JP7066951B1 - Lens device, image pickup device, and moving object - Google Patents

Abstract

A lens device has a drive source, a lead screw extending along an optical axis and rotated by the drive source, and a screw hole into which the lead screw is inserted. A transmission member that moves in the second direction and transmits power for moving the first holding member in the first direction, and the first holding member is pushed by a force having a component in the second direction with respect to the second holding member. , An elastic member that moves the first holding member in the second direction in response to the movement of the transmission member in the second direction, and the first holding member moves in the first direction and the second direction with respect to the second holding member. It may be equipped with a guide mechanism for guiding the operation. The guide mechanism may have a guide groove portion provided along the optical axis facing each other and a ball arranged between the guide groove portions in each of the first holding member and the second holding member. [Selection diagram] FIG. 10

Description

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

In Patent Document 1, "a guide rail 14 is formed so as to project from one corner of the lens portion 12 in a direction along the optical axis L, and is fitted to a corresponding portion (groove portion 31) of the lens frame 30 to fit the optical axis. It is a detent to guide in the (L) direction. Further, a guide pin 45 is provided at a diagonal position of the guide rail 14 in a direction along the optical axis L, which is a corresponding part of the lens frame. It is a guide that fits into the guide hole 38 and slides in the L direction of the optical axis. "
[Prior Art Document]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2007-181368

The rattling of the guide mechanism in the actuator unit as described above may cause the optical axis of the lens to shift, causing image shake.

The lens device according to one aspect of the present invention moves a first holding member for holding a lens and a first holding member along a first direction along the optical axis of the lens and a second direction opposite to the first direction. A second holding member that holds the first holding member may be provided. The lens device has a drive source, a lead screw extending along the optical axis and rotated by the drive source, and a screw hole into which the lead screw is inserted, and the rotation of the lead screw causes the lens device to move in the first direction and the second direction. A transmission member that moves and transmits power for moving to the first holding member in the first direction and a transmission member that pushes the first holding member with a force having a component in the second direction with respect to the second holding member, and the transmission member An elastic member that moves the first holding member in the second direction in response to the movement in the second direction, and a guide that the first holding member moves in the first direction and the second direction with respect to the second holding member. It may be provided with a guide mechanism. The guide mechanism may have a guide groove portion provided along the optical axis facing each other and a ball arranged between the guide groove portions in each of the first holding member and the second holding member.

The guide mechanism is a magnet provided on one of the first holding member and the second holding member and a magnet on the other of the first holding member and the second holding member so that the first holding member is attracted to the second holding member. It may further have a ferromagnet provided opposite to it.

The width in the direction of the optical axis of the magnet may be longer than the width in the direction of the optical axis of the ferromagnet.

The magnet may be provided on the second holding member. The ferromagnet may be provided on the first holding member.

A limiting mechanism may be further provided to limit the movement of the first holding member in the fourth direction opposite to the third direction attracted to the second holding member.

The limiting mechanism is an outer surface and an outer surface of the first holding member that intersects the first and second directions and the third and fourth directions, respectively, in the fifth direction and the sixth direction opposite to the fifth direction. It may have a protrusion protruding from one of the inner side surfaces of the second holding member facing the side surface. The limiting mechanism is provided on the outer surface of the first holding member and the other of the inner surface of the second holding member along the optical axis facing the protrusion, the protrusion is inserted, and the first holding member is inserted. 2 It may have a slit that restricts the holding member from moving in the fourth direction.

The guide groove portion may have a first guide groove portion provided along the optical axis on one of the first holding member and the second holding member. The guide groove portion may have a second guide groove portion provided in one of the first holding member and the second holding member side by side in the direction along the optical axis in the first guide groove portion. The guide groove portion may have a third guide groove portion arranged on one of the first holding member and the second holding member on the opposite side of the first guide groove portion and the second guide groove portion with the lead screw interposed therebetween. The guide groove portion may have a fourth guide groove portion provided along the optical axis facing the first guide groove portion and the second guide groove portion on the other side of the first holding member and the second holding member. The guide groove portion may include a fifth guide groove portion provided along the optical axis facing the third guide groove portion on the other side of the first holding member and the second holding member. The ball may have a first ball provided between the first guide groove portion and the fourth guide groove portion. The ball may have a second ball provided between the second guide groove portion and the fourth guide groove portion. The ball may have a third ball provided between the third guide groove portion and the fifth guide groove portion.

Each of the first guide groove portion, the second guide groove portion, the third guide groove portion, the fourth guide groove portion, and the fifth guide groove portion faces the bottom surface extending along the optical axis and spreads from the bottom surface toward the opening. It may have two sides that are tilted. The first ball may come into contact with the respective side surfaces of the first guide groove portion and the third guide groove portion. The second ball may come into contact with the respective side surfaces of the second guide groove portion and the fourth guide groove portion. The third ball may come into contact with the bottom surface of each of the third guide groove portion and the fifth guide groove portion.

The image pickup device according to one aspect of the present invention may include the lens device and an image sensor that captures an image formed through the lens device.

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

According to one aspect of the present invention, it is possible to prevent the optical axis of the lens from being displaced due to the rattling of the guide mechanism and causing image shake.

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 perspective view of the internal structure of a lens apparatus. It is a top view which looked at the internal structure of the lens apparatus shown in FIG. 1 from the back side. FIG. 3 is a plan view of the lens device shown in FIG. 1 as viewed from the front. FIG. 3 is a sectional view taken along the line AA of the lens apparatus shown in FIG. It is a figure which shows typically the internal structure of the lens apparatus shown in FIG. It is a perspective view of the internal structure of the lens apparatus which concerns on this embodiment. It is sectional drawing of the lens apparatus shown in FIG. FIG. 7 is a cross-sectional view taken along the line BB of the lens apparatus shown in FIG. 6 is a schematic cross-sectional view of the internal structure of the lens apparatus shown in FIG. It is a figure which shows the guide mechanism of the lens apparatus shown in FIG. 6 is a cross-sectional view of the guide mechanism portion of the lens device shown in FIG. 6 at different positions in the direction of the optical axis. 6 is a cross-sectional view of the guide mechanism portion of the lens device shown in FIG. 6 at different positions in the direction of the optical axis. It is a figure which shows an example of the appearance of an unmanned aerial vehicle and a remote control device.

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 is a perspective view of the internal structure of the lens device 20. FIG. 2 is a plan view of the internal structure of the lens device 20 shown in FIG. 1 as viewed from the back side. FIG. 3 is a plan view of the lens device 20 as viewed from the front. FIG. 4 is a sectional view taken along the line AA of the lens device 20 shown in FIG. FIG. 5 is a diagram schematically showing the internal structure of the lens device 20.

The lens device 20 moves the lens 31, the lens frame 30 holding the lens 31, and the lens frame 30 in the first direction 70 along the optical axis of the lens 31 and in the second direction 72 opposite to the first direction 70. It includes a stepping motor 34 as a driving source for driving the lens, and a fixed frame 40 that movably holds the lens frame 30 in the first direction 70 and the second direction. The fixed frame 40 is composed of a front fixed frame 41 on the object side and a rear fixed frame 42 on the image pickup surface side.

A lead screw 35 is coupled to the drive shaft portion of the stepping motor 34. A nut 36 is engaged with the lead screw 35. The nut 36 has a screw hole that fits into the thread groove of the lead screw 35. When the lead screw 35 is rotated by driving the stepping motor 34, the nut 36 moves in the first direction 70 and the second direction 72. The nut 36 is an example of a transmission member.

The lens device 20 further includes a main guide shaft portion 32 and a sub guide shaft portion 33. The main guide shaft portion 32 and the sub guide shaft portion 33 are arranged in parallel along the optical axis, and guide the lens frame 30 to move in the first direction 70 and the second direction 72 along the optical axis. The lens device 20 further includes a spring 37 that exerts a force that presses the lens frame 30 against the nut 36. The spring 37 is arranged around the main guide shaft portion 32.

When the lead screw 35 rotates and the nut 36 moves in the second direction 72, the nut 36 pushes the lens frame 30 in the second direction 72, and the lens frame 30 moves in the second direction 72 together with the nut 36. When the lens frame 30 moves in the second direction 72, the spring 37 is pushed by the lens frame 30 and contracts. The lens frame 30 is pressed against the nut 36 by the force of the spring 37. Therefore, when the lead screw 35 rotates in the reverse direction and the nut 36 moves in the first direction 70, the lens frame 30 moves in the first direction 70 together with the nut 36 while being pressed against the nut 36.

If the image pickup device including the lens device 20 configured as described above is dropped and receives an impact, the stepping motor 34 may be affected. When an impact such that the lens frame 30 moves in the second direction 72 is applied, the lens frame 30 moves in a direction away from the nut 36, so that the impact of the lens frame 30 is not easily transmitted to the nut 36. On the other hand, when an impact such that the lens frame 30 moves in the first direction 70 is applied, the lens frame 30 applies a force in the direction of pushing the nut 36 in the first direction 70 to the nut 36. Since the nut 36 is in a state of meshing with the lead screw 35, the nut 36 cannot move in the first direction 70 with respect to the lead screw 35. Therefore, the impact of the lens frame 30 is directly transmitted to the lead screw 35 via the nut 36, and the impact may reach the stepping motor 34 via the lead screw 35 and affect the stepping motor 34.

In recent years, in order to simplify the optical configuration by increasing the size of the image sensor and reducing the size of the camera, the image pickup device often includes an optical system for driving a lens group in which a plurality of lenses are unitized. That is, the weight of the lens group held by the lens frame 30 tends to increase. As the weight of the lens group increases, the impact transmitted to the stepping motor 34 also increases, and the influence on the stepping motor 34 also increases.

Therefore, according to the lens device 200 according to the present embodiment, the impact of the lens frame 30 is less likely to be transmitted to the stepping motor 34 when the image pickup device is dropped or the like.

Further, in the lens device 20 configured as described above, there is rattling between the main guide shaft portion 32 and the guide hole 32a of the lens frame 30 into which the main guide shaft portion 32 is inserted, or the sub guide shaft portion. The rattling between the 33 and the guide groove 33b of the lens frame 30 into which the sub-guide shaft portion 33 is inserted may cause the optical axis of the lens 31 to shake, causing image blurring.

Therefore, it is conceivable to use a voice coil motor instead of the stepping motor 34 as a drive mechanism that does not use a guide mechanism such as the main guide shaft portion 32 and the sub guide shaft portion 33. However, when a voice coil motor is used, the lens frame moves by Lorentz force, and the lens frame maintains its position by magnetic force. Therefore, when the image pickup device is used in an environment where vibration is relatively likely to occur, such as when it is mounted on a moving object such as an unmanned aerial vehicle, the lens frame may vibrate due to resonance with the vibration. .. Therefore, when the image pickup device is used in such an environment, it is preferable to use a stepping motor rather than a boil coil motor.

Therefore, according to the lens device 200 according to the present embodiment, there is provided a guide mechanism in which the lens frame is not easily affected by external vibration.

FIG. 6 shows a perspective view of the internal structure of the lens device 200. FIG. 7 shows a cross-sectional view of the lens device 200. FIG. 8 shows a cross-sectional view taken along the line BB of the lens device 200 shown in FIG. FIG. 9 shows a schematic cross-sectional view of the internal structure of the lens device 200. The lens device 200 may be incorporated in an image pickup device including an image sensor that captures an image formed through the lens device 200. The lens device 200 may be an interchangeable lens that is detachably attached to an image pickup device including an image sensor.

The lens device 200 includes a lens 203 and a lens frame 202 that holds the lens 203. The lens device 200 includes a stepping motor 210 as a drive source for moving the lens frame 202 in the first direction 70 along the optical axis of the lens 203 and in the second direction 72 opposite to the first direction 70. The lens device 200 includes a fixed frame 220 that movably holds the lens frame 202 in the first direction 70 and the second direction 72. The lens frame 202 is an example of the first holding member. The fixed frame 220 is an example of the second holding member.

The lens 203 may be a lens group including a plurality of lenses. A lead screw 212 is coupled to the drive shaft portion of the stepping motor 210. The stepping motor 210 and the lead screw 212 are examples of a drive mechanism. A nut 214 is engaged with the lead screw 212. The nut 214 has a screw hole that fits into the thread groove of the lead screw 212. When the lead screw 212 is rotated by driving the stepping motor 34, the nut 214 moves in the first direction 70 and the second direction 72. The nut 214 transmits power for moving in the first direction 70 to the lens frame 202.

The fixed frame 220 has a groove 222 provided on the inner wall facing the nut frame 216. The lead screw 212 is arranged in the groove 222 along the optical axis. The nut 214 is arranged in the groove 222 so as to be movable in the first direction 70 and the second direction 72 in a state of being meshed with the lead screw 212. The nut 214 has protrusions 215 on each of the side surfaces of the fifth direction 78 and the sixth direction 80 that come into contact with the inner wall of the groove 222. Since the nut 214 has the protrusion 215, it is possible to prevent the nut 214 from rotating in the groove 222 about the lead screw 212.

The lens device 200 further includes a nut frame 216 that transmits the power of the nut 214 to the lens frame 202. The nut 214 is not in direct contact with the lens frame 202. The nut frame 216 is held by the lens frame 202 so as to be movable along the first direction 70 and the second direction 72 with respect to the lens frame 202.

The lens frame 202 has a groove 204 on the side surface facing the nut 214, and a guide shaft portion 206 arranged in the groove 204 along the optical axis. The guide shaft portion 206 is inserted into the hole of the nut frame 216 and guides the nut frame 216 movably in the first direction 70 and the second direction 72. The nut frame 216 has protrusions 217 on each of the side surfaces of the fifth direction 78 and the sixth direction 80 that come into contact with the inner wall of the groove 204. Since the nut frame 216 has the protrusion 217, it is possible to prevent the nut frame 216 from rotating in the groove 204 about the guide shaft portion 206.

The nut frame 216 is pushed by the nut 214 in response to the movement of the nut 214 in the first direction 70 and moves in the first direction 70, thereby transmitting power to the lens frame 202 to make the lens frame 202 first. Move in direction 70. The nut 214 is an example of a transmission member or a first transmission member. The nut frame 216 is an example of the second transmission member.

The lens device 200 further includes a spring 208 and a spring 218. The spring 218 pushes the lens frame 202 against the fixed frame 220 with a force having a component of the second direction 72, and as the nut 214 moves in the second direction 72, the lens frame 202 is seconded together with the nut frame 216. Move in direction 72. The spring 218 is an example of the first elastic member.

The spring 208 is arranged in the groove 204 of the lens frame 202. The spring 208 is arranged around the guide shaft portion 206. The spring 208 pushes the nut frame 216 against the lens frame 202 with a force having a component in the second direction 72, and pushes the nut frame 216 against the nut 214. The spring 208 is an example of the second elastic member.

The force with the second direction component generated by the spring 208 is greater than the force with the second direction component generated by the spring 218. The force having the component in the second direction generated by the spring 208 may be 10 times or more larger than the force having the component in the second direction 72 generated by the spring 218.

In the lens device 200 configured as described above, when the lead screw 212 rotates and the nut 214 moves in the first direction 70, the nut 214 pushes the nut frame 216 in the first direction 70. The nut frame 216 moves in the first direction 70 together with the nut 214 while being pressed against the nut 214 by the spring 208. The lens frame 202 also moves in the first direction 70 while contracting the spring 218 with the movement of the nut frame 216.

When the lead screw 212 rotates and the nut 214 moves in the second direction 72, the lens frame is subjected to the force having the component of the second direction 72 generated by the spring 218 while the nut frame 216 is pressed against the nut 214. 202 moves in the second direction 72 together with the nut frame 216.

In the lens device 200 configured in this way, when the lens device 200 is impacted by dropping or the like and the lens frame 202 moves in the first direction 70, the spring 218 contracts and the nut frame 216 becomes a nut. It moves away from 214 and moves in the first direction 70 together with the lens frame 202. Therefore, it is possible to prevent the impact from being transmitted to the stepping motor 210 via the nut 214 and the lead screw 212 due to the movement of the lens frame 202 in the first direction 70 due to the impact.

Further, when the lens frame 202 moves in the second direction 72 due to an impact such as the lens device 200 falling, the spring 208 contracts while maintaining the state in which the nut frame 216 is in contact with the nut 214. Therefore, the nut frame 216 does not move in the second direction 72 together with the lens frame 202. Therefore, even when the lens frame 202 moves in the second direction 72 due to the impact, the impact can be prevented from being transmitted to the stepping motor 210 via the nut 214 and the lead screw 212.

Further, the total movement amount of the movement amount 252 movable in the first direction 70 of the lens frame 202 and the movement amount 254 movable in the second direction 72 is in the first direction 70 and the second direction 72 of the nut frame 216. The amount of movement that can be moved may be less than 250. As a result, the lens frame 202 collides with the inner wall of the fixed frame 220 before the nut frame 216 collides with the inner wall of the groove 222 of the fixed frame 220. Therefore, it is possible to prevent the impact due to the movement of the lens frame 202 from being transmitted to the fixed frame 220 and transmitted to the stepping motor 210 via the nut frame 216 and the lead screw 212. That is, the impact caused by the movement of the lens frame 202 can be absorbed by the fixed frame 220.

FIG. 10 is a diagram showing a guide mechanism of the lens device 200. 11 and 12 are cross-sectional views of the guide mechanism portion of the lens device 200 at different positions in the direction of the optical axis.

The lens device 200 includes a guide groove portion and a ball instead of the guide shaft portion as a guide mechanism for guiding the lens frame 202 to move in the first direction 70 and the second direction 72. The guide groove portion is provided in each of the lens frame 202 and the fixed frame 220 so as to face each other along the optical axis. The balls are placed between the guide grooves. The lens device 200 includes a magnet provided on the fixed frame 220 and a metal plate provided on the lens frame 202 facing the magnet so that the lens frame 202 is attracted to the fixed frame 220. A magnet may be provided on the lens frame 202, and a metal plate may be provided on the fixed frame 220. However, in order to reduce the weight of the lens frame 202 to be moved, it is preferable to provide the fixed frame 220 with a magnet heavier than the metal plate. The metal plate is an example of a ferromagnet. With such a configuration, it is possible to prevent the optical axis of the lens 203 from being displaced due to the rattling of the guide mechanism like the guide shaft portion, which causes image blurring.

The fixed frame 220 is provided on the inner wall facing the lens frame 202 with a first guide groove portion 231 provided along the optical axis and a second guide groove portion 232 provided in the first guide groove portion 231 side by side in the direction along the optical axis. And have. The fixed frame 220 further has a third guide groove portion 233 arranged on the inner wall facing the lens frame 202 on the opposite side of the first guide groove portion 231 and the second guide groove portion 232 with the lead screw 212 interposed therebetween. The third guide groove portion 233 is arranged in a region facing the region between the first guide groove portion 231 and the second guide groove portion 232.

The lens frame 202 has a fourth guide groove portion 234 provided along the optical axis facing the first guide groove portion 231 and the second guide groove portion 232 on the side surface of the fixed frame 220 facing the inner wall where the guide groove portion is provided. .. The lens frame 202 further has a fifth guide groove portion 235 provided along the optical axis facing the third guide groove portion 233 on the side surface of the fixed frame 220 facing the inner wall where the guide groove portion is provided.

The lens device 200 further includes a first ball 241 and a second ball 242, and a third ball 243 as a guide mechanism. The first ball 241 is arranged between the first guide groove portion 231 and the fourth guide groove portion 234. The second ball 242 is arranged between the second guide groove portion 232 and the fourth guide groove portion 234. The third ball 243 is arranged between the third guide groove portion 233 and the fifth guide groove portion 235.

The first ball 241, so that the distance between the center of gravity of the triangle apexing the first ball 241 and the second ball 242 and the center of gravity of the lens frame 202 holding the lens 203 is the shortest. It is preferable to arrange each of the second ball 242 and the third ball 243.

The lens device 200 includes a first magnet 261, a second magnet 262, and a third magnet 263 provided on the fixed frame 220 so that the lens frame 202 is attracted to the fixed frame 220, and a first metal provided on the lens frame 202. A plate 271, a second metal plate 272, and a third metal plate 273 are provided.

The first magnet 261 and the second magnet 262, and the third magnet 263 are provided along the optical axis, respectively. The second magnet 262 and the third magnet 263 are arranged apart from each other in the direction along the optical axis. The third guide groove portion 233 is arranged between the second magnet 262 and the third magnet 263. The first magnet 261 is arranged on the side facing the region between the second magnet 262 and the third magnet 263 with the lead screw 212 interposed therebetween.

The first metal plate 271 is provided on the side surface of the lens frame 202 facing the inner wall where the guide groove portion of the fixed frame 220 is provided, facing the first magnet 261. The second metal plate 272 is provided on the side surface of the lens frame 202 facing the inner wall where the guide groove portion of the fixed frame 220 is provided, facing the second magnet 262. A fifth guide groove portion 235 is provided between the second metal plate 272 and the third metal plate 273.

The cross sections of the first guide groove portion 231 and the second guide groove portion 232, the third guide groove portion 233, the fourth guide groove portion 234, and the fifth guide groove portion 235 are V-shaped. As shown in FIG. 11, the first guide groove portion 231 has a bottom surface 231a extending along the optical axis and two side surfaces 231b facing each other and inclined so as to spread from the bottom surface 231a toward the opening. The fourth guide groove portion 234 has a bottom surface 234a extending along the optical axis and two side surfaces 234b facing each other and inclined so as to spread from the bottom surface 234a toward the opening. As shown in FIG. 12, the third guide groove portion 233 has a bottom surface 233a extending along the optical axis and two side surfaces 233b facing each other and inclined so as to spread from the bottom surface 233a toward the opening. The fifth guide groove portion 235 has a bottom surface 235a extending along the optical axis and two side surfaces 235b facing each other and inclined so as to spread from the bottom surface 235a toward the opening.

As shown in FIG. 11, the first ball 241 is in contact with the two side surfaces 231b of the first guide groove portion 231 and the two side surfaces 234b of the fourth guide groove portion 234, respectively. The first ball 241 and the second ball 242 arranged along the direction of the optical axis are also in contact with the two side surfaces of the second guide groove portion 232 and the two side surfaces 234b of the fourth guide groove portion 234, respectively. This makes it possible to prevent the lens frame 202 from tilting with respect to the fixed frame 220 about the axis along the third direction 74 and the fourth direction 76 opposite to the third direction 74. It is possible to prevent the lens frame 202 from tilting with respect to the fixed frame 220 along the surface on which the lens frame 202 and the fixed frame 220 face each other.

On the other hand, as shown in FIG. 12, the third ball 243 is in contact with the bottom surface 233a of the third guide groove portion 233 and the bottom surface 235a of the fifth guide groove portion 235, respectively. This prevents the lens frame 202 from tilting with respect to the fixed frame 220 about an axis along the sixth direction 80 opposite to the fifth direction 78 and the fifth direction 78, for example, an axis along the optical axis. can.

The width of the first magnet 261, the second magnet 262, and the third magnet 263 in the direction of the optical axis is larger than the width of the first metal plate 271, the second metal plate 272, and the third metal plate 273 in the direction of the optical axis. long. The width of the first magnet 261 and the second magnet 262 in the direction of the optical axis of the third magnet 263 is longer than the width of movement in the direction of the optical axis of the lens frame 202. The area where the first metal plate 271, the second metal plate 272, and the third metal plate 273 overlap with the first magnet 261 and the second magnet 262 and the third magnet 263 in the third direction 74 or the fourth direction 76 is a lens. It does not change due to the difference in the position of the frame 202 with respect to the fixed frame 220. As a result, it is possible to prevent the magnetic force of the lens frame 202 and the fixed frame 220 from fluctuating due to the difference in the position of the lens frame 202 with respect to the fixed frame 220. Therefore, fluctuations in the torque of the stepping motor 210 can be suppressed.

The lens device 200 further includes a limiting mechanism that limits the movement of the lens frame 202 in the fourth direction 76 opposite to the third direction 74 attracted to the fixed frame 220. The limiting mechanism is a sixth direction 80 opposite to the fifth direction 78 and the fifth direction 78 of the lens frame 202 that intersects the first direction 70 and the second direction 72 and the third direction 74 and the fourth direction 76, respectively. It has a protruding portion 281 protruding from the inner side surface 2201 of the fixed frame 220 facing the outer surface 2021 of the above. Further, the limiting mechanism has a slit 282 provided on the outer surface 2021 of the lens frame 202 along the optical axis facing the protrusion 281. A protrusion 281 is inserted into the slit 282, and the lens frame 202 is restricted from moving in the fourth direction 76 with respect to the fixed frame 220.

The limiting mechanism restricts the lens frame 202 from moving in the fourth direction 76 with respect to the fixed frame 220, thereby preventing the guide grooves from separating from each other and causing the balls arranged between the guide grooves to fall off. can. The protrusion 281 may be provided on the outer surface 2021 of the lens frame 202, and the slit 282 may be provided on the inner surface 2201 of the fixed frame 220.

The image pickup apparatus 100 provided with the lens apparatus 200 as described above may be mounted on a moving body. The image pickup device 100 including the lens device 200 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. The UAV 1000 may include a UAV main body 50, a gimbal 300, a plurality of image pickup devices 60, and an image pickup device 100. The gimbal 300 and the image pickup apparatus 100 are examples of an image pickup system. The UAV1000 is an example of a moving body propelled by a propulsion unit. The moving body is a concept including a UAV, a flying object such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like.

The UAV main body 50 includes a plurality of rotor blades. The plurality of rotor blades are an example of a propulsion unit. The UAV main body 50 flies the UAV 1000 by controlling the rotation of a plurality of rotor blades. The UAV body 50, for example, flies the UAV 1000 using 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 300 rotatably supports the image pickup device 100. The gimbal 300 is an example of a support mechanism. For example, the gimbal 300 rotatably supports the image pickup device 100 on a pitch axis using an actuator. The gimbal 300 further rotatably supports the image pickup device 100 around each of the roll axis and the yaw axis by using an actuator. The gimbal 300 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, tail, 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 600 communicates with the UAV 1000 to remotely control the UAV 1000. The remote control device 600 may communicate wirelessly with the UAV 1000. The remote control device 600 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 600. 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.

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.

20 Lens device 30 Lens frame 31 Lens 32 Main guide shaft 33 Sub-guide shaft 34 Stepping motor 35 Lead screw 36 Nut 37 Spring 40 Fixed frame 41 Front fixed frame 42 Rear fixed frame 50 UAV body 60 Imaging device 100 Imaging device 200 Lens Device 202 Lens frame 203 Lens 204 Groove 206 Guide shaft 208,218 Spring 210 Stepping motor 212 Lead screw 214 Nut 215,217 Protrusion 216 Nut frame 220 Fixed frame 222 Groove 231 1st guide groove 232 2nd guide groove 233 3rd Guide groove 234 4th guide groove 235 5th guide groove 241 1st ball 242 2nd ball 243 3rd ball 261 1st magnet 262 2nd magnet 263 3rd magnet 271 1st metal plate 272 2nd metal plate 273 3rd metal Plate 281 Projection 282 Slit 300 Gimbal 600 Remote control device 1000 UAV

Claims (8)

The first holding member that holds the lens and
A second holding member that movably holds the first holding member in a first direction along the optical axis of the lens and in a second direction opposite to the first direction.
The drive source held by the second holding member and
A lead screw that extends along the optical axis, is rotatably held by the second holding member, and is rotated by the drive source.
It has a screw hole into which the lead screw is inserted, and moves in the first direction and the second direction by the rotation of the lead screw, and transmits power for moving the lead screw to the first holding member in the first direction. And the transmission member
The first holding member is pushed against the second holding member by a force having the component in the second direction, and the first holding member is pushed in response to the movement of the transmission member in the second direction. An elastic member that moves in the direction,
The first holding member is provided on each facing surface between the first holding member and the second holding member, and the first holding member moves in the first direction and the second direction with respect to the second holding member. Equipped with a guide mechanism to guide things
The guide mechanism is
A guide groove portion provided along the optical axis so as to face each other on the facing surfaces of the first holding member and the second holding member.
It has a ball arranged between the guide grooves and
The guide groove is
A first guide groove portion provided along the optical axis on one of the facing surfaces of the first holding member and the second holding member,
A second guide groove portion provided in the first guide groove portion side by side in the direction along the optical axis on one of the facing surfaces of the first holding member and the second holding member.
A third guide groove portion arranged on the opposite surface of the first holding member and the second holding member, with the lead screw interposed therebetween, on the opposite side of the first guide groove portion and the second guide groove portion.
A fourth guide groove portion provided along the optical axis facing the first guide groove portion and the second guide groove portion on the other facing surface of the first holding member and the second holding member.
A fifth guide groove portion provided along the optical axis facing the third guide groove portion on the other facing surface of the first holding member and the second holding member.
Including
The ball is
A first ball provided between the first guide groove portion and the fourth guide groove portion, and
A second ball provided between the second guide groove portion and the fourth guide groove portion, and
With a third ball provided between the third guide groove portion and the fifth guide groove portion
Have,
The first guide groove portion, the second guide groove portion, the third guide groove portion, the fourth guide groove portion, and the fifth guide groove portion each face the bottom surface extending along the optical axis and face each other from the bottom surface. It has two sides that incline to spread towards the opening,
The first ball comes into contact with the side surfaces of the first guide groove portion and the fourth guide groove portion, respectively.
The second ball comes into contact with the side surfaces of the second guide groove portion and the fourth guide groove portion, respectively.
The third ball is a lens device that comes into contact with the bottom surfaces of the third guide groove portion and the fifth guide groove portion . The guide mechanism includes a magnet provided on one of the first holding member and the second holding member so that the first holding member is attracted to the second holding member, and the first holding member and the second holding member. The lens device according to claim 1, further comprising a ferromagnet provided on the other side of the holding member so as to face the magnet. The lens device according to claim 2, wherein the width of the magnet in the direction of the optical axis is longer than the width of the ferromagnet in the direction of the optical axis. The magnet is provided on the second holding member, and the magnet is provided on the second holding member.
The lens device according to claim 3, wherein the ferromagnet is provided on the first holding member. The lens according to any one of claims 2 to 4 , further comprising a limiting mechanism for restricting the movement of the first holding member in a fourth direction opposite to the third direction attracted to the second holding member. Device. The limiting mechanism is
The outer surfaces of the first holding member in the fifth direction and the sixth direction opposite to the fifth direction, which intersect each of the first direction and the second direction and the third direction and the fourth direction, respectively. And a protruding portion protruding from one of the inner side surfaces of the second holding member facing the outer surface, and
The outer surface of the first holding member and the inner side surface of the second holding member are provided along the optical axis facing the protrusion, and the protrusion is inserted into the first holding member. The lens device according to claim 5, further comprising a slit that restricts the holding member from moving in the fourth direction with respect to the second holding member. The lens device according to any one of claims 1 to 6 .
An imaging device including an image sensor that captures an image formed through the lens device. A moving body that moves with the image pickup apparatus according to claim 7 .

Images