WO2018134926A1 - 光学装置、移動体及びシステム - Google Patents
光学装置、移動体及びシステム Download PDFInfo
- Publication number
- WO2018134926A1 WO2018134926A1 PCT/JP2017/001610 JP2017001610W WO2018134926A1 WO 2018134926 A1 WO2018134926 A1 WO 2018134926A1 JP 2017001610 W JP2017001610 W JP 2017001610W WO 2018134926 A1 WO2018134926 A1 WO 2018134926A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- lens
- unit
- optical axis
- force
- guide pole
- Prior art date
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 127
- 238000003384 imaging method Methods 0.000 claims description 94
- 230000007246 mechanism Effects 0.000 claims description 25
- 230000005484 gravity Effects 0.000 claims description 15
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000013461 design Methods 0.000 claims description 2
- 230000015654 memory Effects 0.000 description 36
- 239000003381 stabilizer Substances 0.000 description 10
- 230000036544 posture Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/08—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted to co-operate with a remote control mechanism
-
- 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
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Definitions
- the present invention relates to an optical device, a moving body, and a system.
- a lens barrel is known (for example, Patent Document 1).
- An optical device includes a lens barrel that houses a lens that moves in the optical axis direction.
- the optical device includes a first guide pole and a second guide pole that control movement of the lens in the optical axis direction.
- the optical device includes a bias unit that biases the lens with respect to the lens barrel by a force having a component in a direction crossing the optical axis.
- the bias unit may bias the lens with respect to the lens barrel by a force having a component in a direction crossing a straight line connecting the first guide pole and the second guide pole in a plane orthogonal to the optical axis.
- the optical device may further include a holding unit that holds the lens.
- the lens barrel may accommodate a lens unit having a lens and a holding portion.
- the first guide pole and the second guide pole may control the movement of the lens in the optical axis direction via the holding portion.
- the bias unit may bias the lens unit with respect to the lens barrel by a force having a component in a direction crossing the optical axis.
- the bias unit may be provided in the lens unit.
- the lens barrel may have a protruding portion provided along the optical axis direction on the inner surface of the lens barrel.
- the bias unit may move in contact with the protrusion when the lens unit moves in the optical axis direction.
- the bias unit may bias the lens unit with respect to the lens barrel by a force having a component in a direction toward the center of gravity of the lens unit.
- the bias unit may bias the lens unit with respect to the lens barrel by a force greater than the weight of the lens unit.
- the bias unit has a value obtained by dividing the design value of the maximum acceleration applied to the optical device by the gravitational acceleration G as A, and the lens unit with respect to the lens barrel by a force equal to or greater than the force obtained by multiplying the mass of the lens unit by (A + 1) G May be biased.
- the distance between the center of gravity of the lens unit and the first guide pole and the distance between the center of gravity of the lens unit and the second guide pole may be substantially equal.
- the bias unit may bias the lens with respect to the lens barrel by a force having a vertically downward component.
- the bias unit includes a first bias unit that biases the lens with respect to the lens barrel by a force having a component in the first direction that intersects the optical axis, and a second that intersects the plane including the direction of the optical axis and the first direction. And a second bias portion that biases the lens with respect to the lens barrel by a force having a directional component.
- a lens may be further provided.
- An image capturing unit that captures an image using light that has passed through the lens may be further provided.
- a moving body includes the optical device described above and moves.
- the moving body may be an unmanned aerial vehicle.
- a system includes the above-described optical device and a support mechanism that supports the optical device in a displaceable manner.
- the movement of the lens can be suppressed when an acceleration having a component in a direction crossing the optical axis of the lens is applied to the optical device.
- FIG. 6 is a perspective view showing a part of a support structure for a second lens unit 302. 3 is a perspective view showing a lens barrel 360.
- FIG. It is a front view when the lens barrel 360 is viewed from the base 370 side.
- FIG. 6 is a perspective view showing a state in which a second lens unit 302 is housed in a lens barrel 360.
- plate spring 400 is shown roughly.
- FIG. 2 is an external perspective view showing an example of a stabilizer 800.
- FIG. 1 schematically shows an example of a mobile system 10 including an unmanned aerial vehicle (UAV) 100 and a controller 50.
- the UAV 100 includes a UAV main body 101, a gimbal 110, a plurality of imaging devices 230, and an imaging device 220.
- the imaging device 220 includes a lens device 160 and an imaging unit 140.
- the UAV 100 is an example of a moving body that includes an imaging device and moves.
- the moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like.
- the imaging device 220 is an example of an optical device.
- the UAV main body 101 includes a plurality of rotor blades.
- the UAV main body 101 flies the UAV 100 by controlling the rotation of a plurality of rotor blades.
- the UAV main body 101 causes the UAV 100 to fly using four rotary wings.
- the number of rotor blades is not limited to four.
- the UAV 100 may be a fixed wing aircraft that does not have rotating blades.
- the imaging device 230 is an imaging camera that images a subject included in a desired imaging range.
- the plurality of imaging devices 230 are sensing cameras that image the surroundings of the UAV 100 in order to control the flight of the UAV 100.
- the imaging device 230 may be fixed to the UAV main body 101.
- Two imaging devices 230 may be provided on the front surface which is the nose of the UAV 100.
- Two other imaging devices 230 may be provided on the bottom surface of the UAV 100.
- the two imaging devices 230 on the front side may be paired and function as a so-called stereo camera.
- the two imaging devices 230 on the bottom side may also be paired and function as a stereo camera.
- Three-dimensional spatial data around the UAV 100 may be generated based on images captured by the plurality of imaging devices 230.
- the distance to the subject imaged by the imaging device 230 can be specified by a stereo camera using a plurality of imaging devices 230.
- the number of imaging devices 230 provided in the UAV 100 is not limited to four.
- the UAV 100 only needs to include at least one imaging device 230.
- the UAV 100 may include at least one imaging device 230 on each of the nose, the tail, the side surface, the bottom surface, and the ceiling surface of the UAV 100.
- the imaging device 230 may have a single focus lens or a fisheye lens.
- the plurality of imaging devices 230 may be collectively referred to simply as the imaging device 230.
- the controller 50 includes a display unit 54 and an operation unit 52.
- the operation unit 52 receives an input operation for controlling the attitude of the UAV 100 from the user.
- the controller 50 transmits a signal for controlling the UAV 100 based on a user operation received by the operation unit 52.
- the operation unit 52 receives an operation for changing the focus of the lens device 160.
- the controller 50 transmits a signal instructing the change of focus to the UAV 100.
- the controller 50 receives an image captured by at least one of the imaging device 230 and the imaging device 220.
- the display unit 54 displays an image received by the controller 50.
- the display unit 54 may be a touch panel.
- the controller 50 may accept an input operation from the user through the display unit 54.
- the display unit 54 may accept a user operation or the like in which the user specifies the position of the subject to be imaged by the imaging device 220.
- the imaging unit 140 In the imaging device 220, the imaging unit 140 generates and records image data of an optical image formed by the lens device 160.
- the lens device 160 is provided integrally with the imaging unit 140.
- the gimbal 110 has a support mechanism that movably supports the imaging device 220.
- the imaging device 220 is attached to the UAV main body 101 via the gimbal 110.
- the gimbal 110 supports the imaging device 220 so as to be rotatable about the pitch axis.
- the gimbal 110 supports the imaging device 220 so as to be rotatable around a roll axis.
- the gimbal 110 supports the imaging device 220 so as to be rotatable about the yaw axis.
- the gimbal 110 may support the imaging device 220 rotatably around at least one of a pitch axis, a roll axis, and a yaw axis.
- the gimbal 110 may support the imaging device 220 rotatably about each of the pitch axis, the roll axis, and the yaw axis.
- the gimbal 110 may hold the imaging unit 140.
- the gimbal 110 may hold the lens device 160.
- the gimbal 110 may change the imaging direction of the imaging device 220 by rotating the imaging unit 140 and the lens device 160 about at least one of the yaw axis, the pitch axis, and the roll axis.
- FIG. 2 shows an example of functional blocks of the UAV100.
- the UAV 100 includes an interface 102, a control unit 104, a memory 106, a gimbal 110, an imaging unit 140, and a lens device 160.
- the interface 102 communicates with the controller 50.
- the interface 102 receives various commands from the controller 50.
- the control unit 104 controls the flight of the UAV 100 according to the command received from the controller 50.
- the control unit 104 controls the gimbal 110, the imaging unit 140, and the lens device 160.
- the control unit 104 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like.
- the memory 106 stores a program necessary for the control unit 104 to control the gimbal 110, the imaging unit 140, and the lens device 160.
- the memory 106 may be a computer-readable recording medium.
- the memory 106 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
- the memory 106 may be provided in the housing of the UAV 100. It may be provided so as to be removable from the housing of the UAV 100.
- the gimbal 110 includes a control unit 112, a driver 114, a driver 116, a driver 118, a drive unit 124, a drive unit 126, a drive unit 128, and a support mechanism 130.
- the drive unit 124, the drive unit 126, and the drive unit 128 may be motors.
- the support mechanism 130 supports the imaging device 220.
- the support mechanism 130 movably supports the imaging direction of the imaging device 220.
- the support mechanism 130 supports the imaging unit 140 and the lens device 160 so as to be rotatable about the yaw axis, the pitch axis, and the roll axis.
- the support mechanism 130 includes a rotation mechanism 134, a rotation mechanism 136, and a rotation mechanism 138.
- the rotation mechanism 134 rotates the imaging unit 140 and the lens device 160 around the yaw axis using the drive unit 124.
- the rotation mechanism 136 rotates the imaging unit 140 and the lens device 160 around the pitch axis using the driving unit 126.
- the rotation mechanism 138 uses the drive unit 128 to rotate the imaging unit 140 and the lens device 160 around the roll axis.
- the control unit 112 outputs an operation command indicating each rotation angle to the driver 114, the driver 116, and the driver 118 according to the operation command of the gimbal 110 from the control unit 104.
- the driver 114, the driver 116, and the driver 118 drive the drive unit 124, the drive unit 126, and the drive unit 128 in accordance with an operation command that indicates a rotation angle.
- the rotation mechanism 134, the rotation mechanism 136, and the rotation mechanism 138 are driven and rotated by the drive unit 124, the drive unit 126, and the drive unit 128, respectively, and change the postures of the imaging unit 140 and the lens device 160.
- the imaging unit 140 captures an image using light that has passed through the first lens unit 301, the second lens unit 302, and the third lens unit 303 included in the lens device 160.
- the imaging unit 140 includes a control unit 222, an imaging element 221, and a memory 223.
- the control unit 222 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like.
- the control unit 222 controls the imaging unit 140 and the lens device 160 in accordance with an operation command for the imaging unit 140 and the lens device 160 from the control unit 104. Based on the signal received from the controller 50, the controller 222 outputs to the lens device 160 a control command that instructs the lens device 160 to change the magnification.
- the memory 223 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
- the memory 223 may be provided inside the housing of the imaging unit 140. It may be provided so as to be removable from the housing of the imaging unit 140.
- the imaging element 221 generates image data of an optical image that is held inside the housing of the imaging unit 140 and is formed via the lens device 160, and outputs the image data to the control unit 222.
- the control unit 222 stores the image data output from the image sensor 221 in the memory 223.
- the control unit 222 may output the image data to the memory 106 via the control unit 104 and store it.
- the lens device 160 includes a controller 162, a memory 163, a drive mechanism 161, a first lens unit 301, a second lens unit 302, a third lens unit 303, and a lens barrel 360.
- the lens barrel 360 accommodates the first lens unit 301, the second lens unit 302, and the third lens unit 303.
- the first lens unit 301 and the third lens unit 303 are fixed in the optical axis direction.
- the first lens unit 301 and the third lens unit 303 are fixed in the optical axis direction with respect to the lens barrel 360.
- the second lens unit 302 is a lens unit that is movable in the optical axis direction.
- the second lens unit 302 may be movable in the optical axis direction with respect to the lens barrel 360.
- optical axis of the lens system configured by the lenses included in the first lens unit 301, the second lens unit 302, and the third lens unit 303 is simply referred to as “optical axis”. There is.
- the control unit 162 moves the second lens unit 302 along the optical axis in accordance with a control command from the control unit 222.
- the second control unit 162 moves the second lens unit 302 along the optical axis when changing the focus.
- An image formed by the first lens unit 301, the second lens unit 302, and the third lens unit 303 included in the lens device 160 is captured by the imaging unit 140.
- the driving mechanism 161 drives the second lens unit 302.
- the drive mechanism 161 includes, for example, an actuator and a cam cylinder.
- the actuator rotates the cam barrel by an angle corresponding to the driving pulse supplied from the control unit 162.
- the cam cylinder is provided with a cam groove that engages with a cam pin included in the second lens unit 302.
- a driving force in the optical axis direction is applied to the second lens unit 302 via the cam pin in accordance with the rotation of the cam cylinder. Thereby, the second lens unit 302 moves in the optical axis direction.
- the second lens unit 302 is provided with a leaf spring 400.
- the leaf spring 400 is in contact with the lens barrel 360. Specifically, the leaf spring 400 is in contact with a protruding portion 362 provided on the inner surface of the lens barrel 360.
- the leaf spring 400 biases the second lens unit 302 with respect to the protrusion 362 by a force having a component in a direction intersecting the optical axis. Therefore, the second lens unit 302 is in a state where a bias force is always applied from the lens barrel 360 by the leaf spring 400. Thereby, even if the UAV 100 vibrates in a direction orthogonal to the optical axis, the second lens unit 302 can be prevented from vibrating in the direction orthogonal to the optical axis.
- the imaging device 230 includes a control unit 232, a control unit 234, an imaging device 231, a memory 233, a lens 235, and a base 370.
- the control unit 232 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like.
- the control unit 232 controls the image sensor 231 in accordance with an operation command for the image sensor 231 from the control unit 104.
- the control unit 234 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like.
- the control unit 234 controls the focal length of the lens 235 in accordance with an operation command for the lens 235 from the control unit 104.
- the control unit 234 may control the focal point of the lens 235 in accordance with an operation command for the lens 235.
- the control unit 234 may control a diaphragm included in the lens 235 in accordance with an operation command for the lens 235.
- the memory 233 may be a computer-readable recording medium.
- the memory 233 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
- the image sensor 231 is fixed to the base 370.
- a lens barrel 360 is fixed to the base 370.
- the image sensor 231 generates image data of an optical image formed through the lens 235 and outputs the image data to the control unit 232.
- the control unit 232 stores the image data output from the image sensor 231 in the memory 233.
- the UAV 100 includes the control unit 104, the control unit 112, the control unit 222, the control unit 232, the control unit 234, and the control unit 162
- any one of the control units 104, the control unit 112, the control unit 222, the control unit 232, the control unit 234, and the process executed by a plurality of the control units 162 may be executed by any one control unit.
- Processing executed by the control unit 104, the control unit 112, the control unit 222, the control unit 232, the control unit 234, and the control unit 162 may be executed by one control unit.
- the UAV 100 includes the memory 106, the memory 223, and the memory 233 will be described.
- Information stored in at least one of the memory 106, the memory 223, and the memory 233 may be stored in one or more other memories of the memory 106, the memory 223, and the memory 233.
- FIG. 3 is a perspective view showing a part of the support structure of the second lens unit 302.
- FIG. 4 is a perspective view showing the lens barrel 360.
- FIG. 5 is a front view when the lens barrel 360 is viewed from the base 370 side.
- FIG. 6 is a perspective view showing a state in which the second lens unit 302 is accommodated in the lens barrel 360.
- FIG. 3 shows a state where the support plate 380, the first guide pole 310, the second guide pole 320, and the second lens unit 302 included in the lens device 160 and the base 370 included in the imaging device 220 are assembled. ing. One end of the first guide pole 310 and the second guide pole 320 is fixed to the base 370. The other ends of the first guide pole 310 and the second guide pole 320 are fixed to the support plate 380. As described above, the first guide pole 310 and the second guide pole 320 connect the support plate 380 and the base 370. The support plate 380 is located closer to the object side than the base 370 and the second lens unit 302. The first lens unit 301 is fixed to the support plate 380. The lens barrel 360 is fixed to the base 370 and the support plate 380. Thereby, the lens barrel 360, the base 370, the support plate 380, the first guide pole 310, and the second guide pole 320 are assembled together.
- the first guide pole 310 and the second guide pole 320 are provided substantially parallel to the optical axis. In the cross section perpendicular to the optical axis, the first guide pole 310 and the second guide pole 320 are fixed at different positions on the base 370. That is, the first guide pole 310 and the second guide pole 320 extend from the different positions of the base 370 to the object side.
- the first guide pole 310 and the second guide pole 320 control the movement of the second lens unit 302 in the optical axis direction. Thereby, the movement of the lens of the second lens unit 302 in the optical axis direction is controlled by the first guide pole 310 and the second guide pole 320.
- the first guide pole 310 is a main shaft that regulates the orientation of the second lens unit 302.
- the second guide pole 320 is a sub guide pole for suppressing the rotation of the second lens unit 302.
- the second lens unit 302 includes a holding unit 340 that holds a lens and a support unit 350.
- the support part 350 of the second lens unit 302 extends in the optical axis direction.
- the first guide pole 310 penetrates the support portion 350 at two different positions in the optical axis direction. Accordingly, the second lens unit 302 is supported along the optical axis direction by the first guide pole 310.
- the inclination of the second lens unit 302 with respect to the optical axis is mainly restricted by the first guide pole 310.
- the holding portion 340 of the second lens unit 302 is formed with a through groove 341 and a through groove 342 that penetrate the holding portion 340 in the optical axis direction.
- the first guide pole 310 is inserted into the through groove 341.
- the second guide pole 320 is inserted into the through groove 342. Accordingly, the lens held by the holding unit 340 is provided so as to be movable in the optical axis direction along the first guide pole 310 and the second guide pole 320 via the holding unit 340.
- the rotation of the second lens unit 302 around the optical axis is mainly regulated by the first guide pole 310 and the second guide pole 320.
- the support portion 350 of the second lens unit 302 has a cam pin 352 protruding outward. As described above, the cam pin 352 is engaged with the cam groove of the cam cylinder included in the lens device 160. The cam pin 352 is applied with a force in the optical axis direction from the cam cylinder in accordance with the rotation of the cam cylinder. When a force in the optical axis direction is applied to the cam pin 352, the second lens unit 302 moves in the optical axis direction along the first guide pole 310 and the second guide pole 320, respectively.
- the support portion 350 is provided with a spring 330 that biases the second lens unit 302 in the optical axis direction. Since the second lens unit 302 is biased in the optical axis direction by the spring 330, it is possible to suppress blurring of the second lens unit 302 in the optical axis direction.
- the leaf spring 400 is provided in the holding part 340.
- the leaf spring 400 is an example of a spring member fixed to the second lens unit 302.
- the leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a direction intersecting the optical axis.
- the leaf spring 400 has a curved portion 402 that is bent in a direction away from the optical axis and bent in a direction approaching the optical axis again.
- the leaf spring 400 may have a structure that is bent in a direction away from the optical axis.
- the lens barrel 360 has a protrusion 362 on the inner surface 361 of the lens barrel 360.
- the protrusion 362 protrudes from the inner surface 361 in the direction toward the optical axis.
- FIG. 6 when the second lens unit 302 is assembled in the lens barrel 360, the curved portion 402 of the leaf spring 400 and the protruding portion 362 of the inner surface 361 of the lens barrel 360 come into contact with each other.
- the second lens unit 302 is biased by the leaf spring 400 in a direction crossing the optical axis. Therefore, the second lens unit 302 is pressed against the first guide pole 310 and the second guide pole 320. As described above, the lens included in the second lens unit 302 is biased with respect to the lens barrel 360.
- the second lens unit 302 is pressed against at least one of the first guide pole 310 and the second guide pole 320 and positioned in a direction orthogonal to the optical axis. Therefore, when the UAV 100 vibrates in the direction orthogonal to the optical axis, it is possible to suppress the second lens unit 302 from blurring in the direction orthogonal to the optical axis. As a result, a lens driving mechanism that is resistant to vibration can be provided. In other words, for example, rattling between at least one of the first guide pole 310 and the second guide pole 320 and the second lens unit 302 can be suppressed.
- the protruding portion 362 of the lens barrel 360 extends in the optical axis direction.
- the leaf spring 400 moves in contact with the protrusion 362.
- the plate spring 400 moves in the optical axis direction in a state where the top of the curved portion 402 of the plate spring 400 is in contact with the top of the protruding portion 362.
- the second lens unit 302 can move in the optical axis direction while the plate spring 400 maintains a state where a force is applied to the second lens unit 302 in a direction intersecting the optical axis.
- FIG. 7 schematically shows the positional relationship between the first guide pole 310, the second guide pole 320, and the leaf spring 400.
- FIG. 7 is a front view when the lens barrel 360 is viewed from the base 370 side.
- FIG. 7 schematically shows the positional relationship of each member when the imaging apparatus 220 is in the reference posture.
- the reference posture is a posture determined in advance in the imaging device 220.
- the reference posture may be a posture in which the optical axis 240 is orthogonal to the vertical direction, for example.
- FIG. 7 shows an orthogonal coordinate system in which the vertically downward direction is the y-axis plus direction and the direction from the imaging device 220 toward the object side is the z-axis plus direction. In the description related to FIG. 7, the direction of force and the like may be indicated using the coordinate system.
- a dotted line 700 schematically shows the position of the second lens unit 302.
- a vertically downward force F is applied to the second lens unit 302 by the force generated by the curved portion 402 of the leaf spring 400 coming into contact with the protruding portion 362.
- the leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a vertically downward force.
- the spring force required for the leaf spring 400 can be reduced as compared with the case where a vertically upward force is applied to the second lens unit 302.
- P indicates the position of the center of gravity of the second lens unit 302.
- the leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a force in a direction toward the center of gravity of the second lens unit 302.
- the force applied by the leaf spring 400 to the second lens unit 302 toward the center of gravity of the second lens unit 302 it is possible to suppress a large moment around the center of gravity from being applied to the second lens unit 302. Thereby, the force in the rotation direction around the optical axis 240 applied to the second lens unit 302 can be reduced.
- the alternate long and short dash line indicates a straight line L connecting the center of the first guide pole 310 and the center of the second guide pole 320.
- the force that the leaf spring 400 applies to the second lens unit 302 intersects the direction of the straight line L.
- the leaf spring 400 causes the lens to move against the lens barrel 360 by a force in a direction intersecting the direction connecting the first guide pole 310 and the second guide pole 320 in a plane orthogonal to the optical axis 240. Bias.
- the second lens unit 302 can be pressed more evenly against the first guide pole 310 and the second guide pole 320.
- the distance between the center of gravity of the second lens unit 302 and the first guide pole 310, and the distance between the center of gravity of the second lens unit 302 and the second guide pole 320. are preferably arranged so as to be substantially equal. Accordingly, it is possible to suppress blurring of the second lens unit 302 with respect to the first guide pole 310 and the second guide pole 320.
- the magnitude of the force applied by the leaf spring 400 to the second lens unit 302 is preferably equal to or greater than the weight of the second lens unit 302. That is, the leaf spring 400 preferably biases the second lens unit 302 with respect to the lens barrel 360 by a force that is greater than the weight of the second lens unit 302. Thereby, it is possible to suppress the displacement of the second lens unit 302 against the bias force of the leaf spring 400.
- the weight of the second lens unit 302 is represented by mG using the mass m of the second lens unit 302 and the gravitational acceleration G.
- the magnitude of the force applied by the leaf spring 400 to the second lens unit 302 is (A + 1) mG or more. Is more preferable.
- the magnitude of the force that the leaf spring 400 applies to the second lens unit 302 is more preferably S (A + 1) mG, where S is a predetermined safety factor of 1 or more.
- the leaf spring 400 has a force equal to or greater than the force obtained by multiplying the mass of the second lens unit 302 by (A + 1) G, where A is a value obtained by dividing the set value of the maximum acceleration applied to the imaging device 220 by the gravitational acceleration G. Accordingly, it is more preferable to bias the second lens unit 302 with respect to the lens barrel 360. Thereby, it is possible to suppress the displacement of the second lens unit 302 against the bias force of the leaf spring 400.
- the force applied by the leaf spring 400 to the second lens unit 302 may have a component in the x-axis direction in addition to the component in the y-axis direction in FIG. That is, the bias force generated by the leaf spring 400 only needs to have a component in a direction intersecting the optical axis 240. That is, the leaf spring 400 may bias the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a direction intersecting the optical axis 240. The leaf spring 400 may bias the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a direction toward the center of gravity of the second lens unit 302.
- the leaf spring 400 may bias the second lens unit 302 with respect to the lens barrel 360 by a force having a vertically downward component.
- the leaf spring 400 may bias the lens with respect to the lens barrel 360 by a force having a vertically downward component.
- the force of the y-axis direction component applied by the leaf spring 400 to the second lens unit 302 is preferably larger than the force of the x-axis direction component.
- the force of the y-axis direction component applied by the leaf spring 400 to the second lens unit 302 is preferably larger than the force of the z-axis direction component.
- the leaf spring 400 biases the second lens unit 302 in the y-axis direction, so that the second lens unit 302 is attached to the first guide pole 310 and the second guide pole 320. Can be pressed. Therefore, the blurring of the second lens unit 302 in the x-axis direction can be suppressed to some extent by the frictional force between the first guide pole 310 and the second guide pole 320 and the second lens unit 302.
- FIG. 8 schematically shows a positional relationship among the first guide pole 310, the second guide pole 320, the leaf spring 400, and the leaf spring 500 in a modification of the lens device 160.
- FIG. 8 is a front view when the lens barrel 360 is viewed from the base 370 side, as in FIG. 7.
- the inner surface 361 of the lens barrel 360 has a protruding portion 562, and the second lens unit 302 has a leaf spring 500.
- the modified example of the lens device 160 shown in FIG. 8 has the same configuration as the lens device 160 described with reference to FIGS.
- the leaf spring 500 has a curved portion that moves in contact with the protruding portion 562, similarly to the leaf spring 400.
- the leaf spring 400 described with reference to FIGS. 1 to 7 mainly applies a force in the y-axis direction to the second lens unit 302.
- the leaf spring 500 mainly applies a force in the x-axis direction to the second lens unit 302.
- the force of the x-axis direction component that the leaf spring 500 applies to the second lens unit 302 is larger than the force of the y-axis direction component and the z-axis direction component that the leaf spring 500 applies to the second lens unit 302.
- the leaf spring 500 biases the second lens unit 302 with respect to the lens barrel 360 by a force in the direction toward the center of gravity of the second lens unit 302.
- the direction of the force of the y-axis direction component that the leaf spring 500 applies to the second lens unit 302 may coincide with the direction of the force of the y-axis direction component that the leaf spring 400 applies to the second lens unit 302.
- the leaf spring 400 is an example of a first bias unit that biases the lens with respect to the lens barrel 360 by a force having a component in the first direction intersecting the optical axis 240.
- the leaf spring 500 is an example of a second bias unit that biases the lens with respect to the lens barrel 360 by a force having a component in the second direction intersecting the plane including the direction of the optical axis 240 and the first direction. .
- vibration of the second lens unit 302 can be suppressed.
- the leaf spring 400 and the leaf spring 500 described above are examples of an elastic body that biases the second lens unit 302.
- the bias unit is not limited to the leaf spring 400 and the leaf spring 500.
- the second lens unit 302 is provided with a bias unit that generates the bias force of the second lens unit 302.
- a bias unit that generates the bias force of the second lens unit 302 may be provided on the lens barrel 360 side.
- FIG. 9 is an external perspective view showing an example of the stabilizer 800.
- the stabilizer 800 is another example of the moving body.
- the camera unit 813 included in the stabilizer 800 may include an imaging device having the same configuration as the imaging device 220.
- the stabilizer 800 includes a camera unit 813, a gimbal 820, and a handle portion 803.
- the gimbal 820 supports the camera unit 813 in a rotatable manner.
- the gimbal 820 has a pan axis 809, a roll axis 810, and a tilt axis 811.
- the gimbal 820 supports the camera unit 813 so as to be rotatable about a pan axis 809, a roll axis 810, and a tilt axis 811.
- the gimbal 820 is an example of a support mechanism.
- the camera unit 813 is an example of an imaging device.
- the camera unit 813 has a slot 812 for inserting a memory.
- the gimbal 820 is fixed to the handle portion 803 via the holder 807.
- the handle portion 803 has various buttons for operating the gimbal 820 and the camera unit 813.
- the handle portion 803 includes a shutter button 804, a recording button 805, and an operation button 806. By pressing the shutter button 804, a still image can be recorded by the camera unit 813.
- the recording button 805 is pressed, a moving image can be recorded by the camera unit 813.
- the device holder 801 is fixed to the handle portion 803.
- the device holder 801 holds a mobile device 802 such as a smartphone.
- the mobile device 802 is communicably connected to the stabilizer 800 via a wireless network such as WiFi. Thereby, an image captured by the camera unit 813 can be displayed on the screen of the mobile device 802.
- the stabilizer 800 by applying the configuration of the imaging device 220 to the camera unit 813, vibration of a movable lens such as a focus lens can be suppressed.
- the UAV 100 and the stabilizer 800 are taken up as an example of the moving body.
- An imaging device having a configuration similar to that of the imaging device 220 may be attached to a moving body other than the UAV 100 and the stabilizer.
- the imaging device attached to the moving body has been described.
- at least a part of the configuration of the imaging device 220 may be applied not only to an imaging device attached to a moving body but also to an imaging device with a fixed installation location.
- at least a part of the configuration of the imaging device 220 may be applied to the surveillance camera. You may apply at least one part of the structure with which the imaging device 220 is provided to what is called a compact digital camera.
- At least a part of the configuration of the lens device 160 may be applied to an interchangeable lens of an interchangeable lens camera such as a single-lens reflex camera.
- At least a part of the configuration of the imaging device 220 may be applied to a video camera.
- the imaging device 220 including the lens device 160 and the imaging unit 140 has been described as an example of an optical device.
- the optical device may be the lens device 160.
- the optical device may be a lens device for measurement, illumination, light projection, or optical communication.
- the optical device may be a lens device for various purposes other than imaging and light projection.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Lens Barrels (AREA)
- Accessories Of Cameras (AREA)
- Adjustment Of Camera Lenses (AREA)
Abstract
Description
特許文献1 特開2002-296481号公報
50 コントローラ
52 操作部
54 表示部
100 UAV
101 UAV本体
102 インタフェース
104 制御部
106 メモリ
110 ジンバル
112 制御部
114、116、118 ドライバ
124、126,128 駆動部
130 支持機構
134、136、138 回転機構
140 撮像部
160 レンズ装置
161 駆動機構
162 制御部
163 メモリ
220、230 撮像装置
221 撮像素子
222 制御部
223 メモリ
231 撮像素子
232 制御部
233 メモリ
234 制御部
235 レンズ
301 第1レンズユニット、302 第2レンズユニット、303 第3レンズユニット
310 第1ガイドポール、320 第2ガイドポール
330 バネ
340 保持部、341 貫通溝、342 貫通溝
350 支持部、352 カムピン
360 鏡筒、361 内面、362 突出部
370 基台
380 支持板
400 板バネ、402 湾曲部
500 板バネ、562 突出部
800 スタビライザ
801 デバイスホルダ
802 モバイルデバイス
803 持ち手部
804 シャッターボタン
805 録画ボタン
806 操作ボタン
807 ホルダ
809 パン軸
810 ロール軸
811 チルト軸
812 スロット
813 カメラユニット
820 ジンバル
Claims (15)
- 光軸方向に移動するレンズを収容する鏡筒と、
前記レンズの前記光軸方向の移動を制御する第1ガイドポール及び第2ガイドポールと、
前記光軸に交差する方向の成分を有する力により、前記鏡筒に対して前記レンズをバイアスするバイアス部と
を備える光学装置。 - 前記バイアス部は、前記光軸に直交する面内における、前記第1ガイドポールと前記第2ガイドポールとを結ぶ方向に交差する方向の成分を有する力により、前記鏡筒に対して前記レンズをバイアスする
請求項1に記載の光学装置。 - 前記レンズを保持する保持部
をさらに備え、
前記鏡筒は、前記レンズ及び前記保持部を有するレンズユニットを収容し、
前記第1ガイドポール及び前記第2ガイドポールは、前記保持部を介して、前記レンズの前記光軸方向の移動を制御し、
前記バイアス部は、前記光軸に交差する方向の成分を有する力により、前記鏡筒に対して前記レンズユニットをバイアスする
請求項1又は2に記載の光学装置。 - 前記バイアス部は、前記レンズユニットに設けられ、
前記鏡筒は、前記光軸方向に沿って設けられた突出部を前記鏡筒の内面に有し、
前記バイアス部は、前記レンズユニットが前記光軸方向に移動する場合に、前記突出部と接して移動する
請求項3に記載の光学装置。 - 前記バイアス部は、前記レンズユニットの重心に向かう方向の成分を有する力により、前記鏡筒に対して前記レンズユニットをバイアスする
請求項3に記載の光学装置。 - 前記バイアス部は、前記レンズユニットの重量以上の力により、前記鏡筒に対して前記レンズユニットをバイアスする
請求項3に記載の光学装置。 - 前記バイアス部は、前記光学装置に加わる最大加速度の設計値を重力加速度<で除した値をAとして、前記レンズユニットの質量に(A+1)Gを乗じた力以上の力により、前記鏡筒に対して前記レンズユニットをバイアスする
請求項3に記載の光学装置。 - 前記光軸に直交する面内において、前記レンズユニットの重心と前記第1ガイドポールとの間の距離と、前記レンズユニットの重心と前記第2ガイドポールとの間の距離は略等しい
請求項3に記載の光学装置。 - 前記光学装置が予め定められた姿勢にある場合、前記バイアス部は、鉛直下向き方向の成分を有する力により、前記鏡筒に対して前記レンズをバイアスする
請求項1又は2に記載の光学装置。 - 前記バイアス部は、
前記光軸に交差する第1方向の成分を有する力により、前記鏡筒に対して前記レンズをバイアスする第1バイアス部と、
前記光軸の方向及び前記第1方向を含む面に交差する第2方向の成分を有する力により、前記鏡筒に対して前記レンズをバイアスする第2バイアス部と
を有する請求項1又は2に記載の光学装置。 - 前記レンズをさらに備える
請求項1又は2に記載の光学装置。 - 前記レンズを通過した光により撮像する撮像部
をさらに備える請求項1又は2に記載の光学装置。 - 請求項1又は2に記載の光学装置を備えて移動する移動体。
- 前記移動体は無人航空機である
請求項13に記載の移動体。 - 請求項1又は2に記載の光学装置と、
前記光学装置を変位可能に支持する支持機構と
を備えるシステム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/001610 WO2018134926A1 (ja) | 2017-01-18 | 2017-01-18 | 光学装置、移動体及びシステム |
JP2017559884A JP6638148B2 (ja) | 2017-01-18 | 2017-01-18 | 光学装置、移動体及びシステム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/001610 WO2018134926A1 (ja) | 2017-01-18 | 2017-01-18 | 光学装置、移動体及びシステム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018134926A1 true WO2018134926A1 (ja) | 2018-07-26 |
Family
ID=62908216
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/001610 WO2018134926A1 (ja) | 2017-01-18 | 2017-01-18 | 光学装置、移動体及びシステム |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6638148B2 (ja) |
WO (1) | WO2018134926A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109388000A (zh) * | 2018-09-19 | 2019-02-26 | 高新兴科技集团股份有限公司 | 监控云台的减震装置和具有其的监控云台 |
WO2020037819A1 (zh) * | 2018-08-20 | 2020-02-27 | 深圳市大疆创新科技有限公司 | 一种云台连接结构、云台装置及摄影设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0714411U (ja) * | 1993-08-16 | 1995-03-10 | 旭光学工業株式会社 | 可動レンズの支持装置 |
JP2001066488A (ja) * | 1999-08-27 | 2001-03-16 | Asahi Optical Co Ltd | レンズ案内機構 |
JP2006154999A (ja) * | 2004-11-26 | 2006-06-15 | Fuji Heavy Ind Ltd | 目標物同定支援システム |
JP2006251100A (ja) * | 2005-03-08 | 2006-09-21 | Seiko Precision Inc | 撮像装置 |
JP2012141377A (ja) * | 2010-12-28 | 2012-07-26 | Rohm Co Ltd | レンズ制御装置及びこれを用いた撮像装置 |
JP2013076910A (ja) * | 2011-09-30 | 2013-04-25 | Nidec Sankyo Corp | レンズ駆動装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3514245B2 (ja) * | 2001-03-30 | 2004-03-31 | ミノルタ株式会社 | ズームレンズ鏡胴 |
-
2017
- 2017-01-18 JP JP2017559884A patent/JP6638148B2/ja not_active Expired - Fee Related
- 2017-01-18 WO PCT/JP2017/001610 patent/WO2018134926A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0714411U (ja) * | 1993-08-16 | 1995-03-10 | 旭光学工業株式会社 | 可動レンズの支持装置 |
JP2001066488A (ja) * | 1999-08-27 | 2001-03-16 | Asahi Optical Co Ltd | レンズ案内機構 |
JP2006154999A (ja) * | 2004-11-26 | 2006-06-15 | Fuji Heavy Ind Ltd | 目標物同定支援システム |
JP2006251100A (ja) * | 2005-03-08 | 2006-09-21 | Seiko Precision Inc | 撮像装置 |
JP2012141377A (ja) * | 2010-12-28 | 2012-07-26 | Rohm Co Ltd | レンズ制御装置及びこれを用いた撮像装置 |
JP2013076910A (ja) * | 2011-09-30 | 2013-04-25 | Nidec Sankyo Corp | レンズ駆動装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020037819A1 (zh) * | 2018-08-20 | 2020-02-27 | 深圳市大疆创新科技有限公司 | 一种云台连接结构、云台装置及摄影设备 |
CN109388000A (zh) * | 2018-09-19 | 2019-02-26 | 高新兴科技集团股份有限公司 | 监控云台的减震装置和具有其的监控云台 |
Also Published As
Publication number | Publication date |
---|---|
JP6638148B2 (ja) | 2020-01-29 |
JPWO2018134926A1 (ja) | 2019-01-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111356954B (zh) | 控制装置、移动体、控制方法以及程序 | |
JP6733106B2 (ja) | 決定装置、移動体、決定方法、及びプログラム | |
JP2019110462A (ja) | 制御装置、システム、制御方法、及びプログラム | |
US10942331B2 (en) | Control apparatus, lens apparatus, photographic apparatus, flying body, and control method | |
WO2018134926A1 (ja) | 光学装置、移動体及びシステム | |
US11307374B2 (en) | Lens device, imaging system, movable object, and control method | |
JP6018331B1 (ja) | レンズ装置、撮像システム、移動体、及び制御方法 | |
CN110383806B (zh) | 镜头装置、摄像系统以及移动体 | |
JP6318455B1 (ja) | 制御装置、撮像装置、移動体、制御方法及びプログラム | |
JP6565073B2 (ja) | 光学システム及び移動体 | |
CN112567729A (zh) | 控制装置、摄像系统、移动体、控制方法以及程序 | |
JP6641573B1 (ja) | 決定装置、撮像装置、撮像システム、移動体、決定方法、及びプログラム | |
JP2018014608A (ja) | 制御装置、撮像装置、移動体、制御方法、及びプログラム | |
CN111602385B (zh) | 确定装置、移动体、确定方法以及计算机可读记录介质 | |
CN111357271B (zh) | 控制装置、移动体、控制方法 | |
JP2021142819A (ja) | 飛行体、車両監視システム、飛行体の制御方法、及び、飛行制御プログラム | |
JP6852243B1 (ja) | 制御装置、撮像システム、移動体、制御方法、及びプログラム | |
JP7003357B2 (ja) | 制御装置、撮像装置、移動体、制御方法、及びプログラム | |
JP6569157B1 (ja) | 制御装置、撮像装置、移動体、制御方法、及びプログラム | |
JP7043706B2 (ja) | 制御装置、撮像システム、制御方法、及びプログラム | |
JP2021063926A (ja) | レンズ装置、撮像装置、及び移動体 | |
JP2022041236A (ja) | 鏡筒、レンズ装置、撮像装置、移動体及びシステム | |
JP6318427B2 (ja) | レンズ装置、撮像システム、移動体、及び制御方法 | |
JP2021128208A (ja) | 制御装置、撮像システム、移動体、制御方法、及びプログラム | |
JP2021111937A (ja) | 制御装置、撮像装置、移動体、制御方法、及びプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2017559884 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17892340 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/10/2019) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17892340 Country of ref document: EP Kind code of ref document: A1 |