WO2019047421A1

WO2019047421A1 - Lens device, camera system, and moving body

Info

Publication number: WO2019047421A1
Application number: PCT/CN2017/118056
Authority: WO
Inventors: 本庄谦一; 小山高志
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-09-11
Filing date: 2017-12-22
Publication date: 2019-03-14
Also published as: JP6596740B2; JP2019049653A; CN110383806B; CN110383806A

Abstract

In a mechanism using a cam ring, the wobble between the gears sometimes affects the driving of the lens. Provided in the present invention is a lens device. The lens device can be provided with a cam ring that rotates in a first rotational direction and a second rotational direction opposite to the first rotational direction, so that the leans moves along an optical axis. The lens device can be provided with a drive source that generates power for rotating the cam ring. The lens device may comprise a gear portion having a first gear and a second gear coupled to each other to transmit power from the drive source to the cam ring. The lens device may have a force application portion that apply a force on the cam ring in the first rotation direction, so that a first tooth flank of the first gear and a second tooth flank of the second gear opposite the first tooth flank are in contact regardless whether the cam ring rotates in the first rotation direction or the second rotation direction.

Description

Lens device, camera system, and moving body

Technical field

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

Background technique

Patent Document 1 discloses a lens driving device including a lens holder having a nut that is screwed to a screw, and the lens holder is moved in the optical axis direction via a nut by rotating the screw. The lens driving device has a member that biases the lens. The lens is biased in a certain direction by the member, and the wobble generated between the lens holder and the nut is suppressed.

Patent Document 1: Japanese Laid-Open Patent Publication No. 2006-317847

Summary of the invention

Technical problem to be solved by the invention

As a mechanism for driving the lens, a mechanism using a cam ring that rotates via a gear is known. Even with the mechanism using such a cam ring, sometimes the shaking between the gears affects the driving of the lens.

Means for solving technical problems

A lens device according to an aspect of the present invention may include a cam ring that moves the lens along an optical axis by rotating in a first rotation direction and a second rotation direction opposite to the first rotation direction. The lens device can be provided with a drive source that generates power for rotating the cam ring. The lens device may include a gear portion having a first gear and a second gear coupled to each other to transmit power from the drive source to the cam ring. The lens device may be provided with a urging portion that urges the cam ring in the first rotational direction such that the first gear is rotated regardless of which of the first rotational direction and the second rotational direction the cam ring rotates The first flank and the second flank of the second gear opposite the first flank are in contact.

The lens can be a focusing lens. The vibrating operation of the focus lens can be performed by the cam ring receiving the power from the drive source via the gear portion and rotating in the first rotation direction and the second rotation direction.

The drive source can be an electric motor. The lens device may include a detecting unit that detects the amount of rotation of the motor. The lens device may include a control unit that controls the rotation of the motor in accordance with the amount of rotation.

The lens can be a focusing lens. The control unit may perform a wobbling operation of the focus lens by controlling the rotation of the motor such that the cam ring receives power from the motor via the gear portion to rotate in the first rotation direction and the second rotation direction.

The control unit may rotate the cam ring in the second rotational direction by controlling the motor such that the torque of the motor exceeds the biasing portion biasing the cam ring in the first rotational direction. The control unit may rotate the cam ring in the first rotational direction by controlling the motor such that the torque of the motor is lower than the urging force of the urging portion.

The force applying portion may include an elastomer. Further, a fixed cylinder that rotatably receives the cam ring may be provided. The elastomer can apply a force to the cam ring in a first direction of rotation by applying a force to the cam ring relative to the fixed barrel.

The cam ring is biased in the first direction of rotation by a first portion of the elastomer being secured to the cam ring and a second portion of the elastomer being secured to the fixed barrel.

The lens unit can be provided with a lens holder that holds the lens. The lens holder may have a pin that engages with a cam groove of the cam ring. The first portion of the elastomer is fixed to the lens holder, and the second portion of the elastic body is fixed to the fixed cylinder, and the cam ring can be biased in the first rotational direction.

An imaging system according to an aspect of the present invention may include the lens device described above. The imaging system may be provided with an imaging device that images light imaged by the lens device.

The imaging system may be provided with a support mechanism that supports at least one of the lens device and the imaging device in such a manner that the lens device and the imaging device are rotated.

The moving body according to one aspect of the present invention may be a moving body on which the imaging system is mounted to move.

According to an aspect of the present invention, it is possible to suppress the influence of the shaking between the gears on the driving of the lens.

In addition, all the features of the present invention are not exhaustive in the above summary. Furthermore, sub-combinations of these feature sets can also be an invention.

DRAWINGS

Fig. 1 is an external perspective view of a part of components of a lens device.

Fig. 2 is a view for explaining a gear portion.

FIG. 3 is a diagram showing one example of functional blocks of an image pickup apparatus.

FIG. 4 is a diagram showing one example of a configuration of a spring.

Fig. 5 is a view for explaining a control principle of a stepping motor.

FIG. 6 is a diagram showing an example of a current value supplied to a stepping motor.

Fig. 7 is a view showing an example of a relationship between a driving voltage applied to a stepping motor and a rotational position of a motor.

Fig. 8 is a diagram showing an example of the appearance of an unmanned aerial vehicle and a remote operation device.

Detailed ways

Hereinafter, the present invention will be described by way of embodiments of the invention, but the following embodiments do not limit the invention of the claims. Moreover, not all combinations of features described in the embodiments are essential to the means of the invention. It will be obvious to those skilled in the art that various changes and modifications can be made in the following embodiments. It is to be understood that the modifications and improvements may be included in the technical scope of the present invention.

The claims, the description, the drawings, and the abstract of the specification contain matters that are protected by copyright. Anyone who makes copies of these documents as indicated in the documents or records of the Patent Office cannot be objected to by the copyright owner. However, in other cases, all copyrights are reserved.

FIG. 1 is an external perspective view of a part of components of the lens device 200. The lens device 200 includes a lens 210, a lens holder 212, a guide shaft 216, a stepping motor 202, a gear portion 230, a detecting portion 250, a cam ring 260, and a fixed barrel 270.

The fixed barrel 270 rotatably holds the cam ring 260. A lens 210, a lens holder 212, and a guide shaft 216 are disposed inside the cam ring 260. The cam ring 260 has a cam groove 262 on the side. The lens holder 212 holds the lens 210. The lens holder 212 is supported by a pair of guide shafts 216 in such a manner as to be movable in the optical axis direction. The lens holder 212 has a pin 214 at the end. The pin 214 is engaged with the cam groove 262. By the rotation of the cam ring 260, the pin 214 moves along the cam groove 262, thereby moving the lens holder 212 and the lens 210 in the optical axis direction.

The stepper motor 202 generates power for rotating the cam ring 260. The stepping motor 202 is an example of a drive source and an electric motor. The gear portion 230 transmits the power from the stepping motor 202 to the cam ring 260. The gear portion 230 includes a gear 231, a gear 232, and a gear 233. The gear 231 is disposed on the drive shaft of the stepping motor 202. The gear 233 is disposed on the outer peripheral surface of the cam ring 260. The gear 233 may be disposed along an edge portion of one end of the cam ring 260 on the imaging surface side. The gear 232 is coupled to the gear 231 and the gear 233, transmits power from the gear 231 to the gear 233, and transmits power from the gear 233 to the gear 231. The two gears that are coupled to each other in the gear 231, the gear 232, and the gear 233 are one example of the first gear and the second gear.

The detecting unit 250 detects the amount of rotation of the stepping motor 202. The detecting portion 250 has a grill disk 252 and a photo interrupter 254. The grill disk 252 is fixed to the drive shaft of the stepping motor 202 and rotates in response to the rotation of the drive shaft of the stepping motor 202. The grid disk 252 includes slits 253 that are radially spaced at equal intervals. The photointerrupter 254 includes a light emitting unit and a light receiving unit. A grid disc 252 is disposed between the light emitting portion and the light receiving portion. The light emitted from the light-emitting portion is received by the light-receiving portion via the slit 253, and the amount of rotation of the stepping motor 202 is determined based on the light-receiving mode.

The gear 231 rotates by the rotation of the stepping motor 202. When the gear 231 rotates, the gear 232 coupled to the gear 231 rotates. Further, when the gear 232 rotates, the gear 233 coupled to the gear 232 rotates, and the cam ring 260 rotates. In addition, the number of gears that the gear portion 230 has is not limited to three. The gear portion 230 may include more than two arbitrary numbers of gears.

FIG. 2 is a view for explaining the gear unit 230. While the tooth surface 231a of the gear 231 is in contact with the tooth surface 232a of the gear 232 opposed to the tooth surface 231a, the gear 231 is rotated in the rotational direction indicated by the arrow 237. Corresponding to its rotation, the gear 232 rotates in the direction of rotation indicated by arrow 238. Further, while the tooth surface 232b of the gear 232 is in contact with the tooth surface 233b of the gear 233 opposed to the tooth surface 232b, the gear 232 is rotated in the rotational direction indicated by the arrow 238. Corresponding to its rotation, the gear 233 rotates in the direction of rotation indicated by arrow 239.

In the gear portion 230 thus configured, a gap 235 exists between the gear 231 and the gear 232. There is also a gap 236 between the gear 232 and the gear 233.

Such gaps

235 and 236 are referred to as backlashes. Due to the presence of backlash, it sometimes affects the position control of the lens 210. For example, when the gear 231 is rotated in the rotational direction indicated by the arrow 237 and then rotated in the rotational direction indicated by the arrow 241, the gear 232 is engaged with the gear 231 due to the presence of the gap 235, and is rotated as indicated by the arrow 242. A time lag occurs before the direction is rotated. This time lag sometimes affects the position control of the lens 210.

The lens 210 includes a focus lens. When the drive mechanism of the focus lens is shaken, it sometimes affects the focus processing. The shaking of the driving mechanism of the focus lens sometimes has a greater influence on the imaging than the shaking of the driving mechanism of the zoom lens. Therefore, in order to suppress the influence of the shaking of the drive mechanism of the focus lens, it is considered to miniaturize the focus lens. On the other hand, in order to improve the performance of the focus lens, it is also considered to increase the size of the focus lens. Moreover, in order to drive a large-sized focus lens with high precision, it is considered to utilize a cam ring in a drive mechanism of a focus lens. On the other hand, when the imaging apparatus performs the autofocus processing at the time of moving image shooting, for example, a wobbling operation in which the focus lens is finely reciprocated in the optical axis direction may be performed. However, when there is a backlash between the gears as described above, it is difficult to perform a high-precision chattering operation. Thus, there is a problem in driving a lens such as a focus lens using a cam ring.

Therefore, according to the lens device 200 of the present embodiment, the cam ring 260 is biased in the first rotational direction such that the cam ring 260 is in the first rotational direction (for example, the rotational direction indicated by the arrow 240) and When in one of the second rotational directions of opposite rotation directions (for example, the rotational direction indicated by arrow 239), the tooth surface 231a of the gear 231 is in contact with the tooth surface 232a of the gear 232, and the tooth surface 232b of the gear 232 is The tooth faces 233b of the gear 233 are in contact. This eliminates the influence of the backlash between the gears and improves the driving accuracy of the lens using the cam ring. The first direction of rotation may be a clockwise direction and the second direction of rotation may be a counterclockwise direction. Alternatively, the first direction of rotation may be a counterclockwise direction and the second direction of rotation may be a clockwise direction.

FIG. 3 shows an example of functional blocks of the imaging apparatus 100 according to the present embodiment. The imaging device 100 includes a lens device 200 and an imaging unit 102.

The imaging unit 102 includes an image sensor 120, an imaging control unit 110, a gyro sensor 116, and a memory 130. The image sensor 120 may be composed of a CCD or a CMOS. The image sensor 120 outputs the image data of the optical image imaged through the plurality of lenses 210 to the imaging control unit 110. The imaging control unit 110 can be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The imaging control unit 110 can control the imaging apparatus 100 based on an operation command from the imaging device 100 emitted from the user via the operation unit. The gyro sensor 116 detects the vibration of the imaging apparatus 100. The memory 130 may be a computer readable recording medium, and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 130 stores a program or the like necessary for the image control unit 110 to control the image sensor 120 and the like. The memory 130 may be disposed inside the casing of the image pickup apparatus 100. The memory 130 may be disposed to be detachable from the housing of the image pickup apparatus 100.

The lens device 200 has a plurality of lenses 210, a lens control unit 220, and a memory 222. The lens device 200 further includes a stepping motor 202, a cam ring 260, a lens holder 212, a gear portion 230, a detecting portion 250, and a fixed barrel 270. The lens holder 212 holds the lens 210. The pin 214 provided on the lens holder 212 is engaged with the cam groove of the cam ring 260. By the rotation of the cam ring 260, the pin 214 moves along the cam groove, and the lens 210 moves together with the lens holder 212 in the optical axis direction. The plurality of lenses 210 can function as a zoom lens, a zoom lens, and a focus lens. At least a portion or all of the plurality of lenses 210 are configured to be movable along the optical axis. The lens device 200 may be an interchangeable lens that is provided to be detachable from the imaging unit 102.

The stepping motor 202 transmits power to the cam ring 260 via the gear portion 230 to rotate the cam ring 260. The lens control unit 220 drives the stepping motor 202 in accordance with a lens control command from the imaging unit 102 to move one or more lenses 210 in the optical axis direction via the gear portion 230 and the cam ring 260. The lens control commands are, for example, a zoom control command and a focus control command. The lens control section 220 performs at least one of a zooming motion and a focusing motion by moving at least one of the lenses 210 along the optical axis. The lens control unit 220 controls the stepping motor 202 to finely reciprocate the cam ring 260 in the first rotation direction and the second rotation direction, for example, in the case of performing the autofocus operation at the time of moving image shooting, to finely reciprocally drive the focus. The lens, thereby performing a vibrating action. Here, the wobbling operation is to calculate an evaluation value indicating the degree of blur of an image such as a contrast value while causing the focus lens to vibrate finely along the optical axis, and then gradually approach the direction in which the optical axis should be moved. The action of the focus state. The lens control unit 220 is an example of a control unit. The lens control unit 220 performs a wobbling operation in accordance with an autofocus command from the imaging unit 102.

The memory 222 stores the control values of the plurality of lenses 210. The memory 222 may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.

In the imaging device 100 configured as described above, the lens device 200 includes the spring 280 in order to suppress the influence of the backlash of the gear portion 230. The spring is an example of an elastomer and a force applying portion. The spring 280 urges the cam ring 260 in the first rotational direction such that the tooth surface 231a of the gear 231 and the tooth surface of the gear 232 are rotated regardless of which of the first rotational direction and the second rotational direction the cam ring 260 rotates. Both 232a are in contact and the tooth flanks 232b of the gear 232 are in contact with the tooth flanks 233b of the gears 233.

The lens control unit 220 controls the stepping motor 202 such that the torque of the stepping motor 202 exceeds the bias of the spring 280 in the first rotational direction (for example, the rotational direction indicated by the arrow 240 in FIG. 2), thereby causing the cam ring 260 to be biased. The cam ring 260 rotates in a second direction of rotation (eg, the direction of rotation indicated by arrow 239 of FIG. 2). The lens control unit 220 controls the stepping motor 202 such that the torque of the stepping motor 202 is lower than the biasing force of the spring 280 to the cam ring 260 in the first rotational direction, thereby rotating the cam ring 260 in the first rotational direction. In this case, the urging force of the spring 280 is used for the rotation of the cam ring 260 in the first rotational direction and the maintenance of the contact of the tooth faces of the gears with each other. Further, the lens control unit 220 controls the stepping motor 202 to balance the torque of the stepping motor 202 with the biasing force of the spring 280 to the cam ring 260 in the first rotational direction, thereby stopping the cam ring 260 at the desired rotational position. .

The first portion of the spring 280 is secured to the lens holder 212 and the second portion of the spring 280 is secured to the fixed barrel 270. The spring 280 can bias the cam ring 260 in a first direction of rotation. One end of the spring 280 may be fixed to the lens holder 212. The other end of the spring 280 may be fixed to a holder 272 provided on the inner circumferential surface of the fixed cylinder 270. The pin 214 of the lens holder 212 is engaged with the cam groove 262 of the cam ring 260. Thereby, the spring 280 urges the cam ring 260 in the first rotational direction by applying a force to the lens holder 212 in the first direction along the optical axis. Thus, by biasing the cam ring 260 in the first rotational direction, the influence of the backlash of the gear portion 230 can be suppressed regardless of which of the first rotational direction and the second rotational direction the cam ring 260 rotates.

The spring 280 can be placed at any position as long as it can bias the cam ring 260 in a certain direction of rotation. For example, as shown in FIG. 4, a pair of springs 280 can be disposed on a portion of the cam ring 260 and a portion of the stationary barrel 270, biasing the cam ring 260 in a first direction of rotation as indicated by arrow 240. A pair of springs 280 can be disposed opposite each other across the cam ring 260. The pair of springs 280 may be symmetrically disposed across the rotational axis of the cam ring 260. A pair of springs 280 may be disposed on the outer circumferential surface of the cam ring 260 in a first rotational direction indicated by an arrow 240, respectively. Further, one end of each of the pair of springs 280 may be fixed to the outer peripheral surface of the cam ring 260, and the other end of each of the pair of springs 280 may be fixed to a part of the fixed cylinder 270. A part of the cam ring 260 may be any portion as long as it is integrally rotated with the cam ring 260 in accordance with the rotation of the cam ring 260. A portion of the cam ring 260 may be any portion of the outer circumferential surface of the cam ring 260. A portion of the cam ring 260 can also be a component that is secured to the cam ring 260. A part of the fixed cylinder 270 may be any portion as long as it does not move relative to the cam ring 260 in accordance with the rotation of the cam ring 260. A portion of the fixed barrel 270 may also be a part that is fixed to the fixed barrel 270. In addition to the pair of springs 280, the lens device 200 may further include an additional spring that is fixed to the holder 272 and the lens frame 212 like the spring 280 shown in FIG. The additional spring can function as an anti-sway elastic body in the driving mechanism of the lens 210 such as a cam follower. Spring 280 can be any number of more than one. The lens device 200 may have any number of springs 280 disposed at any place in consideration of the structure of the driving mechanism of the lens 210 to apply a biasing force required for continuous contact of the gears with each other with respect to the cam ring 260.

The urging portion that urges the cam ring 260 in a certain rotation direction may be a means other than an elastic body such as the spring 280. The urging portion may be, for example, a motor or a magnet that biases the cam ring 260 in a certain rotational direction. When the urging portion is an electric motor, the lens device 200 may further include a stepping motor for urging the cam ring 260 in a fixed rotational direction in addition to the stepping motor 202. The stepping motor for urging can transmit power to the gear 233 provided on the cam ring 260 via the biasing gear. The lens device 200 can apply a constant voltage to the stepping motor for urging during the operation of the lens device 200 to apply a bias in a certain rotational direction. In the case where the urging portion is a magnet, a magnet for biasing the cam ring 260 in a certain direction may be provided on the cam ring 260 and the fixed cylinder 270, respectively. Further, each of the teeth of the gear may be formed of a magnet, and the cam ring 260 may be biased in a certain rotational direction.

FIG. 5 is a view for explaining the control principle of the stepping motor 202. The lens control unit 220 can control the stepping motor 202 by feedback control based on the amount of rotation of the stepping motor 202 detected by the detecting unit 250. The lens control unit 220 can control the stepping motor 202 by PID control based on the amount of rotation of the stepping motor 202 detected by the detecting unit 250. The lens control unit 220 may include a rotation angle calculation unit 224, a differential calculation unit 226, and a drive voltage calculation unit 228. The rotation angle calculation unit 224 acquires the amount of rotation of the stepping motor 202 detected by the detection unit 250. The rotation angle calculation unit 224 calculates the rotation angle of the stepping motor 202 based on the amount of rotation. The differential calculation unit 226 calculates a difference between the rotation angle calculated by the rotation angle calculation unit 224 and the target rotation angle based on the lens drive command from the imaging control unit 110. The drive voltage calculation unit 228 calculates the drive voltage applied to the stepping motor 202 based on the difference supplied from the differential calculation unit 226. The drive voltage calculation unit 228 calculates the drive voltage applied to the stepping motor 202 by the PID control in accordance with the difference. The driving voltage calculation unit 228 can control the current value supplied to the stepping motor 202 by PID control in accordance with the difference. The lens control unit 220 can control the stepping motor 202 by two-phase excitation. The lens control unit 220 can control the current value so that a current such as that shown in FIG. 6 flows through the coils of the A phase and the B phase of the stepping motor 202. When a period of current flows through the stepping motor 202, the stepping motor 202 is rotated by, for example, 9 degrees.

The biasing force applied by the spring 280 to the cam ring 260 in the first rotational direction varies corresponding to the rotational position of the stepper motor 202. Thus, the driving voltage applied to the stepping motor 202 also changes in accordance with the rotational position of the stepping motor 202. For example, as shown in FIG. 7, the lens control unit 220 changes the driving voltage applied to the stepping motor 202 in accordance with the rotational position of the stepping motor 202 (the rotation angle of the cam ring 260). The drive voltage 500 represents the voltage applied to the stepping motor 202 when the rotation of the cam ring 260 is stopped. The drive voltage 502 represents the voltage applied to the stepping motor 202 when the cam ring 260 is rotated in the opposite direction to the biasing direction. The driving voltage 502 is higher than the driving voltage 500. The drive voltage 504 indicates the voltage applied to the stepping motor 202 when the cam ring 260 is rotated in the biasing direction. The drive voltage 504 is lower than the drive voltage 500.

Thus, the driving voltage applied to the stepping motor 202 is varied in accordance with the rotation angle of the cam ring 260. Thereby, while the tooth surface 231a of the gear 231 is brought into contact with the tooth surface 232a of the gear 232, and the tooth surface 232b of the gear 232 is brought into contact with the tooth surface 233b of the gear 233, regardless of the cam ring 260 in the first rotational direction and the Which of the two rotational directions can be rotated can be achieved. Therefore, the influence of the backlash of the gear portion 230 can be suppressed. Therefore, for example, even if the focus lens is driven by the cam ring 260, it is not affected by the backlash, and the chattering operation during moving image shooting can be realized.

The imaging device 100 as described above may be mounted on a moving body. The imaging device 100 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. The UAV 10 may include a UAV main body 20, a pan/tilt head 50, a plurality of imaging devices 60, and an imaging device 100. The pan/tilt head 50 and the image pickup apparatus 100 are one example of an image pickup system. The UAV 10 is an example of a moving body propelled by the propulsion unit. In addition to the UAV, the concept of the mobile body includes a flying body such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like.

The UAV main body 20 is provided with a plurality of rotors. A plurality of rotors are an example of a propulsion. The UAV body 20 causes the UAV 10 to fly by controlling the rotation of a plurality of rotors. The UAV body 20, for example, uses four rotors to fly the UAV 10. The number of rotors is not limited to four. In addition, the UAV 10 can also be a fixed wing aircraft without a rotor.

The imaging device 100 is an imaging camera that images an object included in a desired imaging range. The pan/tilt head 50 rotatably supports the image pickup apparatus 100. The pan/tilt 50 is an example of a support organization. For example, the pan/tilt head 50 supports the camera unit 100 in such a manner that the camera unit 100 can be rotated by the pitch axis. The pan/tilt head 50 supports the camera unit 100 by means of an actuator that is rotatable about the roll axis and the yaw axis, respectively. The pan/tilt head 50 can change the posture of the imaging apparatus 100 by rotating the imaging apparatus 100 around at least one of a yaw axis, a pitch axis, and a roll axis.

The plurality of imaging devices 60 are sensing cameras that image the surroundings of the UAV 10 in order to control the flight of the UAV 10 . The two camera units 60 may be disposed on the front of the UAV 10, that is, on the front side. Further, the other two imaging devices 60 may be disposed on the bottom surface of the UAV 10. The two imaging devices 60 on the front side can be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired to function as a stereo camera. The three-dimensional spatial data around the UAV 10 can be generated based on the images captured by the plurality of imaging devices 60. The number of imaging devices 60 provided in the UAV 10 is not limited to four. The UAV 10 only needs to have at least one imaging device 60. The UAV 10 may also be provided with at least one camera unit 60 on the nose, the tail, the side, the bottom surface and the top surface of the UAV 10, respectively. The angle of view that can be set in the imaging device 60 can be larger than the angle of view that can be set in the imaging device 100. The imaging device 60 may also have a fixed focus lens or a fisheye lens.

The remote operating device 300 communicates with the UAV 10 to remotely operate the UAV 10. The remote operating device 300 can communicate wirelessly with the UAV 10. The remote operation device 300 transmits, to the UAV 10, instruction information indicating various commands related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, advancing, retreating, and rotating. The indication information includes, for example, indication information that causes the height of the UAV 10 to rise. The indication information may indicate the height at which the UAV 10 should be located. The UAV 10 is moved so as to be located at the height indicated by the indication information received from the remote operation device 300. The indication information may include a rising instruction that causes the UAV 10 to rise. UAV10 rises during the period of accepting the rising command. When the height of the UAV 10 has reached the upper limit height, the UAV 10 can limit the rise even if the rise command is accepted.

The present invention has been described above by way of embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be obvious to those skilled in the art that various changes or modifications may be made to the above-described embodiments. It is to be understood that the modifications and improvements may be included in the technical scope of the present invention.

It is to be noted that the order of execution of the processes, the procedures, the steps, the stages, and the like in the devices, the systems, the procedures, and the steps in the claims, the description, and the drawings are as long as "Before", "Previous", etc., and as long as the previously processed output is not used in later processing, it can be implemented in any order. The operation flow in the claims, the description, and the drawings of the specification has been described using "first", "next", etc. for convenience, but it does not mean that it must be implemented in this order.

Symbol Description

10 UAV

20 UAV body

50 Yuntai

60 camera

100 camera

102 Camera Department

110 Camera Control Department

116 gyro sensor

120 image sensor

130 memory

200 lens unit

202 stepper motor

210 lens

212 lens holder

214 pin

216 guide shaft

220 lens control department

222 memory

224 rotation angle calculation unit

226 Differential Operation Department

228 drive voltage calculation unit

230 gear department

231 gear

231a tooth surface

232 gear

232a gear

232a tooth surface

232b tooth surface

233 gear

233b tooth surface

235 gap

236 clearance

250 Inspection Department

252 grille disc

253 slit

254 light interrupter

260 cam ring

262 cam groove

270 fixed cylinder

272 holder

280 spring

300 remote operating device

Claims

A lens device having:

a cam ring that moves the lens along the optical axis by rotating in a first rotational direction and a second rotational direction opposite to the first rotational direction;

a drive source that generates power for rotating the cam ring;

a gear portion having first and second gears coupled to each other to transmit power from the drive source to the cam ring;

a urging portion that urges the cam ring in the first rotational direction such that when the cam ring rotates in either one of the first rotational direction and the second rotational direction, The first flank of the first gear and the second flank of the second gear opposite the first flank are in contact.
The lens device according to claim 1, wherein

The lens is a focus lens.
The lens device according to claim 2, wherein

The wobbling motion of the focus lens is performed by the cam ring receiving power from the driving source via the gear portion and rotating in the first rotation direction and the second rotation direction.
The lens device according to claim 1, wherein

The drive source is an electric motor,

The lens device further has:

a detecting portion that detects an amount of rotation of the motor;

The control unit controls the rotation of the motor based on the amount of rotation.
The lens device according to claim 4, wherein

The lens is a focus lens,

The control unit rotates in the first rotation direction and the second rotation direction by controlling rotation of the motor to cause the cam ring to receive power from the motor via the gear portion, thereby performing the Focus on the flutter of the lens.
The lens device according to claim 4, wherein

The control unit controls the motor such that a torque of the motor exceeds a force applied by the urging portion to the cam ring in the first rotational direction, thereby causing the cam ring to follow the second Rotating in the rotational direction, the cam ring is rotated in the first rotational direction by controlling the motor such that the torque of the motor is lower than the urging force of the urging portion.
The lens device according to claim 1, wherein

The force applying portion includes an elastic body.
The lens device according to claim 7, wherein

Further provided is a fixed cylinder that rotatably accommodates the cam ring,

The elastic body applies a force to the cam ring in the first rotational direction by applying a force to the cam ring with respect to the fixed barrel.
The lens device according to claim 8, wherein

A first portion of the elastomer is secured to the cam ring, and a second portion of the elastomer is secured to the fixed barrel, the cam ring being urged in the first direction of rotation.
The lens device according to claim 8, wherein

Further having a lens holder for holding the lens,

The lens holder has a pin that engages with a cam groove of the cam ring,

A first portion of the elastic body is fixed to the lens holder, and a second portion of the elastic body is fixed to the fixed cylinder, and the cam ring is biased in the first rotational direction.
A camera system having:

The lens device according to any one of claims 1 to 10;

An image pickup device that images light imaged by the lens device.
The image pickup system according to claim 11, wherein

Further provided is a support mechanism that supports at least one of the lens device and the imaging device in such a manner that the lens device and the imaging device can be rotated.
A moving body in which the imaging system according to claim 11 is mounted for movement.