the image circle inscribed in the sensor is S1.
S2 / S1> 1.10 The optical device according to claim 20 or 21, wherein the center position of the sensor and the center position of the image circle are different. The optical device according to any one of claims 20 to 22, which satisfies the following conditional expression.
0.00 ≤ d / b ≤ 0.17
However,
d: The distance between the center position of the sensor and the center position of the image circle in the short side direction of the sensor,
b: The length of the short side of the sensor. A spherical camera having at least four lens systems in the spherical camera provided with the optical device according to any one of claims 19 to 23. The spherical camera according to claim 24, wherein the lens systems are all the same lens system. The spherical camera according to claim 24 or 25, which satisfies the following conditional expression.
0.10 ≤ d / b ≤ 0.17 The spherical camera according to claim 24 or 25, wherein the number of the lens systems is at least 7, and the following conditional expression is satisfied.
0.01 ≤ d / b ≤ 0.06 Four lens systems with a maximum angle of view of 140 degrees or more, six lens systems with a maximum angle of view of 109 degrees or more, or eight lens systems with a maximum angle of view of 109 degrees or more. In any one of claims 24 to 27, 12 of the lens systems having a maximum angle of view of 74 degrees or more, or 20 of the lens systems having a maximum angle of view of 74 degrees or more. The listed all-sky camera. According to any one of claims 24 to 28, where the focal length from the outermost object side surface to the aperture of the lens system is fa and the focal length from the aperture to the most image side surface is fb, the following conditional expression is satisfied. Spherical camera.
-20.0 <fa / fb <20.0 Claim 24 to Satisfy the following conditional expression, where TL is the distance on the optical axis between the outermost object side surface of the lens system and the image plane, and S is the distance on the optical axis from the diaphragm to the image plane. The spherical camera according to any one of 29.
0.20 <S / TL <0.80 The spherical camera according to claim 1 or 11, or the optical device according to claim 20, which receives an image formed by a plurality of lens systems by sensors arranged on the same plane. The optical device according to claim 31, wherein the sensors arranged on the same plane are one sensor. The optical device according to claim 31 or 32, comprising an optical element that bends an optical path. The optical device according to any one of claims 31 to 33, wherein the number of the lens system and the number of imaged images are two. The optical device according to any one of claims 31 to 34, where P is the aspect ratio of the sensor and satisfies the following conditional expression.
1.0 ≤ P <3.0 A spherical camera having at least four lens systems in the spherical camera provided with the optical device according to any one of claims 31 to 35. The omnidirectional camera according to claim 36, which has a virtual polyhedron inside the assumed sphere, and one lens system is assigned to one surface of the polyhedron. The spherical camera according to claim 36 or 37, wherein an image of light incident from two adjacent surfaces of the polyhedron is received by the one sensor. The spherical camera according to any one of claims 36 to 38, which comprises at least two of the sensors. The spherical camera according to any one of claims 36 to 39, wherein the lens systems are all the same lens system. Four lens systems with a maximum angle of view of 140 degrees or more, six lens systems with a maximum angle of view of 109 degrees or more, or eight lens systems with a maximum angle of view of 109 degrees or more. The first aspect of claims 36 to 40 includes 12 lens systems having a maximum angle of view of 74 degrees or more, or 20 lens systems having a maximum angle of view of 74 degrees or more. The listed all-sky camera. The present invention according to any one of claims 36 to 41, where the focal length from the outermost object side surface to the aperture of the lens system is fa and the focal length from the aperture to the most image side surface is fb, which satisfies the following conditional expression. Spherical camera.
-20.0 <fa / fb <20.0 Claim 36 to Satisfy the following conditional expression, where TL is the distance on the optical axis between the outermost object side surface of the lens system and the image plane, and S is the distance on the optical axis from the diaphragm to the image plane. The spherical camera according to any one of 42.
0.20 <S / TL <0.80 All-sky optics having multiple lens systems and the optical axis of each lens system and the straight line extending the optical axis do not have an intersection, or all-sky optics having four or more lens systems and intersecting optical paths. A method for manufacturing a camera or an optical device including a sensor and a lens system, wherein at least four optical devices in which a part of an image circle generated by the lens system is outside the sensor are arranged.

Images