WO2017179445A1 - 複眼カメラモジュール、及び電子機器 - Google Patents
複眼カメラモジュール、及び電子機器 Download PDFInfo
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- WO2017179445A1 WO2017179445A1 PCT/JP2017/013510 JP2017013510W WO2017179445A1 WO 2017179445 A1 WO2017179445 A1 WO 2017179445A1 JP 2017013510 W JP2017013510 W JP 2017013510W WO 2017179445 A1 WO2017179445 A1 WO 2017179445A1
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- Prior art keywords
- camera module
- connecting member
- monocular camera
- compound eye
- frame
- Prior art date
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Classifications
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B30/00—Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B19/00—Cameras
- G03B19/02—Still-picture cameras
- G03B19/04—Roll-film cameras
- G03B19/07—Roll-film cameras having more than one objective
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
Definitions
- the present technology relates to a compound-eye camera module and an electronic device, and more particularly, to a compound-eye camera module and an electronic device that can more effectively fix a plurality of monocular camera modules with a connecting member.
- a compound-eye camera module in which a plurality of monocular camera modules are combined is known (for example, see Patent Document 1).
- a method of fixing a plurality of monocular camera modules there is a method of fixing using a connecting member having a predetermined shape.
- the present technology has been made in view of such a situation, and more effectively enables a plurality of monocular camera modules to be fixed by a connecting member.
- a compound eye camera module includes a plurality of monocular camera modules and a connecting member for connecting the plurality of monocular camera modules, and is for positioning formed on a camera-side reference plane in each monocular camera module.
- This is a compound-eye camera module in which the plurality of monocular camera modules are connected by combining the camera-side positioning part and the positioning member-side positioning part formed on the member-side reference surface of the connecting member.
- An electronic apparatus includes a plurality of monocular camera modules and a coupling member for coupling the plurality of monocular camera modules, and is for positioning formed on a camera-side reference plane in each monocular camera module
- the compound eye camera module or electronic device may be an independent device or an internal block constituting one device.
- a positioning camera-side positioning portion formed on the camera-side reference surface in each monocular camera module and a positioning member-side positioning portion formed on the member-side reference surface of the connecting member are provided.
- a plurality of monocular camera modules are connected.
- a plurality of monocular camera modules can be more effectively fixed by the connecting member.
- FIG. 1 It is a figure which shows the structural example of an electronic device. It is a figure which shows the usage example of a compound eye camera module. It is a figure which shows an example of a schematic structure of an endoscopic surgery system. It is a block diagram which shows an example of a function structure of a camera head and CCU. It is a block diagram which shows an example of a schematic structure of an in-vivo information acquisition system. It is a block diagram which shows an example of a schematic structure of a vehicle control system. It is explanatory drawing which shows an example of the installation position of a vehicle exterior information detection part and an imaging part.
- FIG. 1 is a diagram illustrating a configuration example of an external appearance of a compound eye camera module to which the present technology is applied.
- FIG. 1A is a perspective view of the compound-eye camera module 10
- FIG. 1B is a front view of the compound-eye camera module 10.
- the compound eye camera module 10 is a compound eye type camera module, and is configured by fixing the monocular camera module 101-1 and the monocular camera module 101-2 by a connecting member 102 having a rectangular plate shape. .
- the monocular camera module 101-1 is equipped with a solid-state imaging device such as a CMOS (Complementary Metal Metal Oxide Semiconductor) image sensor, a lens unit, and the like.
- CMOS Complementary Metal Metal Oxide Semiconductor
- the solid-state imaging device includes a pixel unit in which a plurality of pixels are arranged two-dimensionally, a peripheral circuit unit that performs pixel driving, A / D (Analog / Digital) conversion, and the like. Has been.
- this solid-state imaging device light (image light) incident from the lens in the lens unit is imaged on the light receiving surface of the pixel unit, and the imaged light is photoelectrically converted to generate a pixel signal. Is done.
- the monocular camera module 101-2 is configured by mounting a CMOS image sensor, a lens unit, and the like.
- the monocular camera module 101-1 can be the main camera while the monocular camera module 101-2 can be the sub camera.
- the connecting member 102 has a rectangular plate shape with a larger outline than the size in the planar direction when the lens unit of the monocular camera module 101-1 and the lens unit of the monocular camera module 101-2 are arranged.
- a rectangular insertion hole into which the lens unit of the monocular camera module 101-1 is inserted into the connecting member 102 and a rectangular insertion hole into which the lens unit of the monocular camera module 101-2 is inserted are symmetrical. Is formed through.
- the lens unit of the monocular camera module 101-1 and the lens unit of the monocular camera module 101-2 are inserted into two rectangular insertion holes formed through the connecting member 102, respectively. Is fixed. Accordingly, the compound eye camera module 10 is configured as a compound eye type camera module including the monocular camera module 101-1 and the monocular camera module 101-2.
- the compound eye camera module 10 is configured as described above.
- the monocular camera module 101-1 and the monocular camera module 101-2 are an example of a plurality of monocular camera modules connected by the connecting member 102, and in the following, there is no need to particularly distinguish them. This will be simply referred to as the monocular camera module 101.
- the monocular camera module is a camera module on which one solid-state image sensor (image sensor) is mounted.
- the compound eye camera module is a camera module in which a plurality of solid-state imaging devices (image sensors) are mounted by connecting a plurality of monocular camera modules.
- the module may be called by other names such as a package.
- step S101 a frame mounting process is performed.
- a frame is attached to each of the plurality of sensor modules.
- the sensor module to which the frame is attached is also referred to as a sensor module with a frame.
- step S102 a lens mounting process is performed.
- the lens units are respectively attached to the plurality of frame-equipped sensor modules assembled in the frame mounting process (S101).
- the sensor module with a frame to which the lens unit is attached corresponds to the above-described monocular camera module 101-1 (FIG. 1) and monocular camera module 101-2 (FIG. 1).
- step S103 a plate attachment process is performed.
- the connecting member 102 is attached to the plurality of monocular camera modules 101 (101-1, 101-2) assembled in the lens mounting process (S102).
- the monocular camera module 101-1 and the monocular camera module 101-2 are coupled and fixed by the coupling member 102, and the compound-eye camera module 10 is completed.
- the overall flow of the manufacturing process of the compound eye camera module 10 has been described above. Next, the detailed content of each process in the manufacturing process of the compound eye camera module 10 is demonstrated. However, in this manufacturing process, a case where the compound eye camera module 10 is manufactured by connecting the two monocular camera modules 101 (101-1, 101-2) by the connecting member 102 will be described as an example.
- FIG. 3 is a diagram for explaining the frame mounting process.
- the sensor module 121-1 As shown in FIG. 3, in the frame mounting process, after the sensor corresponding surface 122A-1 of the frame 122-1 is adjusted with respect to the sensor surface 121A-1 of the sensor module 121-1, the sensor module 121-1 The substrate 121B-1) and the frame 122-1 (the surface of the region other than the sensor corresponding surface 122A-1) are fixed by resin bonding or the like.
- the sensor corresponding surface 122A-1 is made of a member that can transmit light (transparent optical member).
- the frame 122-1 is 6-axis correction mounted on the sensor module 121-1.
- the X axis, the Y axis, and the optical axis direction of the sensor corresponding surface 122A-1 of the frame 122-1 are aligned with the optical axis direction of the sensor surface 121A-1 of the sensor module 121-1.
- Correction in a total of six axes including ⁇ in the rotation direction of the plane, ⁇ in the tilt direction of the X axis, and ⁇ in the tilt direction of the Y axis is performed on the three axes of the Z axis. In other words, it can be said that alignment in the optical axis direction is performed here.
- FIG. 4 shows the detailed structure of the frame 122-1 in FIG.
- the frame 122-1 has a reference mark 131-indicating that it is a reference plane (camera side reference plane) when assembling with the connecting member 102 in the plate attaching process (S 103 in FIG. 2). 1 to 133-1 are formed.
- one of the surfaces of the frame 122-1 on the side indicated by the arrow A1 is a reference surface (camera side reference surface).
- the other surface on the side indicated by the arrow A2 is not a reference surface.
- the frame 122-1 includes a positioning hole portion 141-1 that is a positioning portion (reference portion) when assembling with the connecting member 102 in the plate attachment process, and positioning.
- a hole 142-1 is formed through.
- the positioning hole portion 141-1 and the positioning hole portion 142-1 are formed with a certain distance on the frame 122-1.
- a screw insertion hole 151-1 and a screw insertion hole 152-1 for fixing the connecting member 102 with screws are formed through the frame 122-1.
- the frame 122-1 has a rectangular plate shape in which a partial region protrudes, and the positioning hole portion 141-1 and the screw insertion hole portion 151 are formed in the protruding region (part). -1 is formed.
- a positioning hole 142-1 and a screw insertion hole 152-1 are formed in a region near the edge opposite to the protruding region.
- the reference marks 131-1 to 133-1 are an example of a method for indicating that the surface on the arrow A1 side is the reference surface, and are reference surfaces by other methods. If it is recognizable, it is not necessarily provided.
- the frame 122-1 is attached to the sensor module 121-1 has been described, but the frame 122-2 is similarly attached to the sensor module 121-2.
- the frame 122-2 has the same shape as the frame 122-1, and, like the frame 122-1, the positioning hole portion 141-2, the positioning hole portion 142-2, and the screw insertion hole portion. 151-2 and a screw insertion hole 152-2 are formed.
- the attachment direction is different from that of the frame 122-1. That is, the frame 122-2 has the same shape as the frame 122-1, but the direction of attachment is rotated 180 degrees on the XY plane with respect to the direction of attachment of the frame 122-1. It is attached to the module 121-2.
- the frame 122-1 and the frame 122-2 are attached to the sensor module 121-1 and the sensor module 121-2, respectively, so that the sensor module with frame 111-1 and the sensor module with frame as shown in FIG. 111-2 are each assembled.
- the sensor module with frame 111-1 is aligned in the optical axis direction by the six-axis correction mounting of the frame 122-1 with respect to the sensor module 121-1, in the frame mounting process. It is fixed by resin bonding or the like.
- the sensor module with frame 111-2 is aligned with the sensor module 121-2 by performing 6-axis correction mounting of the frame 122-2, so that alignment in the optical axis direction is performed and the sensor module 111-2 is fixed by resin bonding or the like. It is a thing.
- the upper surface side in FIG. 5 is a reference surface (camera side reference surface). Also, since the frame 122-1 and the frame 122-2 are mounted in different directions (when one frame is used as a reference, the other frame is rotated 180 degrees on the XY plane). Therefore, the protruding portion of the frame 122-1 and the protruding portion of the frame 122-2 can be combined.
- FIG. 6 is a diagram for explaining the lens mounting process.
- the frame 122-1 is adjusted.
- the lens unit 112-1 and the lens unit 112-1 are fixed by resin bonding or the like.
- the lens unit 112-1 is six-axis corrected mounted on the sensor module with frame 111-1 (sensor module 121-1).
- the X-axis, Y-axis, and Z-axis are set so that the optical axis direction of the lens unit 112-1 (the lens thereof) matches the optical axis direction of the sensor surface 121A-1 of the sensor module 121-1.
- FIG. 6 shows the case where the lens unit 112-1 is attached to the sensor module with frame 111-1, but the lens unit 112 is similarly applied to the sensor module with frame 111-2. -2 will be attached.
- the lens unit 112-1 and the lens unit 112-2 are respectively attached to the sensor module with frame 111-1 and the sensor module with frame 111-2, so that the monocular camera module 101-1 as shown in FIG. And the monocular camera module 101-2 are assembled.
- the monocular camera module 101-1 is aligned in the optical axis direction by the lens unit 112-1 being six-axis corrected mounted on the sensor module with frame 111-1 by the lens mounting process. It is fixed by resin bonding or the like.
- the lens unit 112-2 is mounted on the six-axis correction mount with respect to the sensor module with frame 111-2, so that alignment in the optical axis direction is performed, and resin bonding or the like is performed. It is fixed.
- the upper surface side in FIG. 7 is a reference surface (camera side reference surface).
- the lens unit 112-1 and the lens unit 112-2 are attached to the sensor surface 121A-1 (sensor corresponding surface 122A-1) and the sensor surface 121A-2 (sensor corresponding surface 122A-2). . Therefore, positioning holes 141 (141-1, 141-2) and positioning holes 142 (142-1, 142-2) and screw insertion holes 151 (151) in the frames 122-1 and 122-2 are provided. -1, 151-2) and the screw insertion hole 152 (152-1, 152-2) are not covered by the lens unit 112-1 and the lens unit 112-2.
- FIG. 8 is a diagram for explaining the plate attaching process.
- the monocular camera module 101-1 and the monocular camera module 101-2 are connected to the connecting member 102 by the lens unit 112-1 and the lens unit 112-2 side (sensor surface 121A- 1 and the sensor surface 121A-2 side).
- FIG. 9 shows a detailed structure of the connecting member 102 of FIG. 9A, positioning protrusions 161-1 and 161- are provided on the connecting member 102 on the reference surface (member-side reference surface) side when the frame 122-1 and the frame 122-2 are assembled. 2 and positioning protrusions 162-1 and 162-2 are formed.
- the connecting member 102 includes screw insertion holes 171-1 and 171-2 for fixing the frame 122-1 and the frame 122-2 with screws, and screw insertion holes 172-1 and 172-2. Is formed.
- positioning protrusions 161 (161-1, 161-2) and positioning protrusions 162 (162-1, 162-2) are formed on the surface of the connecting member 102.
- One of the surfaces indicated by the arrow A1 is a reference surface (member-side reference surface).
- the other surface on the side indicated by the arrow A2 is not a reference surface.
- the positioning projections 161-1 and 161-2, the positioning projections 162-1 and 162-2, the connecting member 102, the monocular camera module 101-1, and the monocular camera module 101- This is a positioning part (reference part) when assembling with No. 2 (frame 122-2).
- FIG. 9B is a part of the connecting member 102 of FIG. 9A, and is an enlarged view of the periphery of the positioning protrusion 161-1 and the positioning protrusion 161-2. As shown in FIG. 9B, the positioning projections 161-1 and positioning projections 161-2 have a cylindrical shape.
- the connecting member 102 is a member for connecting the monocular camera module 101-1 (the frame 122-1) and the monocular camera module 101-2 (the frame 122-2).
- the lens unit 112-1 and the lens unit 112-2 are formed in a rectangular plate shape having a larger outline than the size when the lens unit 112-1 and the lens unit 112-2 are arranged in the XY plane direction.
- the connecting member 102 has a rectangular insertion hole 181-1 having a rectangular shape into which the lens unit 112-1 of the monocular camera module 101-1 is inserted, and a lens unit 112-2 of the monocular camera module 101-2.
- a rectangular insertion hole portion 181-2 having a rectangular shape is inserted therethrough.
- the rectangular insertion hole 181-1 and the rectangular insertion hole 181-2 are formed to be symmetrical.
- the positioning projection 161-1 and the positioning projection 162-1 have a monocular camera module 101- having a lens unit 112-1 inserted into the rectangular insertion hole 181-1 at the time of assembly.
- the positioning holes 141-1 (FIG. 7) and the positioning holes 142-1 (FIG. 7) formed in one frame 122-1 (FIG. 7) are formed in a corresponding shape. Yes.
- the positioning projection 161-2 and the positioning projection 162-2 are arranged so that the frame 122- of the monocular camera module 101-2 having the lens unit 112-2 inserted into the rectangular insertion hole 181-2 at the time of assembly. 2 (FIG. 7) is formed in a corresponding shape at a position corresponding to the positioning hole portion 141-2 (FIG. 7) and the positioning hole portion 142-2 (FIG. 7).
- the shape of the holes in the positioning holes (141-1, 142-1, 141-2, 142-2) formed in the frame 122-2 (FIG. 7) correspond to, for example, a cylindrical shape. It consists of the shape.
- the reference surface (member side reference surface) of the connecting member 102 and the reference surface (camera side reference surface) of the frame 122-1 are opposed to each other in the optical axis direction.
- the monocular camera module 101-1 the lens unit 112-1 thereof
- the positioning projection 161-1 and the positioning projection 162-1 of the connecting member 102 are attached to the frame. It is inserted into the positioning hole portion 141-1 and the positioning hole portion 142-1.
- the reference surface (member side reference surface) of the connecting member 102 and the reference surface (camera side reference surface) of the frame 122-2 face each other in the optical axis direction.
- the monocular camera module 101-1 and the monocular camera module 101-2 are coupled by the coupling member 102. Thereby, as shown in FIG. 10, the compound-eye camera module 10 is assembled.
- FIG. 10A is a plan view of the compound-eye camera module 10
- FIG. 10B is a bottom view of the compound-eye camera module 10.
- the connecting member 102, the frame 122-1 of the monocular camera module 101-1, and the frame 122-2 of the monocular camera module 101-2 include screws 191-1 and 191-2 and screws 192. -1 and 192-2 to be fixed by screwing.
- the positioning projections 161-1 and the positioning projections 162-1 of the connecting member 102 are connected to the positioning holes 141-1 and the positioning holes 142- of the frame 122-1. 1 and the positioning is completed, the screw insertion hole 171-1 and the screw insertion hole 172-1 of the connecting member 102, and the screw insertion hole 151-1 and the screw insertion hole 152-2 of the frame 122-1. 1 overlaps and each screw insertion hole part is connected.
- the screw insertion hole portion of the connecting member 102 is formed by positioning and contacting the reference surface (member-side reference surface) of the connecting member 102 and the reference surface (camera-side reference surface) of the frame 122-1. 171-1 and the screw insertion hole 151-1 of the frame 122-1 are connected to form a screw hole. Then, the screw 191-1 can be screwed into the screw hole (screw insertion hole portions 171-1 and 151-1).
- the screw 192-1 is screwed into the screw hole formed by connecting the screw insertion hole 172-1 of the connecting member 102 and the screw insertion hole 152-1 of the frame 122-1. It becomes possible to make it.
- the screw 191-2 is screwed into the screw hole formed by connecting the screw insertion hole 171-2 of the connecting member 102 and the screw insertion hole 151-2 of the frame 122-2. It becomes possible.
- the screw 192-2 is screwed into the screw hole formed by connecting the screw insertion hole 172-2 of the connecting member 102 and the screw insertion hole 152-2 of the frame 122-2. It becomes possible to make it.
- the connecting member 102 and the frame 122-1 are fixed by the screws 191-1 and 192-1, and the connecting member 102 and the frame 122-2 are fixed by the screws 191-2 and 192-2.
- the monocular camera module 101-1 and the monocular camera module 101-2 are fixed to the connecting member 102, and the compound eye camera module 10 is completed.
- FIG. 11 is a diagram showing the structure of the compound eye camera module 10 after completion.
- a of FIG. 11 is a perspective view of the compound eye camera module 10
- B of FIG. 11 is a front view of the compound eye camera module 10
- C of FIG. 11 is a bottom view of the compound eye camera module 10. is there.
- the monocular camera module 101-1 and the monocular camera module 101-2 connected by the connecting member 102 are divided into a frame mounting process (S101 in FIG. 2) and The optical axis direction is aligned in the lens mounting step (S102 in FIG. 2). Therefore, in the plate attaching step (S103 in FIG. 2), positioning portions of the respective reference planes (camera side reference plane and member side reference plane) are fixed together without performing highly complex compound eye adjustment. Well, it is possible to simplify the compounding (compound eye adjustment) process.
- the monocular camera module 101 (101-1, 101-2) whose optical axis direction is aligned is connected to each reference plane (camera side reference plane and member side reference plane).
- This positioning part can be fixed to the connecting member 102 so as to be parallel to the reference plane, so that it is not necessary to perform conventional compound eye adjustment. That is, since such positioning (mechanical positioning) can be performed with high accuracy, it is not necessary to adjust the compound eye, and as a result, the compounding process can be simplified. In addition, since the compounding process is simplified as described above, the compounding process can be performed not only on the camera module manufacturing side but also on the camera module purchasing side.
- the frame 122 (122-1, 122-2) and the connecting member 102 are fixed by a detachable fixing method such as screwing when assembling the plate attaching process. Therefore, it is not necessary to interpose an adhesive on the fixed interface, and the repair property can be improved.
- the monocular camera module is connected by a connecting member, improvement in repairability is required.
- the compound-eye camera module 10 in FIG. 11 can meet the request.
- the monocular camera module 101-1 and the monocular camera module 101-2 are coupled by the coupling member 102, so that the coupling member 102 newly adds a region close to each monocular camera module 101. Therefore, it is possible to secure a heat dissipation route and improve heat dissipation.
- the conventional compound-eye camera module (monocular camera module) is required to improve heat dissipation, but the compound-eye camera module 10 of FIG. 11 can meet the demand.
- the connecting member 102 is not formed as a single member but is formed as a part of the casing in a casing (so-called set casing) that stores the compound eye camera module 10. You may make it do.
- a casing so-called set casing
- the monocular camera module 101 (101-1, 101-2) is inserted into the rectangular insertion hole 181 (181-1, 181-2) penetratingly formed in the connecting member 102. Since it is fixed, the height of the compound-eye camera module 10 (the height in the Z-axis direction) can be made equivalent (substantially the same) as the monocular camera module 101 (101-1, 101-2). That is, when the compound camera module 10 is manufactured by connecting the plurality of monocular camera modules 101 by the connecting member 102, the total height of the camera module is not increased.
- the distance (baseline length) between the monocular camera module 101-1 and the monocular camera module 101-2 can be freely adjusted according to the shape of the connecting member 102. Therefore, the degree of freedom in design can be improved.
- the compound eye camera module 10 of FIG. 11 not the dedicated compound eye camera module but a plurality of monocular camera modules 101 are connected by the connecting member 102. Alternatively, it can be selected whether to configure as the monocular camera module 101. Furthermore, in the compound eye camera module 10 of FIG. 11, by providing the connecting member 102 with a predetermined angle, for example, it can be used for applications such as wide and wide angles.
- the compound-eye camera module 10 manufactured by the above-described manufacturing process has a more advantageous effect than the conventional compound-eye camera module and the like. It can be said that a plurality of monocular camera modules 101 can be effectively fixed by the connecting member 102.
- the compound eye camera module 10 has been described as being configured by connecting the two monocular camera modules, the monocular camera module 101-1 and the monocular camera module 101-2, by the coupling member 102. Is not limited to two, and may be configured by connecting three or more monocular camera modules. For example, when three or more monocular camera modules are coupled, the monocular camera module can be fixed to the coupling member 102 by forming a rectangular insertion hole according to the number of monocular camera modules. it can.
- two positioning holes (141-1, 142-1) are formed on the reference surface (camera side reference surface) of the frame 122-1, and the reference surface (camera) of the frame 122-2 is formed.
- Two positioning holes (141-2, 142-2) are formed on the side reference surface), while four positioning projections (161) are formed on the reference surface (member side reference surface) of the connecting member 102. -1, 162-1, 161-2, 162-2) has been described.
- These positioning holes and positioning protrusions may have other shapes (for example, other than a cylindrical shape), for example, if the shapes and positions of the holes and protrusions to be combined correspond to each other during positioning. Other forms may be employed, such as forming a recess or the like without penetrating, or forming at another position on the reference surface.
- the number of positioning holes formed on the reference surface (camera side reference surface) and the number of positioning projections formed on the reference surface (member side reference surface) are determined by the camera side reference surface side and the member side. It is only necessary to correspond on the reference plane side, and the number can be arbitrary.
- positioning protrusions are formed on the reference surface (camera side reference surface) of the frame 122, positioning is performed on the reference surface (member side reference surface) of the connecting member 102.
- a hole for use may be formed.
- the position at which the frame 122-1 and the frame 122-2 and the connecting member 102 are screwed is also arbitrary, and the screw insertion hole portion on the frame 122 side ( 151-1, 152-1, 151-2, 152-2) and screw insertion holes (171-1, 172-1, 171-2, 172-2) on the connecting member 102 side.
- the method of fixing the frame 122-1 and the frame 122-2 and the connecting member 102 is not limited to screwing, and for example, a frame such as a fixing method using a tape or a disassembling resin. Any other fixing method can be adopted as long as the fixing method can detach 122 and the connecting member 102.
- the connecting member 102 is formed with rectangular insertion holes corresponding to the number of monocular camera modules so that the monocular camera modules are fixed thereto. It is not always necessary to match the number of insertion holes. For example, only one rectangular insertion hole may be formed in the connecting member 102, and the monocular camera module 101-1 and the monocular camera module 101-2 may be fixed thereto. Furthermore, in the above description, the monocular camera module 101-1 and the monocular camera module 101-2 are described as having the same shape, but they may have different shapes. In such a case, for example, it is possible to cope with the problem by changing the shape of the rectangular insertion hole formed in the connecting member 102.
- the connecting member 102 has been described as having a rectangular plate shape, but the shape of the connecting member 102 may be other than a rectangle.
- one or a plurality of protrusions having a trapezoidal shape or a semicircular shape can be provided on the connecting member 102 having a rectangular plate shape.
- the connecting member 102 is attached from the lens unit 112 side (imaging surface side) of the monocular camera module 101 in the plate attaching process. You may make it attach from directions other than a surface side.
- the connecting member 102 can be attached from the bottom side of the monocular camera module 101.
- a reference mark may be formed on the reference surface (member-side reference surface) of the connecting member 102 to indicate a reference surface when the frame 122-1 and the frame 122-2 are assembled. Good.
- the connecting member 102 can recognize the reference surface (member-side reference surface) by the positioning protrusions 161-1 or the like, the reference mark is not necessarily provided.
- FIG. 12 is a diagram illustrating a configuration example of an electronic apparatus having a solid-state imaging device.
- an electronic device such as an imaging device such as a digital still camera or a video camera, or a portable terminal device having an imaging function such as a smartphone or a tablet terminal.
- the electronic device 1000 includes a compound eye camera module 1001, a DSP (Digital Signal Processor) circuit 1002, a frame memory 1003, a display unit 1004, a recording unit 1005, an operation unit 1006, and a power supply unit 1007.
- the DSP circuit 1002, the frame memory 1003, the display unit 1004, the recording unit 1005, the operation unit 1006, and the power supply unit 1007 are connected to each other via a bus line 1008.
- the compound eye camera module 1001 corresponds to the compound eye camera module 10 (FIG. 1, FIG. 11, etc.) described above.
- the monocular camera module 101-1 and the monocular camera module 101-2 are connected by the connecting member 102. It has a structure.
- the DSP circuit 1002 is a signal processing circuit that processes a signal supplied from the compound eye camera module 1001.
- the DSP circuit 1002 outputs image data obtained by processing a signal from the compound eye camera module 1001.
- the frame memory 1003 temporarily holds the image data processed by the DSP circuit 1002 in units of frames.
- the display unit 1004 includes, for example, a panel type display device such as a liquid crystal panel or an organic EL (Electro Luminescence) panel, and displays a moving image or a still image captured by the compound eye camera module 1001.
- the recording unit 1005 records moving image or still image data captured by the compound eye camera module 1001 on a recording medium such as a semiconductor memory or a hard disk.
- the operation unit 1006 outputs operation commands for various functions of the electronic device 1000 in accordance with user operations.
- the power supply unit 1007 appropriately supplies various power sources serving as operation power sources for the DSP circuit 1002, the frame memory 1003, the display unit 1004, the recording unit 1005, and the operation unit 1006 to these supply targets.
- the electronic device 1000 is configured as described above.
- FIG. 13 is a diagram showing a usage example of the compound-eye camera module 10.
- the compound eye camera module 10 (FIG. 1 or FIG. 11) described above can be used in various cases for sensing light such as visible light, infrared light, ultraviolet light, and X-ray as follows. . That is, as shown in FIG. 13, not only the above-mentioned field of appreciation for taking an image provided for appreciation, but also, for example, the field of transportation, the field of home appliances, the field of medical / healthcare, the field of security.
- the compound eye camera module 10 can also be used in apparatuses used in the field of beauty, the field of sports, the field of agriculture, and the like.
- a device for taking an image used for appreciation such as a digital camera, a smartphone, or a mobile phone with a camera function (for example, FIG. 12).
- the compound eye camera module 10 can be used in the electronic apparatus 1000).
- the compound eye camera module 10 can be used in a device used for traffic such as a monitoring camera, a distance measuring sensor for measuring a distance between vehicles, and the like.
- a compound eye camera module 10 is a device that is used for home appliances such as a television receiver, a refrigerator, and an air conditioner in order to photograph a user's gesture and perform device operations in accordance with the gesture. Can be used. Further, in the medical / healthcare field, for example, the compound eye camera module 10 is used in a device used for medical or health care such as an endoscope or a device for performing blood vessel photographing by receiving infrared light. can do.
- the compound eye camera module 10 can be used in devices used for security, such as surveillance cameras for crime prevention and cameras for personal authentication.
- the compound eye camera module 10 can be used in a device used for beauty, such as a skin measuring device for photographing the skin or a microscope for photographing the scalp.
- the compound-eye camera module 10 can be used in devices used for sports such as action cameras and wearable cameras for sports applications.
- the compound eye camera module 10 can be used in an apparatus provided for agriculture, such as a camera for monitoring the state of fields and crops.
- the technology (this technology) according to the present disclosure can be applied to various products.
- the technology according to the present disclosure may be applied to an endoscopic surgery system.
- FIG. 14 is a diagram illustrating an example of a schematic configuration of an endoscopic surgery system to which the technology (present technology) according to the present disclosure can be applied.
- FIG. 14 illustrates a state in which an operator (doctor) 11131 is performing an operation on a patient 11132 on a patient bed 11133 using an endoscopic operation system 11000.
- an endoscopic surgery system 11000 includes an endoscope 11100, other surgical instruments 11110 such as an insufflation tube 11111 and an energy treatment instrument 11112, and a support arm device 11120 that supports the endoscope 11100. And a cart 11200 on which various devices for endoscopic surgery are mounted.
- the endoscope 11100 includes a lens barrel 11101 in which a region having a predetermined length from the distal end is inserted into the body cavity of the patient 11132, and a camera head 11102 connected to the proximal end of the lens barrel 11101.
- a lens barrel 11101 in which a region having a predetermined length from the distal end is inserted into the body cavity of the patient 11132, and a camera head 11102 connected to the proximal end of the lens barrel 11101.
- an endoscope 11100 configured as a so-called rigid mirror having a rigid lens barrel 11101 is illustrated, but the endoscope 11100 may be configured as a so-called flexible mirror having a flexible lens barrel. Good.
- An opening into which the objective lens is fitted is provided at the tip of the lens barrel 11101.
- a light source device 11203 is connected to the endoscope 11100, and light generated by the light source device 11203 is guided to the tip of the lens barrel by a light guide extending inside the lens barrel 11101. Irradiation is performed toward the observation target in the body cavity of the patient 11132 through the lens.
- the endoscope 11100 may be a direct endoscope, a perspective mirror, or a side endoscope.
- An optical system and an image sensor are provided inside the camera head 11102, and reflected light (observation light) from the observation target is condensed on the image sensor by the optical system. Observation light is photoelectrically converted by the imaging element, and an electrical signal corresponding to the observation light, that is, an image signal corresponding to the observation image is generated.
- the image signal is transmitted to a camera control unit (CCU: Camera Control Unit) 11201 as RAW data.
- CCU Camera Control Unit
- the CCU 11201 is configured by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like, and comprehensively controls operations of the endoscope 11100 and the display device 11202. Further, the CCU 11201 receives an image signal from the camera head 11102 and performs various kinds of image processing for displaying an image based on the image signal, such as development processing (demosaic processing), for example.
- a CPU Central Processing Unit
- GPU Graphics Processing Unit
- the display device 11202 displays an image based on an image signal subjected to image processing by the CCU 11201 under the control of the CCU 11201.
- the light source device 11203 is composed of a light source such as an LED (Light Emitting Diode), for example, and supplies irradiation light to the endoscope 11100 when photographing a surgical site or the like.
- a light source such as an LED (Light Emitting Diode), for example, and supplies irradiation light to the endoscope 11100 when photographing a surgical site or the like.
- the input device 11204 is an input interface for the endoscopic surgery system 11000.
- a user can input various information and instructions to the endoscopic surgery system 11000 via the input device 11204.
- the user inputs an instruction to change the imaging conditions (type of irradiation light, magnification, focal length, etc.) by the endoscope 11100.
- the treatment instrument control device 11205 controls the drive of the energy treatment instrument 11112 for tissue ablation, incision, blood vessel sealing, or the like.
- the pneumoperitoneum device 11206 passes gas into the body cavity via the pneumoperitoneum tube 11111.
- the recorder 11207 is an apparatus capable of recording various types of information related to surgery.
- the printer 11208 is a device that can print various types of information related to surgery in various formats such as text, images, or graphs.
- the light source device 11203 that supplies the irradiation light when imaging the surgical site to the endoscope 11100 can be configured from a white light source configured by, for example, an LED, a laser light source, or a combination thereof.
- a white light source configured by a combination of RGB laser light sources
- the output intensity and output timing of each color (each wavelength) can be controlled with high accuracy. Therefore, the light source device 11203 adjusts the white balance of the captured image. It can be carried out.
- laser light from each of the RGB laser light sources is irradiated on the observation target in a time-sharing manner, and the drive of the image sensor of the camera head 11102 is controlled in synchronization with the irradiation timing, thereby corresponding to each RGB. It is also possible to take the images that have been taken in time division. According to this method, a color image can be obtained without providing a color filter in the image sensor.
- the driving of the light source device 11203 may be controlled so as to change the intensity of the output light every predetermined time. Synchronously with the timing of changing the intensity of the light, the drive of the image sensor of the camera head 11102 is controlled to acquire an image in a time-sharing manner, and the image is synthesized, so that high dynamic without so-called blackout and overexposure A range image can be generated.
- the light source device 11203 may be configured to be able to supply light of a predetermined wavelength band corresponding to special light observation.
- special light observation for example, by utilizing the wavelength dependence of light absorption in body tissue, the surface of the mucous membrane is irradiated by irradiating light in a narrow band compared to irradiation light (ie, white light) during normal observation.
- a so-called narrow band imaging is performed in which a predetermined tissue such as a blood vessel is imaged with high contrast.
- fluorescence observation may be performed in which an image is obtained by fluorescence generated by irradiating excitation light.
- the body tissue is irradiated with excitation light to observe fluorescence from the body tissue (autofluorescence observation), or a reagent such as indocyanine green (ICG) is locally administered to the body tissue and applied to the body tissue. It is possible to obtain a fluorescence image by irradiating excitation light corresponding to the fluorescence wavelength of the reagent.
- the light source device 11203 can be configured to be able to supply narrowband light and / or excitation light corresponding to such special light observation.
- FIG. 15 is a block diagram showing an example of the functional configuration of the camera head 11102 and CCU 11201 shown in FIG.
- the camera head 11102 includes a lens unit 11401, an imaging unit 11402, a drive unit 11403, a communication unit 11404, and a camera head control unit 11405.
- the CCU 11201 includes a communication unit 11411, an image processing unit 11412, and a control unit 11413.
- the camera head 11102 and the CCU 11201 are connected to each other by a transmission cable 11400 so that they can communicate with each other.
- the lens unit 11401 is an optical system provided at a connection portion with the lens barrel 11101. Observation light taken from the tip of the lens barrel 11101 is guided to the camera head 11102 and enters the lens unit 11401.
- the lens unit 11401 is configured by combining a plurality of lenses including a zoom lens and a focus lens.
- the imaging unit 11402 includes an imaging element.
- One (so-called single plate type) image sensor may be included in the imaging unit 11402, or a plurality (so-called multi-plate type) may be used.
- image signals corresponding to RGB may be generated by each imaging element, and a color image may be obtained by combining them.
- the imaging unit 11402 may be configured to include a pair of imaging elements for acquiring right-eye and left-eye image signals corresponding to 3D (Dimensional) display. By performing the 3D display, the operator 11131 can more accurately grasp the depth of the living tissue in the surgical site.
- 3D 3D
- the imaging unit 11402 is not necessarily provided in the camera head 11102.
- the imaging unit 11402 may be provided inside the lens barrel 11101 immediately after the objective lens.
- the driving unit 11403 is configured by an actuator, and moves the zoom lens and the focus lens of the lens unit 11401 by a predetermined distance along the optical axis under the control of the camera head control unit 11405. Thereby, the magnification and the focus of the image captured by the imaging unit 11402 can be adjusted as appropriate.
- the communication unit 11404 is configured by a communication device for transmitting and receiving various types of information to and from the CCU 11201.
- the communication unit 11404 transmits the image signal obtained from the imaging unit 11402 as RAW data to the CCU 11201 via the transmission cable 11400.
- the communication unit 11404 receives a control signal for controlling driving of the camera head 11102 from the CCU 11201 and supplies the control signal to the camera head control unit 11405.
- the control signal includes, for example, information for designating the frame rate of the captured image, information for designating the exposure value at the time of imaging, and / or information for designating the magnification and focus of the captured image. Contains information about the condition.
- the imaging conditions such as the frame rate, exposure value, magnification, and focus may be appropriately specified by the user, or may be automatically set by the control unit 11413 of the CCU 11201 based on the acquired image signal. Good. In the latter case, a so-called AE (Auto Exposure) function, AF (Auto Focus) function, and AWB (Auto White Balance) function are mounted on the endoscope 11100.
- AE Auto Exposure
- AF Automatic Focus
- AWB Auto White Balance
- the camera head control unit 11405 controls driving of the camera head 11102 based on a control signal from the CCU 11201 received via the communication unit 11404.
- the communication unit 11411 is configured by a communication device for transmitting and receiving various types of information to and from the camera head 11102.
- the communication unit 11411 receives an image signal transmitted from the camera head 11102 via the transmission cable 11400.
- the communication unit 11411 transmits a control signal for controlling driving of the camera head 11102 to the camera head 11102.
- the image signal and the control signal can be transmitted by electrical communication, optical communication, or the like.
- the image processing unit 11412 performs various types of image processing on the image signal that is RAW data transmitted from the camera head 11102.
- the control unit 11413 performs various types of control related to imaging of the surgical site by the endoscope 11100 and display of a captured image obtained by imaging of the surgical site. For example, the control unit 11413 generates a control signal for controlling driving of the camera head 11102.
- control unit 11413 causes the display device 11202 to display a picked-up image showing the surgical part or the like based on the image signal subjected to the image processing by the image processing unit 11412.
- the control unit 11413 may recognize various objects in the captured image using various image recognition techniques.
- the control unit 11413 detects surgical tools such as forceps, specific biological parts, bleeding, mist when using the energy treatment tool 11112, and the like by detecting the shape and color of the edge of the object included in the captured image. Can be recognized.
- the control unit 11413 may display various types of surgery support information superimposed on the image of the surgical unit using the recognition result. Surgery support information is displayed in a superimposed manner and presented to the operator 11131, thereby reducing the burden on the operator 11131 and allowing the operator 11131 to proceed with surgery reliably.
- the transmission cable 11400 for connecting the camera head 11102 and the CCU 11201 is an electric signal cable corresponding to electric signal communication, an optical fiber corresponding to optical communication, or a composite cable thereof.
- communication is performed by wire using the transmission cable 11400.
- communication between the camera head 11102 and the CCU 11201 may be performed wirelessly.
- the technology according to the present disclosure can be applied to the endoscope 11100, the camera head 11102 (the imaging unit 11402), the CCU 11201 (the image processing unit 11412), and the like.
- the compound eye camera module 10 of FIG. 1 can be applied to the imaging unit 10402.
- FIG. 16 is a block diagram illustrating an example of a schematic configuration of a patient in-vivo information acquisition system using a capsule endoscope to which the technology according to the present disclosure (present technology) can be applied.
- the in-vivo information acquisition system 10001 includes a capsule endoscope 10100 and an external control device 10200.
- the capsule endoscope 10100 is swallowed by the patient at the time of examination.
- the capsule endoscope 10100 has an imaging function and a wireless communication function, and moves inside the organ such as the stomach and the intestine by peristaltic motion or the like until it is spontaneously discharged from the patient.
- Images (hereinafter also referred to as in-vivo images) are sequentially captured at predetermined intervals, and information about the in-vivo images is sequentially wirelessly transmitted to the external control device 10200 outside the body.
- the external control device 10200 comprehensively controls the operation of the in-vivo information acquisition system 10001. Further, the external control device 10200 receives information about the in-vivo image transmitted from the capsule endoscope 10100 and, based on the received information about the in-vivo image, displays the in-vivo image on the display device (not shown). The image data for displaying is generated.
- an in-vivo image obtained by imaging the inside of the patient's body can be obtained at any time in this manner until the capsule endoscope 10100 is swallowed and discharged.
- the capsule endoscope 10100 includes a capsule-type casing 10101.
- a light source unit 10111 In the casing 10101, a light source unit 10111, an imaging unit 10112, an image processing unit 10113, a wireless communication unit 10114, a power supply unit 10115, and a power supply unit 10116 and the control unit 10117 are stored.
- the light source unit 10111 is composed of a light source such as an LED (Light Emitting Diode), for example, and irradiates the imaging field of the imaging unit 10112 with light.
- a light source such as an LED (Light Emitting Diode), for example, and irradiates the imaging field of the imaging unit 10112 with light.
- the image capturing unit 10112 includes an image sensor and an optical system including a plurality of lenses provided in front of the image sensor. Reflected light (hereinafter referred to as observation light) of light irradiated on the body tissue to be observed is collected by the optical system and enters the image sensor. In the imaging unit 10112, in the imaging element, the observation light incident thereon is photoelectrically converted, and an image signal corresponding to the observation light is generated. The image signal generated by the imaging unit 10112 is provided to the image processing unit 10113.
- the image processing unit 10113 is configured by a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), and performs various signal processing on the image signal generated by the imaging unit 10112.
- the image processing unit 10113 provides the radio communication unit 10114 with the image signal subjected to signal processing as RAW data.
- the wireless communication unit 10114 performs predetermined processing such as modulation processing on the image signal that has been subjected to signal processing by the image processing unit 10113, and transmits the image signal to the external control apparatus 10200 via the antenna 10114A.
- the wireless communication unit 10114 receives a control signal related to drive control of the capsule endoscope 10100 from the external control device 10200 via the antenna 10114A.
- the wireless communication unit 10114 provides a control signal received from the external control device 10200 to the control unit 10117.
- the power feeding unit 10115 includes a power receiving antenna coil, a power regeneration circuit that regenerates power from a current generated in the antenna coil, a booster circuit, and the like. In the power feeding unit 10115, electric power is generated using a so-called non-contact charging principle.
- the power supply unit 10116 is composed of a secondary battery, and stores the electric power generated by the power supply unit 10115.
- FIG. 16 in order to avoid complication of the drawing, illustration of an arrow or the like indicating a power supply destination from the power supply unit 10116 is omitted, but the power stored in the power supply unit 10116 is stored in the light source unit 10111.
- the imaging unit 10112, the image processing unit 10113, the wireless communication unit 10114, and the control unit 10117 can be used for driving them.
- the control unit 10117 includes a processor such as a CPU, and a control signal transmitted from the external control device 10200 to drive the light source unit 10111, the imaging unit 10112, the image processing unit 10113, the wireless communication unit 10114, and the power feeding unit 10115. Control accordingly.
- a processor such as a CPU
- the external control device 10200 is configured by a processor such as a CPU or GPU, or a microcomputer or a control board in which a processor and a storage element such as a memory are mounted.
- the external control device 10200 controls the operation of the capsule endoscope 10100 by transmitting a control signal to the control unit 10117 of the capsule endoscope 10100 via the antenna 10200A.
- the capsule endoscope 10100 for example, the light irradiation condition for the observation target in the light source unit 10111 can be changed by a control signal from the external control device 10200.
- an imaging condition for example, a frame rate or an exposure value in the imaging unit 10112
- a control signal from the external control device 10200 can be changed by a control signal from the external control device 10200.
- the contents of processing in the image processing unit 10113 and the conditions (for example, the transmission interval, the number of transmission images, etc.) by which the wireless communication unit 10114 transmits an image signal may be changed by a control signal from the external control device 10200. .
- the external control device 10200 performs various image processing on the image signal transmitted from the capsule endoscope 10100, and generates image data for displaying the captured in-vivo image on the display device.
- image processing for example, development processing (demosaic processing), high image quality processing (band enhancement processing, super-resolution processing, NR (Noise reduction) processing and / or camera shake correction processing, etc.), and / or enlargement processing ( Various signal processing such as electronic zoom processing can be performed.
- the external control device 10200 controls driving of the display device to display an in-vivo image captured based on the generated image data.
- the external control device 10200 may cause the generated image data to be recorded on a recording device (not shown) or may be printed out on a printing device (not shown).
- the technology according to the present disclosure can be applied to the imaging unit 10112 among the configurations described above.
- the compound eye camera module 10 of FIG. 1 can be applied to the imaging unit 10112.
- the technology (this technology) according to the present disclosure can be applied to various products.
- the technology according to the present disclosure is realized as a device that is mounted on any type of mobile body such as an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, personal mobility, an airplane, a drone, a ship, and a robot. May be.
- FIG. 17 is a block diagram illustrating a schematic configuration example of a vehicle control system that is an example of a mobile control system to which the technology according to the present disclosure can be applied.
- the vehicle control system 12000 includes a plurality of electronic control units connected via a communication network 12001.
- the vehicle control system 12000 includes a drive system control unit 12010, a body system control unit 12020, a vehicle exterior information detection unit 12030, a vehicle interior information detection unit 12040, and an integrated control unit 12050.
- a microcomputer 12051, an audio image output unit 12052, and an in-vehicle network I / F (interface) 12053 are illustrated.
- the drive system control unit 12010 controls the operation of the device related to the drive system of the vehicle according to various programs.
- the drive system control unit 12010 includes a driving force generator for generating a driving force of a vehicle such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to wheels, and a steering angle of the vehicle. It functions as a control device such as a steering mechanism that adjusts and a braking device that generates a braking force of the vehicle.
- the body system control unit 12020 controls the operation of various devices mounted on the vehicle body according to various programs.
- the body system control unit 12020 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as a headlamp, a back lamp, a brake lamp, a blinker, or a fog lamp.
- the body control unit 12020 can be input with radio waves transmitted from a portable device that substitutes for a key or signals from various switches.
- the body system control unit 12020 receives input of these radio waves or signals, and controls a door lock device, a power window device, a lamp, and the like of the vehicle.
- the vehicle outside information detection unit 12030 detects information outside the vehicle on which the vehicle control system 12000 is mounted.
- the imaging unit 12031 is connected to the vehicle exterior information detection unit 12030.
- the vehicle exterior information detection unit 12030 causes the imaging unit 12031 to capture an image outside the vehicle and receives the captured image.
- the vehicle outside information detection unit 12030 may perform an object detection process or a distance detection process such as a person, a car, an obstacle, a sign, or a character on a road surface based on the received image.
- the imaging unit 12031 is an optical sensor that receives light and outputs an electrical signal corresponding to the amount of received light.
- the imaging unit 12031 can output an electrical signal as an image, or can output it as distance measurement information. Further, the light received by the imaging unit 12031 may be visible light or invisible light such as infrared rays.
- the vehicle interior information detection unit 12040 detects vehicle interior information.
- a driver state detection unit 12041 that detects a driver's state is connected to the in-vehicle information detection unit 12040.
- the driver state detection unit 12041 includes, for example, a camera that images the driver, and the vehicle interior information detection unit 12040 determines the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 12041. It may be calculated or it may be determined whether the driver is asleep.
- the microcomputer 12051 calculates a control target value of the driving force generator, the steering mechanism, or the braking device based on the information inside / outside the vehicle acquired by the vehicle outside information detection unit 12030 or the vehicle interior information detection unit 12040, and the drive system control unit A control command can be output to 12010.
- the microcomputer 12051 realizes an ADAS (Advanced Driver Assistance System) function including vehicle collision avoidance or impact mitigation, following traveling based on inter-vehicle distance, vehicle speed maintaining traveling, vehicle collision warning, or vehicle lane departure warning, etc. It is possible to perform cooperative control for the purpose.
- ADAS Advanced Driver Assistance System
- the microcomputer 12051 controls the driving force generator, the steering mechanism, the braking device, and the like based on the information around the vehicle acquired by the vehicle exterior information detection unit 12030 or the vehicle interior information detection unit 12040. It is possible to perform cooperative control for the purpose of automatic driving that autonomously travels without depending on the operation.
- the microcomputer 12051 can output a control command to the body system control unit 12020 based on information outside the vehicle acquired by the vehicle outside information detection unit 12030.
- the microcomputer 12051 controls the headlamp according to the position of the preceding vehicle or the oncoming vehicle detected by the outside information detection unit 12030, and performs cooperative control for the purpose of anti-glare, such as switching from a high beam to a low beam. It can be carried out.
- the sound image output unit 12052 transmits an output signal of at least one of sound and image to an output device capable of visually or audibly notifying information to a vehicle occupant or the outside of the vehicle.
- an audio speaker 12061, a display unit 12062, and an instrument panel 12063 are illustrated as output devices.
- the display unit 12062 may include at least one of an on-board display and a head-up display, for example.
- FIG. 18 is a diagram illustrating an example of an installation position of the imaging unit 12031.
- the vehicle 12100 includes imaging units 12101, 12102, 12103, 12104, and 12105 as the imaging unit 12031.
- the imaging units 12101, 12102, 12103, 12104, and 12105 are provided, for example, at positions such as a front nose, a side mirror, a rear bumper, a back door, and an upper part of a windshield in the vehicle interior of the vehicle 12100.
- the imaging unit 12101 provided in the front nose and the imaging unit 12105 provided in the upper part of the windshield in the vehicle interior mainly acquire an image in front of the vehicle 12100.
- the imaging units 12102 and 12103 provided in the side mirror mainly acquire an image of the side of the vehicle 12100.
- the imaging unit 12104 provided in the rear bumper or the back door mainly acquires an image behind the vehicle 12100.
- the forward images acquired by the imaging units 12101 and 12105 are mainly used for detecting a preceding vehicle or a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like.
- FIG. 18 shows an example of the shooting range of the imaging units 12101 to 12104.
- the imaging range 12111 indicates the imaging range of the imaging unit 12101 provided in the front nose
- the imaging ranges 12112 and 12113 indicate the imaging ranges of the imaging units 12102 and 12103 provided in the side mirrors, respectively
- the imaging range 12114 The imaging range of the imaging part 12104 provided in the rear bumper or the back door is shown. For example, by superimposing the image data captured by the imaging units 12101 to 12104, an overhead image when the vehicle 12100 is viewed from above is obtained.
- At least one of the imaging units 12101 to 12104 may have a function of acquiring distance information.
- at least one of the imaging units 12101 to 12104 may be a stereo camera including a plurality of imaging elements, or may be an imaging element having pixels for phase difference detection.
- the microcomputer 12051 based on the distance information obtained from the imaging units 12101 to 12104, the distance to each three-dimensional object in the imaging range 12111 to 12114 and the temporal change in this distance (relative speed with respect to the vehicle 12100).
- a predetermined speed for example, 0 km / h or more
- the microcomputer 12051 can set an inter-vehicle distance to be secured in advance before the preceding vehicle, and can perform automatic brake control (including follow-up stop control), automatic acceleration control (including follow-up start control), and the like.
- automatic brake control including follow-up stop control
- automatic acceleration control including follow-up start control
- cooperative control for the purpose of autonomous driving or the like autonomously traveling without depending on the operation of the driver can be performed.
- the microcomputer 12051 converts the three-dimensional object data related to the three-dimensional object to other three-dimensional objects such as a two-wheeled vehicle, a normal vehicle, a large vehicle, a pedestrian, and a utility pole based on the distance information obtained from the imaging units 12101 to 12104. It can be classified and extracted and used for automatic avoidance of obstacles.
- the microcomputer 12051 identifies obstacles around the vehicle 12100 as obstacles that are visible to the driver of the vehicle 12100 and obstacles that are difficult to see.
- the microcomputer 12051 determines the collision risk indicating the risk of collision with each obstacle, and when the collision risk is equal to or higher than the set value and there is a possibility of collision, the microcomputer 12051 is connected via the audio speaker 12061 or the display unit 12062. By outputting an alarm to the driver and performing forced deceleration or avoidance steering via the drive system control unit 12010, driving assistance for collision avoidance can be performed.
- At least one of the imaging units 12101 to 12104 may be an infrared camera that detects infrared rays.
- the microcomputer 12051 can recognize a pedestrian by determining whether a pedestrian is present in the captured images of the imaging units 12101 to 12104. Such pedestrian recognition is, for example, whether or not the user is a pedestrian by performing a pattern matching process on a sequence of feature points indicating the outline of an object and a procedure for extracting feature points in the captured images of the imaging units 12101 to 12104 as infrared cameras. It is carried out by the procedure for determining.
- the audio image output unit 12052 When the microcomputer 12051 determines that there is a pedestrian in the captured images of the imaging units 12101 to 12104 and recognizes the pedestrian, the audio image output unit 12052 has a rectangular contour line for emphasizing the recognized pedestrian.
- the display unit 12062 is controlled so as to be superimposed and displayed.
- voice image output part 12052 may control the display part 12062 so that the icon etc. which show a pedestrian may be displayed on a desired position.
- the technology according to the present disclosure can be applied to the imaging unit 12031 among the configurations described above.
- the compound eye camera module 10 of FIG. 1 can be applied to the imaging unit 12031.
- the present technology can take the following configurations.
- a plurality of monocular camera modules A connecting member for connecting the plurality of monocular camera modules, By aligning the positioning camera side positioning portion formed on the camera side reference surface in each monocular camera module with the positioning member side positioning portion formed on the member side reference surface in the connecting member, Monocular camera module to which monocular camera module is connected.
- the monocular camera module according to (1) wherein each monocular camera module is aligned in the optical axis direction.
- the camera side reference surface and the member side reference surface are surfaces that face each other in the optical axis direction, The camera-side positioning portion of the camera-side reference surface and the member-side positioning portion of the member-side reference surface facing the camera-side reference surface are formed to have corresponding shapes at corresponding positions.
- the connecting member has a rectangular plate shape, The connecting member is formed with an insertion hole portion through which a part of each monocular camera module is inserted, The monocular camera module according to (3), wherein a part of each monocular camera module is inserted and fixed in the insertion hole of the connecting member.
- the camera side reference surface is a part of a surface of a frame attached to each monocular camera module, The compound-eye camera module according to (4), wherein the camera-side positioning portion is formed on a part of a surface of the frame.
- the member side reference surface is a part of the surface of the connecting member, The compound-eye camera module according to (4) or (5), wherein the member-side positioning portion is formed on a part of a surface of the connecting member.
- the camera side positioning part is formed as a hole
- the camera-side positioning part and the member-side positioning part are each formed with one or a plurality of (1) to (7).
- the monocular camera module according to (4), wherein each monocular camera module and the connecting member are fixed by a detachable fixing method.
- (11) The compound eye camera module according to any one of (1) to (10), wherein the connecting member is formed as a part of the casing in a casing that stores the compound eye camera module.
- Each said monocular camera module has a solid-state image sensor.
- the compound eye camera module in any one of (1) thru
- (13) A plurality of monocular camera modules; A connecting member for connecting the plurality of monocular camera modules; By aligning the positioning camera side positioning portion formed on the camera side reference surface in each monocular camera module with the positioning member side positioning portion formed on the member side reference surface in the connecting member, An electronic device equipped with a compound eye camera module to which a monocular camera module is connected.
- 10 compound eye camera module 101, 101-1, 101-2 monocular camera module, 102 connecting member, 121, 121-1, 121-2 sensor module, 121A sensor surface, 122, 122-1, 122-2 frame, 122A Sensor compatible surface, 131-1 and 131-2 fiducial marks, 132-1 and 132-2 fiducial marks, 133-1 and 133-2 fiducial marks, 141-1 and 141-2 positioning holes, 142-1, 142-2 positioning hole, 151-1, 151-2 screw insertion hole, 152-1, 152-2 screw insertion hole, 161-1, 161-2 positioning protrusion, 162-1, 162 2 Positioning projection, 171-1, 171-2, screw insertion hole, 172- , 172-2 screw insertion hole, 181-1,181-2 rectangular insertion hole, 191-1 and 191-2 screw, 192-1 and 192-2 screw 1000 electronics 1001 compound eye camera module
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Abstract
Description
2.複眼カメラモジュールの製造工程の流れ
(1)フレームマウント工程
(2)レンズマウント工程
(3)プレートアタッチ工程
(4)複眼カメラモジュールの完成
3.変形例
4.電子機器の構成例
5.複眼カメラモジュールの使用例
6.内視鏡手術システムへの応用例
7.体内情報取得システムへの応用例
8.移動体への応用例
複数の単眼カメラモジュールと、
前記複数の単眼カメラモジュールを連結させるための連結部材と
を備え、
各単眼カメラモジュールにおけるカメラ側基準面に形成された位置決め用のカメラ側位置決め部位と、前記連結部材における部材側基準面に形成された位置決め用の部材側位置決め部位とを合わせることで、前記複数の単眼カメラモジュールが連結される
複眼カメラモジュール。
(2)
前記各単眼カメラモジュールは、光軸方向に調芯されている
(1)に記載の複眼カメラモジュール。
(3)
前記カメラ側基準面と、前記部材側基準面とは、光軸方向で対向する面であり、
前記カメラ側基準面のカメラ側位置決め部位と、前記カメラ側基準面に対向する部材側基準面の部材側位置決め部位とは、対応する位置で、対応する形状となるように形成される
(2)に記載の複眼カメラモジュール。
(4)
前記連結部材は、矩形の板状の形状からなり、
前記連結部材には、前記各単眼カメラモジュールの一部が挿入される部分である挿入孔部が貫通形成されており、
前記各単眼カメラモジュールは、その一部が、前記連結部材の挿入孔部に挿入されて固定される
(3)に記載の複眼カメラモジュール。
(5)
前記カメラ側基準面は、前記各単眼カメラモジュールに取り付けられたフレームが有する面の一部であり、
前記フレームが有する面の一部に、前記カメラ側位置決め部位が形成される
(4)に記載の複眼カメラモジュール。
(6)
前記部材側基準面は、前記連結部材が有する面の一部であり、
前記連結部材が有する面の一部に、前記部材側位置決め部位が形成される
(4)又は(5)に記載の複眼カメラモジュール。
(7)
前記カメラ側位置決め部位は、孔部として形成され、
前記部材側位置決め部位は、突起部として形成される
(1)乃至(6)のいずれかに記載の複眼カメラモジュール。
(8)
前記カメラ側位置決め部位と、前記部材側位置決め部位はそれぞれ、1又は複数形成される
(1)乃至(7)のいずれかに記載の複眼カメラモジュール。
(9)
前記各単眼カメラモジュールと前記連結部材とは、脱着可能な固定方式で固定される
(4)に記載の複眼カメラモジュール。
(10)
前記連結部材は、前記各単眼カメラモジュールの撮像面側から取り付けられて固定される
(9)に記載の複眼カメラモジュール。
(11)
前記連結部材は、前記複眼カメラモジュールを格納する筐体内に、当該筐体の一部として形成される
(1)乃至(10)のいずれかに記載の複眼カメラモジュール。
(12)
前記各単眼カメラモジュールは、固体撮像素子を有する
(1)乃至(11)のいずれかに記載の複眼カメラモジュール。
(13)
複数の単眼カメラモジュールと、
前記複数の単眼カメラモジュールを連結させるための連結部材と
を有し、
各単眼カメラモジュールにおけるカメラ側基準面に形成された位置決め用のカメラ側位置決め部位と、前記連結部材における部材側基準面に形成された位置決め用の部材側位置決め部位とを合わせることで、前記複数の単眼カメラモジュールが連結される
複眼カメラモジュールを搭載した
電子機器。
Claims (13)
- 複数の単眼カメラモジュールと、
前記複数の単眼カメラモジュールを連結させるための連結部材と
を備え、
各単眼カメラモジュールにおけるカメラ側基準面に形成された位置決め用のカメラ側位置決め部位と、前記連結部材における部材側基準面に形成された位置決め用の部材側位置決め部位とを合わせることで、前記複数の単眼カメラモジュールが連結される
複眼カメラモジュール。 - 前記各単眼カメラモジュールは、光軸方向に調芯されている
請求項1に記載の複眼カメラモジュール。 - 前記カメラ側基準面と、前記部材側基準面とは、光軸方向で対向する面であり、
前記カメラ側基準面のカメラ側位置決め部位と、前記カメラ側基準面に対向する部材側基準面の部材側位置決め部位とは、対応する位置で、対応する形状となるように形成される
請求項2に記載の複眼カメラモジュール。 - 前記連結部材は、矩形の板状の形状からなり、
前記連結部材には、前記各単眼カメラモジュールの一部が挿入される部分である挿入孔部が貫通形成されており、
前記各単眼カメラモジュールは、その一部が、前記連結部材の挿入孔部に挿入されて固定される
請求項3に記載の複眼カメラモジュール。 - 前記カメラ側基準面は、前記各単眼カメラモジュールに取り付けられたフレームが有する面の一部であり、
前記フレームが有する面の一部に、前記カメラ側位置決め部位が形成される
請求項4に記載の複眼カメラモジュール。 - 前記部材側基準面は、前記連結部材が有する面の一部であり、
前記連結部材が有する面の一部に、前記部材側位置決め部位が形成される
請求項5に記載の複眼カメラモジュール。 - 前記カメラ側位置決め部位は、孔部として形成され、
前記部材側位置決め部位は、突起部として形成される
請求項6に記載の複眼カメラモジュール。 - 前記カメラ側位置決め部位と、前記部材側位置決め部位はそれぞれ、1又は複数形成される
請求項7に記載の複眼カメラモジュール。 - 前記各単眼カメラモジュールと前記連結部材とは、脱着可能な固定方式で固定される
請求項4に記載の複眼カメラモジュール。 - 前記連結部材は、前記各単眼カメラモジュールの撮像面側から取り付けられて固定される
請求項9に記載の複眼カメラモジュール。 - 前記連結部材は、前記複眼カメラモジュールを格納する筐体内に、当該筐体の一部として形成される
請求項1に記載の複眼カメラモジュール。 - 前記各単眼カメラモジュールは、固体撮像素子を有する
請求項1に記載の複眼カメラモジュール。 - 複数の単眼カメラモジュールと、
前記複数の単眼カメラモジュールを連結させるための連結部材と
を有し、
各単眼カメラモジュールにおけるカメラ側基準面に形成された位置決め用のカメラ側位置決め部位と、前記連結部材における部材側基準面に形成された位置決め用の部材側位置決め部位とを合わせることで、前記複数の単眼カメラモジュールが連結される
複眼カメラモジュールを搭載した
電子機器。
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US20190121223A1 (en) | 2019-04-25 |
EP3445033A4 (en) | 2019-02-20 |
CN108886570A (zh) | 2018-11-23 |
KR102306190B1 (ko) | 2021-09-30 |
KR20180134854A (ko) | 2018-12-19 |
EP3445033B1 (en) | 2022-06-15 |
US10915009B2 (en) | 2021-02-09 |
EP3445033A1 (en) | 2019-02-20 |
CN108886570B (zh) | 2022-04-15 |
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