JP7013628B1 - Lens device, image pickup device, image pickup system, mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform correction of image shake more accurately. A lens device includes an optical system, a reflective member 116 having a reflective surface that bends an optical path of the optical system, a support member 120 including a support portion that supports a bottom surface of the reflective member on the opposite side of the reflective surface, and reflection. A holding member that holds the reflective member and the support member swingably with the member as a fulcrum, an elastic member that applies a force having a component in the direction in which the reflective member is pressed against the support portion, a reflective member, and the reflective member. A magnet 142 provided on one side of the holding member and a coil 144 provided on the other side of the reflecting member and the holding member facing the magnet are included, and a current is passed through the coil to swing the reflecting member with the support portion as a fulcrum. A drive circuit 140 configured as described above may be provided. The support member may adjust the position of the support portion with respect to the holding member in order to adjust the magnitude of the force applied by the elastic member to the reflective member. [Selection diagram] FIG. 6

Description

The present invention relates to a lens device, an image pickup device, an image pickup system, and a moving body.

Patent Document 1 describes that an actuator including a magnet and a coil compensates for the movement of a user's hand by tilting a mirror that bends an optical path.
[Prior Art Document]
[Patent Document]
[Patent Document 1] US Patent Application Publication No. 2019/0146283

In the image pickup device that corrects the image shake by tilting the mirror as described above, the image shake may not be sufficiently corrected depending on the environment in which the image pickup device is used.

The lens device according to one aspect of the present invention may include an optical system. The lens device may include a reflective member having a reflective surface that bends the optical path of the optical system. The lens device may include a support member including a support portion that supports the bottom surface of the reflective member opposite to the reflective surface. The lens device may include a holding member that holds the reflective member and the support member so that the reflective member swings around the support portion as a fulcrum. The lens device may include an elastic member that applies a force having a component in the direction in which the reflective member is pressed against the support portion to the reflective member. The lens device includes a magnet provided on one of the reflecting member and the holding member and a coil provided on the other of the reflecting member and the holding member so as to face the magnet. By passing a current through the coil, the lens device reflects with the support portion as a fulcrum. A drive circuit configured to swing the member may be provided. The support member may adjust the position of the support portion with respect to the holding member in order to adjust the magnitude of the force applied by the elastic member to the reflective member.

The support member may have a threaded groove on the outer peripheral surface. The holding member may have a threaded hole that fits into the threaded groove of the supporting member. By adjusting the amount by which the support member is screwed into the holding member, the position of the support portion with respect to the holding member may be adjusted, and the magnitude of the force applied by the elastic member to the reflective member may be adjusted.

The lens device may further include a washer that adjusts the amount by which the support member is screwed into the holding member.

The support portion may be a ball rotatably supported by the support member.

The drive circuit may include a plurality of magnets and a plurality of coils. The plurality of magnets and the plurality of coils may be arranged around the support member.

The plurality of magnets are the first magnet, the second magnet arranged on the opposite side of the first magnet in the first direction across the support member, the third magnet, and the third magnet sandwiching the support member. It may include a fourth magnet located opposite in two directions. The plurality of coils include a first coil arranged to face the first magnet, a second coil arranged to face the second magnet, and a third coil arranged to face the third magnet. It may include a fourth coil disposed opposite to the fourth magnet.

The first magnet, the second magnet, the third magnet, and the fourth magnet may be arranged on the bottom surface of the reflective member. The first coil, the second coil, the third coil, and the fourth coil may be arranged on the holding member so as to face each of the first magnet, the second magnet, the third magnet, and the fourth magnet.

The lens device may include a plurality of elastic members. The plurality of elastic members sandwich the first elastic member, the support portion, the second elastic member arranged on the opposite side of the first elastic member in the first direction, the third elastic member, and the support portion. It may include a fourth elastic member arranged on the opposite side of the third elastic member in the second direction.

The reflective member may include an optical element having a reflective surface.

The spring constant of the elastic member may be a value at which the primary resonance frequency of the reflective member pressed against the elastic member becomes 200 kHz or more.

The image pickup apparatus according to one aspect of the present invention may include the lens apparatus and an image sensor that receives light from the lens apparatus.

The image pickup system according to one aspect of the present invention may include the above image pickup device and a support mechanism for supporting the image pickup device so that the posture of the image pickup device can be controlled. The support mechanism may control the posture of the image pickup device in order to correct the image blur in the first frequency band. The drive circuit may be configured to swing the reflecting member by passing a current through the coil in order to correct the image blurring in the second frequency band higher than the first frequency band.

The moving body according to one aspect of the present invention may be a moving body provided with the above-mentioned imaging system.

The spring constant of the elastic member may be a value at which the primary resonance frequency of the reflective member pressed against the elastic member becomes higher than the frequency caused by the vibration generated by the moving body when the moving body is driven.

The moving body may be a flying body having at least one rotor. The spring constant of the elastic member may be a value at which the primary resonance frequency of the reflective member pressed against the elastic member is higher than the frequency caused by the vibration generated in the flying object when at least one rotary blade rotates.

According to one aspect of the present invention, image shake correction can be performed more accurately.

The outline of the above invention does not list all the features of the present invention. A subcombination of these feature groups can also be an invention.

It is a figure which shows an example of the appearance of an unmanned aerial vehicle and a remote control device. It is an external perspective view of an image pickup apparatus. FIG. 1 is a cross-sectional view taken along the line AA of FIG. It is a perspective view of the internal structure of an image pickup apparatus. It is an external perspective view of a reflection mechanism. It is sectional drawing of the reflection mechanism. It is a figure which shows the assembly procedure of a reflection mechanism. It is a figure which shows the assembly procedure of a reflection mechanism. It is a figure which shows the assembly procedure of a reflection mechanism.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention to which the claims are made. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

The claims, description, drawings, and abstracts include matters subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.

FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 1000 and a remote control device 300. The UAV 1000 includes a UAV main body 20, a plurality of image pickup devices 60, and an image pickup system 10. The image pickup system 10 includes a gimbal 50 and an image pickup device 100. The UAV1000 is a concept including a moving body, a flying body moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like. An airship that moves in the air is a concept that includes UAVs, other aircraft that move in the air, airships, helicopters, and the like.

The UAV main body 20 includes a plurality of rotary wings. The plurality of rotor blades are an example of a propulsion unit. The UAV main body 20 flies the UAV 1000 by controlling the rotation of a plurality of rotary blades. The UAV body 20 flies the UAV 1000 using, for example, four rotor blades. The number of rotor blades is not limited to four. Further, the UAV1000 may be a fixed-wing aircraft having no rotor blades.

The image pickup apparatus 100 is a camera for taking an image of a subject included in a desired imaging range. The gimbal 50 rotatably supports the image pickup device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 rotatably supports the image pickup device 100 on a pitch axis using an actuator. The gimbal 50 further rotatably supports the image pickup device 100 around each of the roll axis and the yaw axis by using an actuator. The gimbal 50 may change the posture of the image pickup device 100 by rotating the image pickup device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of image pickup devices 60 are sensing cameras that image the surroundings of the UAV 1000 in order to control the flight of the UAV 1000. Two image pickup devices 60 may be provided in front of the nose of the UAV 1000. Yet two other imaging devices 60 may be provided on the bottom surface of the UAV 1000. The two image pickup devices 60 on the front side may be paired and function as a so-called stereo camera. The two image pickup devices 60 on the bottom side may also be paired and function as a stereo camera. Three-dimensional spatial data around the UAV 1000 may be generated based on the images captured by the plurality of image pickup devices 60. The number of image pickup devices 60 included in the UAV 1000 is not limited to four. The UAV 1000 may include at least one image pickup device 60. The UAV1000 may be equipped with at least one image pickup device 60 on each of the nose, aft, side surface, bottom surface, and ceiling surface of the UAV1000. The angle of view that can be set by the image pickup device 60 may be wider than the angle of view that can be set by the image pickup device 100. The image pickup apparatus 60 may have a single focus lens or a fisheye lens.

The remote control device 300 communicates with the UAV 1000 to remotely control the UAV 1000. The remote control device 300 may wirelessly communicate with the UAV 1000. The remote control device 300 transmits to the UAV 1000 instruction information indicating various commands related to the movement of the UAV 1000 such as ascending, descending, accelerating, decelerating, advancing, reversing, and rotating. The instruction information includes, for example, instruction information for raising the altitude of the UAV 1000. The instruction information may indicate the altitude at which the UAV 1000 should be located. The UAV 1000 moves so as to be located at an altitude indicated by the instruction information received from the remote control device 300. The instruction information may include an ascending instruction to ascend the UAV 1000. The UAV1000 rises while accepting the rise order. Even if the UAV1000 accepts an ascending order, the ascending may be restricted if the altitude of the UAV1000 has reached the upper limit altitude.

FIG. 2 is an external perspective view of the image pickup apparatus 100. FIG. 3 is a cross-sectional view taken along the line AA of FIG. FIG. 4 is a perspective view of the internal structure of the image pickup apparatus 100.

The image pickup apparatus 100 includes a first lens group 101, a second lens group 102, a reflection mechanism 110, and an image sensor 103. The reflection mechanism 110 is arranged between the first lens group 101 and the second lens group 102. The reflection mechanism 110 bends the optical path of the optical system including the first lens group 101 and the second lens group 102. The light incident from the first lens group 101 is reflected by the reflection mechanism 110, is incident on the second lens group 102, and is received by the image sensor 103. The reflection mechanism 110 changes the direction of the light emitted from the first lens group 101 to a different direction, and causes the light from the first lens group 101 to be incident on the second lens group 102.

The reflection mechanism 110 functions as an optical image shake correction mechanism (OIS). The image pickup apparatus 100 drives the reflection mechanism 110 based on the vibration signal indicating the vibration of the image pickup apparatus 100 detected by the vibration sensor, and executes the image shake correction. The vibration sensor may be an acceleration sensor that detects the vibration of the image pickup apparatus 100. The gyro sensor detects, for example, angular runout and rotational runout. The accelerometer detects, for example, shift deviation in the X direction or the Y direction. Even with a gyro sensor, angles and rotations can be converted into components in the X direction and components in the Y direction. The accelerometer can also convert shift blur in the X direction and Y direction into angular blur and rotational blur. The vibration sensor may be a combination of an acceleration sensor and a gyro sensor. The vibration sensor may be provided on the gimbal 50.

The image pickup system 10 configured in this way may perform image shake correction by combining the gimbal 50 and the reflection mechanism 110. The gimbal 50 may correct the image shake in the first frequency band. The reflection mechanism 110 may correct the image shake in the second frequency band different from the first frequency band. The gimbal 50 may correct image shake in a frequency band of about 1 kHz to 10 kHz. The reflection mechanism 110 may correct image shake in a frequency band of about 10 kHz to 150 kHz.

FIG. 5 is an external perspective view of the reflection mechanism 110. FIG. 6 is a cross-sectional view of the reflection mechanism 110. The reflection mechanism 110 includes a reflection member 116, a support member 120, and a base member 130. The reflective member 116 has a reflective surface 112a that bends the optical path of the first lens group 101 and the second lens group 102. The reflective member 116 includes an optical element 112 including a reflective surface 112a, and a movable member 114 that holds the optical element 112. In FIG. 5, the first direction 70 and the second direction 72 opposite to the first direction 70 are directions along a plane including the reflection surface 112a. The third direction 74 and the fourth direction 76 opposite to the third direction 74 are directions along the plane including the reflection surface 112a and perpendicular to the first direction 70 and the second direction 72. The fifth direction 78 and the sixth direction 80 opposite to the fifth direction 78 are directions perpendicular to the plane including the reflection surface 112a.

The support member 120 supports the bottom surface of the reflective member 116 opposite to the reflective surface 112a. The support member 120 has a ball 122, an adjusting screw 124, and a washer 126. The ball 122 is rotatably supported by the tip of the adjusting screw 124.

The bottom surface of the movable member 114 has a hemispherical groove 114a into which the ball 122 is rotatably fitted. The base member 130 holds the reflective member 116 and the support member 120 so that the reflective member 116 can swing around the ball 122 as a fulcrum. The base member 130 is an example of a holding member.

The reflection mechanism 110 further includes a leaf spring 150. The reflection mechanism 110 may include four leaf springs 150. The leaf spring 150 applies a force having a component in the direction (sixth direction 80) pressed against the ball 122 to the reflective member 116. The movable member 114 is rectangular when viewed from the reflective surface 112a side. The leaf spring 150 is arranged in the groove 114b provided on each of the four side surfaces of the movable member 114. The leaf spring 150 is an example of an elastic member.

The four leaf springs 150 include a first leaf spring, a second leaf spring, a third leaf spring, and a fourth leaf spring. The first leaf spring may be arranged in the groove 114b on the side surface of the movable member 114 in the first direction 70. The second leaf spring may be arranged in the groove 114b on the side surface of the movable member 114 opposite the second direction 72 of the first leaf spring with the support member 120 interposed therebetween. The third leaf spring may be arranged in the groove 114b on the side surface of the movable member 114 in the third direction 74. The fourth leaf spring may be arranged in the groove 114b on the side surface of the movable member 114 opposite to the fourth direction 76 of the third leaf spring.

The reflection mechanism 110 further includes a drive circuit 140 that swings the reflection member 116 with the ball 122 as a fulcrum. The drive circuit 140 has four magnets 142 and four coils 144. The four magnets 142 are arranged at the edges of the four sides of the bottom surface of the movable member 114. The four coils 144 are arranged on the mounting surface facing the bottom surface of the movable member 114 of the base member 130 so as to face each of the four magnets 142.

The four magnets 142 include a first magnet, a second magnet, a third magnet, and a fourth magnet. The first magnet may be arranged along the side of the bottom surface of the movable member 114 in the first direction 70. The second magnet may be arranged along the side of the bottom surface of the movable member 114 opposite the second direction 72 of the first magnet with the support member 120 interposed therebetween. The third magnet may be arranged along the side of the bottom surface of the movable member 114 in the third direction 74. The fourth magnet may be arranged along the side of the bottom surface of the movable member 114 opposite the fourth direction 76 of the third magnet with the support member 120 interposed therebetween.

The four coils 144 include a first coil, a second coil, a third coil, and a fourth coil. The first coil is arranged to face the first magnet. The first coil may be arranged along the side of the mounting surface of the base member 130 in the first direction 70. The second coil is arranged to face the second magnet. The second coil may be arranged along the side of the mounting surface of the base member 130 opposite the second direction 72 of the first coil with the support member 120 interposed therebetween. The third coil is arranged to face the third magnet. The third coil may be arranged along the side of the mounting surface of the base member 130 in the third direction 74. The fourth coil is arranged to face the fourth magnet. The fourth coil may be arranged along the side of the mounting surface of the base member 130 opposite the fourth direction 76 of the third coil with the support member 120 interposed therebetween. The coil 144 may be provided on the movable member 114, and the magnet 142 may be provided on the base member 130.

The drive circuit 140 causes a magnetic field to be generated around the coil 144 by passing a current through at least one coil 144 out of the four coils 144 in order to perform image runout correction, and causes the reflection member 116 to swing.

The adjusting screw 124 has a thread groove on the outer peripheral surface. The base member 130 has a screw hole that fits into the thread groove of the adjusting screw 124. The support member 120 adjusts the position of the ball 122 with respect to the base member 130 in order to adjust the magnitude of the force of the leaf spring 150 having the component of the sixth direction 80 applied to the reflective member 116. More specifically, by adjusting the amount of the adjusting screw 124 screwed into the base member 130, the position of the ball 122 with respect to the base member 130 is adjusted, and the magnitude of the force applied by the leaf spring 150 to the reflective member 116 is large. Is adjusted. The washer 126 may be used to adjust the amount by which the adjusting screw 124 is screwed into the base member 130. By adjusting the thickness of the washer 126 used, the amount of the adjusting screw 124 screwed into the base member 130 may be adjusted. If the magnitude of the force applied to the reflective member 116 by the leaf spring 150 can be adjusted only by the adjusting screw 124, the washer 126 may be omitted.

When the reflection mechanism 110 swings the reflection member 116 at a frequency of 1 kHz to 10 kHz, the driving amount of the reflection member 116 becomes large. When the driving amount of the reflective member 116 becomes large, the linearity between the Lorentz force acting between the magnet 142 and the coil 144 and the displacement of the reflective member 116 deteriorates. Therefore, in OIS drive control, it is necessary to provide a position detection sensor such as a Hall element for feedback control. However, when the reflective member 116 is to be driven at 10 kHz to 150 kHz, the resolution of the OIS drive control needs to be finer to about 1/20 to 1/30 or less as compared with the resolution at 1 kHz to 10 kHz. However, it is difficult to achieve the resolution with a position detection sensor. However, when the reflection mechanism 110 swings the reflection member 116 at a frequency of 10 kHz to 150 kHz, the driving amount of the reflection member 116 is relatively small. For example, the reflection mechanism 110 may vibrate the reflection member 116 on the order of nanomicrons. Therefore, it is easy to maintain the linearity between the Lorentz force acting between the magnet 142 and the coil 144 and the displacement of the reflective member 116. Therefore, in the present embodiment, the reflection mechanism 110 does not execute feedback control based on the detection result by the position detection sensor that detects the position of the reflection member 116. That is, the reflection mechanism 110 does not have a position detection sensor that detects the position of the reflection member 116.

Further, in order to increase the driving amount of the reflective member 116, the force with which the leaf spring 150 presses the movable member 114 against the ball 122 cannot be increased so much. That is, in order to make the leaf spring 150 easily deformed to some extent, the spring constant of the leaf spring 150 is a relatively small value. However, if the spring constant of the leaf spring 150 is small, the reflective member 116 pressed against the leaf spring 150 resonates due to the vibration of the image pickup device 100 depending on the environment in which the image pickup device 100 is used. For example, when the image pickup system 10 is mounted on a moving body such as a UAV, the reflecting member 116 may resonate due to the vibration generated by the driving of the moving body.

Therefore, in the present embodiment, the gimbal 50 corrects the image shake of the frequency of 1 kHz to 10 kHz, and the reflection mechanism 110 corrects the image shake of the frequency of 10 kHz to 150 kHz that cannot be completely corrected by the gimbal 50. The reflection mechanism 110 swings the reflection member 116 in order to correct the image shake of the frequency in the second frequency band higher than the first frequency band corrected by the gimbal 50.

In order for the reflection mechanism 110 to correct the image runout in a relatively high frequency band, it is necessary to make the spring constant of the leaf spring 150 relatively large. Then, in order to prevent the resonance of the reflective member 116, it is necessary to adjust the force with which the leaf spring 150 presses the movable member 114 against the ball 122 with a certain degree of accuracy.

Therefore, in the present embodiment, the member that supports the ball 122 is configured by the adjusting screw 124 in order to adjust the position of the ball 122 with respect to the base member 130. Thereby, by adjusting the screwing amount of the adjusting screw 124 with respect to the base member 130, the position of the ball 122 with respect to the base member 130 can be easily adjusted. Therefore, the force with which the leaf spring 150 presses the movable member 114 against the ball 122 can be accurately adjusted.

Further, the spring constant of the leaf spring 150 is set to a value at which the primary resonance frequency of the reflective member 116 pressed against the leaf spring 150 becomes 200 kHz or more. As a result, it is possible to prevent the reflective member 116 pressed against the leaf spring 150 from resonating due to the vibration generated by the image shake correction by the gimbal 50 and the image shake correction by the reflection mechanism 110.

When the image pickup apparatus 100 is mounted on a moving body such as the UAV 1000 via the gimbal 50, the reflection member 116 may resonate due to the vibration generated when the moving body is driven. Therefore, the spring constant of the leaf spring 150 is set so that the primary resonance frequency of the reflective member 116 pressed against the leaf spring 150 is higher than the frequency caused by the vibration generated by the moving body when the moving body is driven. ..

When the image pickup device 100 is mounted on the UAV 1000 via the gimbal 50, the primary resonance frequency of the reflective member 116 pressed against the leaf spring 150 is the vibration generated in the UAV 1000 when at least one rotary blade rotates. The value should be higher than the frequency caused by.

This makes it possible to prevent the image shake from being sufficiently corrected depending on the environment in which the image pickup apparatus 100 is used. Further, for example, when the image pickup apparatus 100 is mounted on a moving body such as the UAV 1000, it is possible to prevent the reflecting member 116 from resonating due to the vibration of the moving body. It is possible to prevent the reflective member 116 from unintentionally vibrating when the OSI control is not executed and no current is flowing through the coil 114.

7A, 7B, and 7C are views showing an assembly procedure of the reflection mechanism 110. As shown in FIG. 7A, the reflective member 116 is assembled to the base member 130 in a state where the coils 144 are arranged in the four recesses on the mounting surface of the base member 130. Next, as shown in FIG. 7B, the leaf spring 150 is fitted in the groove 114b on the side surface of the movable member 114. Further, as shown in FIG. 7C, the ball 122, the washer 126, and the adjusting screw 124 are attached to the base member 130 from the back side of the base member 130. Here, the screwing amount of the adjusting screw 124 may be finely adjusted to adjust the force with which the leaf spring 150 presses the reflective member 116. By changing the thickness of the washer 126, the force with which the leaf spring 150 presses the reflective member 116 may be adjusted.

As described above, according to the present embodiment, since the force of the leaf spring 150 pressing the reflective member 116 can be appropriately adjusted, the image shake correction can be performed more accurately regardless of the usage environment of the image pickup apparatus 100.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the apparatus, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 Imaging system 20 UAV main unit 50 Gimbal 60 Imaging device 100 Imaging device 101 First lens group 102 Second lens group 103 Image sensor 110 Reflective mechanism 112 Optical element 112a Reflective surface 114 Movable member 114a, 114b Groove 116 Reflective member 120 Support member 122 Ball 124 Adjusting screw 126 Washer 130 Base member 140 Drive circuit 142 Magnet 144 Coil 150 Leaf spring 300 Remote control device 1000 UAV

Claims (15)

Optical system and
A reflective member having a reflective surface that bends the optical path of the optical system, and
A support member including a support portion that supports the bottom surface of the reflective member opposite to the reflective surface, and a support member.
A holding member that holds the reflective member and the support member so that the reflective member can swing around the support portion as a fulcrum.
An elastic member that applies a force having a component in the direction in which the reflective member is pressed against the support portion to the reflective member.
A magnet provided on one of the reflecting member and the holding member and a coil provided on the other of the reflecting member and the holding member so as to face the magnet are included, and the support portion is provided by passing a current through the coil. A drive circuit configured to swing the reflective member as a fulcrum is provided.
The support member is a lens device that adjusts the position of the support portion with respect to the holding member in order to adjust the magnitude of the force applied by the elastic member to the reflection member. The support member has a thread groove on the outer peripheral surface and has a screw groove.
The holding member has a screw hole that fits into the thread groove of the support member.
By adjusting the amount by which the support member is screwed into the holding member, the position of the support portion with respect to the holding member is adjusted, and the magnitude of the force applied by the elastic member to the reflective member is adjusted. , The lens device according to claim 1. The lens device according to claim 2, further comprising a washer that adjusts the amount by which the support member is screwed into the holding member. The lens device according to claim 1, wherein the support portion is a ball rotatably supported by the support member. The drive circuit has a plurality of the magnets and the plurality of coils.
The lens device according to claim 1, wherein the plurality of magnets and the plurality of coils are arranged around the support member. The plurality of magnets
With the first magnet
A second magnet arranged on the opposite side of the first magnet in the first direction with the support member interposed therebetween
With the third magnet
A fourth magnet arranged on the opposite side of the third magnet in the second direction with the support member interposed therebetween is included.
The plurality of coils are
The first coil arranged to face the first magnet and
A second coil arranged to face the second magnet and
A third coil arranged to face the third magnet and
The lens apparatus according to claim 5, further comprising a fourth coil arranged to face the fourth magnet. The first magnet, the second magnet, the third magnet, and the fourth magnet are arranged on the bottom surface of the reflective member.
The first coil, the second coil, the third coil, and the fourth coil face each of the first magnet, the second magnet, the third magnet, and the fourth magnet, and the said. The lens device according to claim 6, which is arranged on a holding member. With the plurality of elastic members,
The plurality of elastic members are
The first elastic member and
A second elastic member arranged on the opposite side of the first elastic member in the first direction with the support portion interposed therebetween.
With the third elastic member
The lens device according to claim 1, further comprising a fourth elastic member arranged on the opposite side of the third elastic member in the second direction with the support portion interposed therebetween. The lens device according to claim 1, wherein the reflective member includes an optical element having the reflective surface. The lens device according to claim 1, wherein the spring constant of the elastic member is a value at which the primary resonance frequency of the reflective member pressed against the elastic member becomes 200 kHz or more. The lens device according to any one of claims 1 to 10.
An image pickup device including an image sensor that receives light from the lens device. The imaging device according to claim 11 and
It is provided with a support mechanism that supports the image pickup device so that the posture of the image pickup device can be controlled.
The support mechanism controls the posture of the image pickup device in order to correct the image blur in the first frequency band.
The drive circuit is an image pickup system configured to cause the reflection member to swing by passing a current through the coil in order to correct image blurring in a second frequency band higher than the first frequency band. A mobile body that moves with the imaging system according to claim 12. The spring constant of the elastic member is a value at which the primary resonance frequency of the reflective member pressed against the elastic member becomes higher than the frequency caused by the vibration generated in the moving body when the moving body is driven. , The moving body according to claim 13. The moving body is a flying body having at least one rotor blade.
The spring constant of the elastic member is such that the primary resonance frequency of the reflective member pressed against the elastic member is higher than the frequency caused by the vibration generated in the flying object when the at least one rotary blade rotates. The moving body according to claim 14, which is a value.

Images