WO2020174866A1 - Système de lentilles à longueur focale variable et dispositif d'imagerie - Google Patents

Système de lentilles à longueur focale variable et dispositif d'imagerie Download PDF

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WO2020174866A1
WO2020174866A1 PCT/JP2019/050966 JP2019050966W WO2020174866A1 WO 2020174866 A1 WO2020174866 A1 WO 2020174866A1 JP 2019050966 W JP2019050966 W JP 2019050966W WO 2020174866 A1 WO2020174866 A1 WO 2020174866A1
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Prior art keywords
lens
lens group
focal length
image
end state
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PCT/JP2019/050966
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English (en)
Japanese (ja)
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基之 大竹
松井　拓未
宏志 牛田
学 石岡
クリスティン ヴァイシェルト
マーカス カム
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ソニー株式会社
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Priority to JP2021501646A priority Critical patent/JPWO2020174866A1/ja
Publication of WO2020174866A1 publication Critical patent/WO2020174866A1/fr

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B15/00—Optical objectives with means for varying the magnification
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B15/00—Optical objectives with means for varying the magnification
    • G02B15/14—Optical objectives with means for varying the magnification by axial movement of one or more lenses or groups of lenses relative to the image plane for continuously varying the equivalent focal length of the objective
    • G02B15/16—Optical objectives with means for varying the magnification by axial movement of one or more lenses or groups of lenses relative to the image plane for continuously varying the equivalent focal length of the objective with interdependent non-linearly related movements between one lens or lens group, and another lens or lens group
    • G02B15/20—Optical objectives with means for varying the magnification by axial movement of one or more lenses or groups of lenses relative to the image plane for continuously varying the equivalent focal length of the objective with interdependent non-linearly related movements between one lens or lens group, and another lens or lens group having an additional movable lens or lens group for varying the objective focal length

Definitions

  • the present technology relates to a variable focal length lens system used in a digital video camera, a digital still camera, etc., and an imaging device using such a variable focal length lens system.
  • the present technology is suitable for a zoom lens having a wide angle of view of about 24 to 38 mm (35 mm conversion), an F number of about 1.8 to 4.0, and a zoom ratio of about 10 to 30 times in the wide-angle end state. ing.
  • an image pickup device using a photoelectric conversion device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) is used to convert a subject image formed on the image pickup device surface into each photoelectric conversion device.
  • a photoelectric conversion device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor)
  • CCD Charge Coupled Device
  • CMOS Complementary Metal Oxide Semiconductor
  • a conventional zoom lens has a plurality of movable lens groups, and the movable lens groups are moved in the optical axis direction to change the focal length while keeping the image plane position constant (for example, See Patent Document 1).
  • the zoom lens described in Patent Document 1 has, in order from the object side to the image side, a first lens group having a positive refractive power, a second lens group having a negative refractive power, and a first lens group having a positive refractive power. It is composed of three lens groups and a fourth lens group having a positive refractive power.
  • the zoom lens when changing the focal length, the first lens group and the third lens group are fixed, and the second lens group moves in the optical axis direction to compensate for the accompanying change in the image plane position. Then, the fourth lens group moves in the optical axis direction.
  • a slide-type variable focal length lens system in which a free-form surface lens having no rotationally symmetrical axis is moved in a direction perpendicular to the optical axis to change the angle of view (for example, Patent Document 2). reference).
  • a free-form surface lens having no rotationally symmetrical axis is moved in a direction perpendicular to the optical axis to change the angle of view (for example, Patent Document 2). reference).
  • four free-form lenses move to perform a zoom operation.
  • JP-A-4-43311 Japanese Patent Laid-Open No. 2007-4063
  • variable focal length lens system using the free-form surface lens that has been proposed so far, for example, in the lens system in Patent Document 2, by disposing two free-form surface lenses at two places, respectively, a zoom unit and a compensator unit are provided. Magnification is performed by separating into two parts and moving in different directions.
  • an object of the variable focal length lens system and the image pickup device of the present technology is to provide a compact and high-magnification variable focal length lens system and an image pickup device.
  • variable focal length lens system includes, in order from the object side to the image side, a first lens group having a positive refractive power, a second lens group having a negative refractive power, and a first free lens group. It has a third lens group including a curved lens, a fourth lens group including a second free-form surface lens, and a fifth lens group having a positive refractive power, and the focal length from the wide-angle end state is shortest.
  • the first lens group is fixed in the optical axis direction
  • the second lens group moves to the image side
  • the third lens group and the fourth lens group move.
  • the lens groups move separately in the direction perpendicular to the optical axis.
  • the combined refracting power of the second lens unit changes due to the third lens group and the fourth lens group moving separately in the direction perpendicular to the optical axis, and the positive refraction toward the image side of the two free-form surface lenses.
  • the fifth lens group having power By disposing the fifth lens group having power, the diverging action of the second lens group is weakened.
  • the off-axis light flux passing through the first lens group and the second lens group in the wide-angle end state approaches the optical axis, and the heights of the off-axis light flux and the on-axis light flux passing through the second lens group in the wide-angle end state are high.
  • the aperture stop is arranged between the second lens group and the fifth lens group and the following conditional expression (2) is satisfied.
  • ⁇ AS length along the optical axis from the aperture stop to the image plane in the telephoto end state
  • ft focal length of the entire lens system in the telephoto end state
  • the divergence of the light rays emitted from the second lens group is suppressed and the off-axis light flux passing through the first lens group approaches the optical axis.
  • variable focal length lens system described above satisfy the following conditional expressions (4) and (5).
  • ⁇ LA The amount of movement of the third lens group when the lens position state changes from the wide-angle end state with the shortest focal length to the focal length state with the longest focal length
  • ⁇ LB The focal length from the wide-angle end state with the shortest focal length
  • the movement amount ft of the fourth lens unit when the position of the lens changes to the longest focal length state the focal length of the entire lens system in the telephoto end state.
  • the sixth lens group, the seventh lens group, and the eighth lens group are sequentially arranged from the object side to the image side on the image side of the fifth lens group,
  • the lens group has a positive refractive power
  • the seventh lens group has a negative refractive power
  • the eighth lens group has a positive refractive power
  • the focal length is from a wide-angle end state to a telephoto end state.
  • the lens group on the image side of the fifth lens group has the effect of changing the focal length.
  • the seventh lens group move in the optical axis direction according to changes in the subject distance.
  • the eighth lens group be fixed in the optical axis direction when the focal length changes from the wide-angle end state to the telephoto end state.
  • the eighth lens group which has a role of reducing the focus movement amount, is fixed.
  • an image pickup device includes a variable focal length lens system and an image pickup element that converts an optical image formed by the variable focal length lens system into an electrical signal, and the variable focal length lens system is , A first lens group having a positive refractive power, a second lens group having a negative refractive power, a third lens group including a first free-form surface lens, and a second free-form surface in order from the object side to the image side.
  • the fourth lens group including a lens and the fifth lens group having a positive refractive power
  • the first lens group is fixed in the optical axis direction
  • the second lens group moves to the image side
  • the third lens group and the fourth lens group move separately in the direction perpendicular to the optical axis. It is a thing.
  • the third lens group and the fourth lens group are separately moved in the direction perpendicular to the optical axis to change the combined refracting power of the second lens unit and the two free-form surface lenses.
  • the fifth lens group having a positive refractive power on the image side of, the diverging action of the second lens group is weakened.
  • FIG. 2 to 17 show an embodiment of a variable focal length lens system and an imaging device according to the present technology, and this figure is a refractive power arrangement diagram of the variable focal length lens system.
  • It is a figure which shows the lens structure of 1st Example. 3 is a spot diaphragm of the first embodiment.
  • FIG. 4 is a distortion diagram of the first example.
  • It is a figure which shows the lens structure of 2nd Example.
  • It is a spot diaphragm of the second embodiment.
  • It is a distortion aberration diagram of 3rd Example.
  • It is a block diagram which shows an example of an imaging device.
  • FIG. 1 It is a figure which shows roughly the whole structure of the operating room system. It is a figure which shows the example of a display of the operation screen in a centralized operation panel. It is a figure which shows an example of the mode of the surgery to which the operating room system was applied. It is a block diagram which shows an example of a functional structure of the camera head and CCU shown in FIG. It is a block diagram showing 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.
  • variable focal length lens system and the imaging device of the present technology.
  • variable focal length lens system configuration includes, in order from the object side to the image side, a first lens group having a positive refractive power, a second lens group having a negative refractive power, and a first free-form surface lens. It has three lens groups, a fourth lens group including a second free-form surface lens, and a fifth lens group having a positive refractive power.
  • variable focal length lens system of the present technology allows the first lens group to be fixed in the optical axis direction when the lens position state changes from the wide-angle end state in which the focal length is shortest to the telephoto end state in which the focal length is longest.
  • the second lens group moves toward the image side, and the third lens group and the fourth lens group move separately in the direction perpendicular to the optical axis.
  • a general zoom lens uses rotationally symmetric lenses such as spherical lenses and aspherical lenses, and at least two movable lens groups move in the optical axis direction.
  • one movable lens group moves, and the other lens group moves so as to compensate for the accompanying change in the image plane position.
  • variable focal length lens system disclosed in Japanese Unexamined Patent Publication No. 2007-4063
  • four free-form surface lenses are arranged, and all of them are movable in the direction perpendicular to the optical axis. Then, the two free-form lenses arranged on the object side move in opposite directions to change the refracting power of the entire lens system, and the accompanying change in the image plane position causes the two free-form lenses arranged on the image side. Compensation was made by the curved lenses moving in opposite directions.
  • the rotationally asymmetric lens is used, so the XYZ axes are defined.
  • the optical axes of the first lens unit and the third lens unit, which are composed of rotationally symmetric lenses, are the Z axis, the plane perpendicular to the Z axis on the image plane is the Y axis, and the Z axis and the Y axis are on the image plane.
  • the axis perpendicular to the axis as the X axis, the three axes intersect at the origin on the image plane.
  • the first free-form surface lens and the second free-form surface lens have the same shape and are arranged 180 degrees rotated with respect to the Z axis. Then, the first free-form surface lens and the second free-form surface lens move in mutually opposite directions, so that the combined refractive power of the second lens unit changes. By combining this with a general zoom lens, the optical total length is shortened while keeping the image plane position constant.
  • the movement direction of each lens group was only in the optical axis direction, whereas in the variable focal length lens system of this technology, the focal length is changed by moving the two free-form surface lenses in directions other than the optical axis direction.
  • the degree of freedom to change is increasing.
  • variable focal length lens of the present technology can change the focal length by moving the first free-form surface lens and the second free-form surface lens in the direction perpendicular to the optical axis.
  • the focal length of the entire lens system is changed only by the first free-form surface lens and the second free-form surface lens, it is difficult to sufficiently perform chromatic aberration correction and the like.
  • the first lens group having a positive refractive power and the second lens group having a negative refractive power are sequentially arranged from the object side to the image side, and the first lens group and the second lens group are arranged in the wide-angle end state.
  • the first lens group is fixed in the optical axis direction when the focal length changes to the telephoto end state, and the second lens group moves toward the image side, so that the first lens group and the second lens group are arranged close to each other.
  • the combined focal length with the group is changed, and the chromatic aberration is satisfactorily corrected.
  • the diverging action of the second lens group is weakened and the total length of the lens system is shortened.
  • variable focal length lens system of the present technology can provide various effects, and can provide a compact and high magnification variable focal length lens system.
  • conditional expression (1) 0.25 ⁇
  • f2 focal length of second lens group
  • fw focal length of entire lens system in wide-angle end state
  • ft focal length of entire lens system in telephoto end state
  • Conditional expression (1) is a conditional expression that defines the focal length of the second lens group, and is an expression for achieving a balance between downsizing of the lens diameter of the first lens group and improvement of high optical performance.
  • conditional expression (1) If the upper limit of conditional expression (1) is exceeded, the off-axis light flux passing through the first lens group and the second lens group in the wide-angle end state is separated from the optical axis, and the lens diameter increases. ..
  • variable focal length lens system satisfies the conditional expression (1)
  • the off-axis light flux passing through the first lens group and the second lens group in the wide-angle end state is brought close to the optical axis to reduce the lens diameter.
  • the passing light ray also gradually moves. To do. Therefore, in order to satisfactorily correct the off-axis aberrations generated in the first free-form surface lens and the second free-form surface lens, the angle formed by the principal ray with the optical axis is made small, that is, the principal ray is parallel to the optical axis. It is important to be close.
  • the aperture stop is arranged between the second lens group and the fifth lens group in order to suppress the aberration generated in the first free-form surface lens and the second free-form surface lens, and the following conditional expression (2 ) Is desirable.
  • ⁇ AS length along the optical axis from the aperture stop to the image plane in the telephoto end state
  • ft focal length of the entire lens system in the telephoto end state
  • conditional expression (2) If the lower limit of conditional expression (2) is not reached, the distance from the aperture stop to the image plane becomes short, and the angle formed by the principal rays incident on the first free-form surface lens and the second free-form surface lens with the optical axis is small. Since it becomes large, it becomes difficult to satisfactorily correct the asymmetrical aberration that occurs when changing the focal length.
  • conditional expression (2) If the upper limit of conditional expression (2) is exceeded, the movable space of the second lens group when changing the focal length decreases, and the refracting power of the first lens group and the second lens group increases. .. As a result, fluctuations of off-axis aberrations occurring in the first lens group and the second lens group when the position of the lens changes cannot be suppressed, and it becomes difficult to secure high optical performance.
  • variable focal length lens system satisfies the conditional expression (2), it is possible to satisfactorily correct the asymmetrical aberration that occurs when changing the focal length, and at the same time, when the position of the lens changes, High optical performance can be ensured by suppressing fluctuations of off-axis aberrations occurring in the first lens group and the second lens group.
  • Conditional expression (3) is an expression that defines the combined focal length of the first lens group and the second lens group in the wide-angle end state.
  • conditional expression (3) If the upper limit of conditional expression (3) is exceeded, the light rays exiting the second lens group will be strongly diverged, and the total length of the lens system will become long.
  • the refractive power of the first lens group is positively strengthened, so that the off-axis light flux passing through the first lens group is separated from the optical axis and the first lens group is moved.
  • the lens diameter of the group becomes large.
  • variable focal length lens system satisfies the conditional expression (3), it is possible to suppress the divergence of the light rays emitted from the second lens group and to shorten the total length of the lens system, and to make the first lens group
  • the off-axis light flux passing therethrough can be brought close to the optical axis to reduce the lens diameter of the first lens group.
  • the amount of movement of the first free-form surface lens and the second free-form surface lens required when the focal length changes is expressed by the conditional expression (4) and the condition. It is desirable to satisfy the expression (5).
  • ⁇ LA The amount of movement of the third lens group when the lens position state changes from the wide-angle end state with the shortest focal length to the focal length state with the longest focal length
  • ⁇ LB The focal length from the wide-angle end state with the shortest focal length
  • the movement amount ft of the fourth lens unit when the position of the lens changes to the longest focal length state the focal length of the entire lens system in the telephoto end state.
  • conditional expressions (4) and (5) If the upper limits of conditional expressions (4) and (5) are exceeded, the amount of movement of the first free-form surface lens and the second free-form surface lens will be too large, and the size reduction of the lens will be impaired.
  • variable focal length lens system satisfy the conditional expressions (4) and (5), it is possible to reduce the movement amount of the first free-form surface lens and the second free-form surface lens and to downsize the lens. In addition, it is possible to suppress the asymmetrical variation of the aberration due to the change of the focal length and to improve the performance.
  • the sixth lens group, the seventh lens group, and the eighth lens group from the object side to the image side on the image side of the fifth lens group.
  • the sixth lens group has a positive refracting power
  • the seventh lens group has a negative refracting power
  • the eighth lens group has a positive refracting power
  • the focal length is from the wide-angle end state. It is desirable that the fifth lens group and the sixth lens group each move to the object side when changing to the telephoto end state.
  • the fifth lens unit and the sixth lens unit move while changing the distance between the two, thereby favorably correcting the off-axis aberration that occurs with the change in the focal length. Is possible.
  • the seventh lens group move in the optical axis direction according to changes in the subject distance.
  • the axial rays are incident on the image side of the two positive lens groups, the fifth lens group and the sixth lens group, in a more narrowed state, so that the lens diameter can be reduced and the lens weight is reduced. Can be promoted.
  • the eighth lens group be fixed in the optical axis direction when the focal length changes from the wide-angle end state to the telephoto end state.
  • the structure can be simplified by fixing the eighth lens group in the optical axis direction.
  • the refracting powers of the two free-form surface lenses need not always have the same sign, and may change from positive to negative, or may change from positive to negative and then positive again. ..
  • the shape of the free-form surface is represented by an XY polynomial.
  • k is a conic coefficient (conical constant) and C3, C4,..., C53 are coefficients
  • the sag amount Zsag in the Z-axis direction is expressed by the following mathematical expression 1.
  • the first free-form surface lens and the second free-form surface lens are moved in the Y-axis direction, the first free-form surface lens and the second free-form surface lens are symmetrical with respect to the YZ plane. Specifically, it means that the odd-order item of X is zero.
  • the sign of the term in which Y is an odd order is opposite in the XY polynomial.
  • variable focal length lens system [Numerical example of variable focal length lens system]
  • specific embodiments of the variable focal length lens system of the present technology and numerical examples in which specific numerical values are applied to the embodiments will be described with reference to the drawings and tables.
  • FIG. 1 shows a refractive power arrangement of a variable focal length lens system according to each embodiment of the present technology.
  • the variable focal length lens system of the present technology includes, in order from the object side to the image side, a first lens group G1 having a positive refractive power, a second lens group G2 having a negative refractive power, and a first free-form surface lens LA.
  • a third lens group G3, a fourth lens group G4 including a second free-form surface lens LB, a fifth lens group G5 having a positive refractive power, and a sixth lens group G6 having a positive refractive power It is composed of a seventh lens group G7 having a negative refractive power and an eighth lens group G8 having a positive refractive power.
  • the aperture stop S is arranged between the fourth lens group G4 and the fifth lens group G5.
  • the first lens group G1 is fixed and the second lens group G2 moves toward the image side along the Z axis.
  • the third lens group G3 moves in the negative direction in the Y-axis direction
  • the fourth lens group G4 moves in the positive direction in the Y-axis direction
  • the fifth lens group G5 moves to the object side along the Z-axis.
  • the sixth lens group G6 moves toward the object side along the Z axis
  • the seventh lens group G7 moves toward the object side along the Z axis
  • the eighth lens group G8 is fixed.
  • the IR cut filter, the low pass filter, and the cover glass of the image sensor are arranged on the image side of the eighth lens group G8.
  • the aspherical surface is represented by the following mathematical formula.
  • H is the distance from the optical axis
  • z is the sag amount
  • c is the curvature
  • k is the conic coefficient (conical constant)
  • A, B,... Are aspherical coefficients.
  • FIG. 2 is a lens cross-sectional view of the variable focal length lens system 1 according to the first example of the present technology.
  • the first lens group G1 includes a cemented lens L11 including a negative meniscus lens having a concave surface facing the image side and a positive lens having a convex surface facing the object side, and a meniscus-shaped positive lens L12 having a convex surface facing the object side. Composed of.
  • the second lens group G2 is composed of a meniscus negative lens L21 having a convex surface facing the object side, a cemented lens L22 of a biconcave lens and a biconvex lens, and a negative lens L23 having a concave surface facing the object side.
  • the third lens group G3 is composed of one first free-form surface lens L3
  • the fourth lens group G4 is composed of one second free-form surface lens L4, and the first free-form surface lens L3 and the second free-form surface lens
  • the lens L4 is arranged so as to be inverted with respect to the Z axis.
  • the fifth lens group G5 is composed of a biconvex positive lens L51, and a cemented lens L52 of a positive lens having a convex surface facing the object side and a negative lens having a concave surface facing the image side.
  • the sixth lens group G6 is composed of a biconvex positive lens L6.
  • the seventh lens group G7 is composed of a negative lens L7 having a concave surface facing the image side.
  • the eighth lens group G8 is composed of a positive lens L8 having a convex surface directed toward the object side.
  • the movement amounts of the first free-form surface lens L3 and the second free-form surface lens L4 in the Y-axis direction are slightly different. This makes it possible to reduce the size of the variable focal length lens system 1 in the Y-axis direction.
  • Tables 1 to 4 show the values of specifications of the first embodiment of the present technology.
  • Table 1 shows lens data such as a radius of curvature of each lens
  • Table 2 shows a variable interval and a movement amount (zoom displacement amount) when changing the focal length
  • Table 3 shows a shape of the free-form surface lens.
  • the XY free-form surface coefficients (XY polynomial coefficients) shown are shown in Table 4, and the aspherical surface coefficients are shown in Table 4.
  • Table 5 shows the corresponding values of the conditional expressions in the first embodiment.
  • FIG. 3 shows a spot diagram in the wide-angle end state and the telephoto end state of the first embodiment
  • FIG. 4 shows a distortion diagram of the first embodiment
  • FIG. 5 shows a lens cross-sectional view of a variable focal length lens system 2 according to a second example of the present technology.
  • the first lens group G1 includes a cemented lens L11 including a negative meniscus lens having a concave surface facing the image side and a positive lens having a convex surface facing the object side, and a meniscus-shaped positive lens L12 having a convex surface facing the object side. Composed of.
  • the second lens group G2 is composed of a meniscus negative lens L21 having a convex surface facing the object side, a cemented lens L22 of a biconcave lens and a biconvex lens, and a negative lens L23 having a concave surface facing the object side.
  • the third lens group G3 is composed of one first free-form surface lens L3
  • the fourth lens group G4 is composed of one second free-form surface lens L4, and the first free-form surface lens L3 and the second free-form surface lens
  • the lens L4 is arranged so as to be inverted with respect to the Z axis.
  • the fifth lens group G5 is composed of a biconvex positive lens L51, and a cemented lens L52 of a positive lens having a convex surface facing the object side and a negative lens having a concave surface facing the image side.
  • the sixth lens group G6 is composed of a biconvex positive lens L6.
  • the seventh lens group G7 is composed of a negative lens L7 having a concave surface facing the image side.
  • the eighth lens group G8 is composed of a positive lens L8 having a convex surface directed toward the object side.
  • the movement amounts of the first free-form surface lens L3 and the second free-form surface lens L4 in the Y-axis direction are slightly different. This makes it possible to reduce the size of the variable focal length lens system 2 in the Y-axis direction.
  • Table 6 shows lens data such as a radius of curvature of each lens
  • Table 7 shows a variable interval and a movement amount (zoom displacement amount) when changing the focal length
  • Table 8 shows a shape of the free-form surface lens
  • Table 9 shows the XY free-form surface coefficients (XY polynomial coefficients), and Table 9 shows the aspherical surface coefficients.
  • Table 10 shows the corresponding values of the conditional expressions in the second embodiment.
  • FIG. 6 shows a spot diagram in the wide-angle end state and the telephoto end state of the second embodiment
  • FIG. 7 shows a distortion diagram of the second embodiment.
  • FIG. 8 is a lens cross-sectional view of the variable focal length lens system 3 according to the third example of the present technology.
  • the first lens group G1 includes a cemented lens L11 including a negative meniscus lens having a concave surface facing the image side and a positive lens having a convex surface facing the object side, and a meniscus-shaped positive lens L12 having a convex surface facing the object side. Composed of.
  • the second lens group G2 includes a negative lens L21 having a concave surface facing the image side, a cemented lens L22 having a biconcave lens and a biconvex lens, and a negative lens L23 having a concave surface facing the object side.
  • the third lens group G3 is composed of one first free-form surface lens L3
  • the fourth lens group G4 is composed of one second free-form surface lens L4, and the first free-form surface lens L3 and the second free-form surface lens
  • the lens L4 is arranged so as to be inverted with respect to the Z axis.
  • the fifth lens group G5 is composed of a biconvex positive lens L51, and a cemented lens L52 of a positive lens having a convex surface facing the object side and a negative lens having a concave surface facing the image side.
  • the sixth lens group G6 is composed of a biconvex positive lens L6.
  • the seventh lens group G7 is composed of a negative lens L7 having a concave surface facing the image side.
  • the eighth lens group G8 is composed of a positive lens L8 having a convex surface directed toward the image side.
  • Tables 11 to 14 below show values of specifications of the third embodiment of the present technology.
  • Table 11 shows lens data such as a radius of curvature of each lens
  • Table 12 shows a variable interval and a movement amount (zoom displacement amount) when changing the focal length
  • Table 13 shows a shape of the free-form surface lens.
  • Table 14 shows the XY free-form surface coefficients (XY polynomial coefficients) shown, and Table 14 shows the aspherical surface coefficients.
  • Table 15 shows the corresponding values of the conditional expressions in the third embodiment.
  • FIG. 9 shows spot diagrams in the wide-angle end state and the telephoto end state of the third embodiment
  • FIG. 10 shows a distortion diagram of the third embodiment.
  • the variable focal length lens system has, in order from the object side to the image side, a first lens group having a positive refractive power, a second lens group having a negative refractive power, and a first free-form surface. It has a third lens group including a lens, a fourth lens group including a second free-form surface lens, and a fifth lens group having a positive refractive power.
  • variable focal length lens system when the variable focal length lens system changes the position of the lens from the wide-angle end state in which the focal length is the shortest to the telephoto end state in which the focal length is the longest, the first lens group is optically It is fixed in the axial direction, the second lens group moves to the image side, and the third lens group and the fourth lens group move separately in the direction perpendicular to the optical axis.
  • variable focal length lens system has the same shape as the first free-form surface lens and the second free-form surface lens included in the third lens group and the fourth lens group, respectively, and is rotated 180 degrees with respect to the Z axis. Will be placed. Then, the first free-form surface lens and the second free-form surface lens move in mutually opposite directions, so that the combined refractive power of the second lens unit changes. By combining this with a general zoom lens, the optical total length is shortened while keeping the image plane position constant.
  • the moving direction of each lens group is only in the optical axis direction, whereas in the imaging device of the present technology, the two free-form surface lenses of the variable focal length lens system are moved in a direction other than the optical axis direction. This increases the degree of freedom to change the focal length.
  • the imaging device of the present technology can change the focal length by moving the first free-form surface lens and the second free-form surface lens of the variable focal length lens in the direction perpendicular to the optical axis.
  • the focal length of the entire lens system is changed only by the first free-form surface lens and the second free-form surface lens, it is difficult to sufficiently perform chromatic aberration correction and the like.
  • the first lens group having a positive refractive power and the second lens group having a negative refractive power are sequentially arranged from the object side to the image side, and the first lens group and the second lens group are arranged in the wide-angle end state.
  • the first lens group is fixed in the optical axis direction when the focal length changes to the telephoto end state, and the second lens group moves toward the image side, so that the first lens group and the second lens group are arranged close to each other.
  • the combined focal length with the group is changed, and the chromatic aberration is satisfactorily corrected.
  • the imaging device of the present technology can provide various effects, and can provide a compact and high-magnification imaging device.
  • FIG. 11 shows a block diagram of a digital still camera according to an embodiment of an imaging device of the present technology.
  • An image pickup apparatus (digital still camera) 100 includes an image pickup device 10 having a photoelectric conversion function for converting captured light into an electric signal, and a camera signal processing unit for performing signal processing such as analog-digital conversion of a captured image signal. 20 and an image processing unit 30 that performs a recording/reproducing process of an image signal. Further, the image pickup apparatus 100 includes a display unit 40 that displays a captured image and the like, an R/W (reader/writer) 50 that writes and reads an image signal to and from the memory 90, and the entire image pickup apparatus 100.
  • a CPU (Central Processing Unit) 60 for controlling, an input unit 70 such as various switches for performing a required operation by a user, and a lens drive control unit 80 for controlling driving of a lens group (movable group) are provided. ..
  • the camera signal processing unit 20 performs various kinds of signal processing such as conversion of an output signal from the image sensor 10 into a digital signal, noise removal, image quality correction, conversion into a luminance/color difference signal.
  • the image processing unit 30 performs compression encoding/expansion decoding processing of an image signal based on a predetermined image data format, conversion processing of data specifications such as resolution, and the like.
  • the display unit 40 has a function of displaying various data such as an operation state of the user's input unit 70 and a captured image.
  • the R/W 50 writes the image data encoded by the image processing unit 30 to the memory 90 and reads the image data recorded in the memory 90.
  • the CPU 60 functions as a control processing unit that controls each circuit block provided in the imaging device 100, and controls each circuit block based on an instruction input signal or the like from the input unit 70.
  • the input unit 70 outputs an instruction input signal to the CPU 60 according to a user operation.
  • the lens drive control unit 80 controls a motor or the like (not shown) that drives the lens group based on a control signal from the CPU 60.
  • the memory 90 is, for example, a semiconductor memory that can be attached to and detached from a slot connected to the R/W 50.
  • the memory 90 may not be removable from the slot, but may be incorporated inside the imaging device 100.
  • the shot image signal is output to the display unit 40 via the camera signal processing unit 20 and displayed as a camera through image.
  • the photographed image signal is output from the camera signal processing unit 20 to the image processing unit 30 and compression-coded to be converted into digital data of a predetermined data format. To be done.
  • the converted data is output to the R/W 50 and written in the memory 90.
  • Focusing is performed by the lens drive control unit 80 moving the focus lens group based on a control signal from the CPU 60.
  • the predetermined image data is read from the memory 90 by the R/W 50 according to the operation on the input unit 70, and the expansion/decoding process is performed by the image processing unit 30. After that, the reproduced image signal is output to the display unit 40 and the reproduced image is displayed.
  • imaging refers to conversion from a photoelectric conversion process of converting light captured by the image sensor 10 into an electric signal to a digital signal of an output signal from the image sensor 10 by the camera signal processing unit 20.
  • R/W 50 refers to a process including only a part or all of a series of processes up to the process of writing an image signal in the memory 90 by the R/W 50.
  • imaging may refer to only a photoelectric conversion process that converts light captured by the image sensor 10 into an electrical signal, or from a photoelectric conversion process that converts light captured by the image sensor 10 into an electrical signal.
  • the process of converting the output signal from the image sensor 10 by the camera signal processing unit 20 into a digital signal, noise removal, image quality correction, conversion into a luminance/color difference signal, and the like may be referred to.
  • photoelectric conversion processing for converting light into an electrical signal conversion of the output signal from the image sensor 10 by the camera signal processing unit 20 into a digital signal, noise removal, image quality correction, conversion into a luminance/color difference signal, and the like, It may be up to compression encoding/decompression decoding processing of an image signal based on a predetermined image data format by the image processing unit 30 and conversion processing of data specifications such as resolution, and the light captured by the image sensor 10 is converted into an electrical signal. From the photoelectric conversion process for converting into the digital signal of the output signal from the image sensor 10 by the camera signal processing unit 20, noise removal, image quality correction, conversion into a luminance/color difference signal, and the image processing unit 30.
  • the image capturing apparatus 100 may be configured to include only part or all of the image sensor 10, the camera signal processing unit 20, the image processing unit 30, and the R/W 50 that perform the above processing. ..
  • variable focal length lens system of the present technology and the imaging device of the present technology, other optical elements such as a lens having no refractive power may be arranged in addition to the first lens group G1 to the eighth lens group G8. Good.
  • the lens configuration of the variable focal length lens system of the present technology is substantially the lens configuration of the first lens group G1 to the eighth lens group G8.
  • the above-described imaging device can be widely applied as a camera unit of digital input/output devices such as a digital still camera, a digital video camera, a mobile phone with a built-in camera, and a mobile terminal such as a tablet with a built-in camera. it can.
  • the technology according to the present disclosure can be applied to various products.
  • the technology according to the present disclosure may be applied to an operating room system.
  • FIG. 12 is a diagram schematically showing an overall configuration of an operating room system 5100 to which the technology according to the present disclosure can be applied.
  • an operating room system 5100 is configured by connecting device groups installed in the operating room via an audiovisual controller (AV Controller) 5107 and an operating room control device 5109 so that they can cooperate with each other.
  • AV Controller audiovisual controller
  • FIG. 12 Various devices can be installed in the operating room.
  • a group of various devices 5101 for endoscopic surgery a ceiling camera 5187 installed on the ceiling of the operating room to image the operator's hand, and an operating room installed on the ceiling of the operating room.
  • An operation site camera 5189 that takes an image of the entire state, a plurality of display devices 5103A to 5103D, a recorder 5105, a patient bed 5183, and an illumination 5191 are illustrated.
  • the device group 5101 belongs to an endoscopic surgery system 5113, which will be described later, and includes an endoscope and a display device that displays an image captured by the endoscope.
  • Each device belonging to the endoscopic surgery system 5113 is also referred to as a medical device.
  • the display devices 5103A to 5103D, the recorder 5105, the patient bed 5183, and the illumination 5191 are devices provided separately from the endoscopic surgery system 5113, for example, in an operating room.
  • Each device that does not belong to the endoscopic surgery system 5113 is also called a non-medical device.
  • the audiovisual controller 5107 and/or the operating room control device 5109 control the operations of these medical devices and non-medical devices in cooperation with each other.
  • the audiovisual controller 5107 centrally controls the processing related to image display in medical devices and non-medical devices.
  • the device group 5101, the ceiling camera 5187, and the operating room camera 5189 have a function of transmitting information to be displayed during the operation (hereinafter, also referred to as display information). It may be a device (hereinafter, also referred to as a transmission source device).
  • the display devices 5103A to 5103D may be devices that output display information (hereinafter, also referred to as output destination devices).
  • the recorder 5105 may be a device that corresponds to both the transmission source device and the output destination device.
  • the audiovisual controller 5107 has a function of controlling the operations of the transmission source device and the output destination device, acquiring display information from the transmission source device, and transmitting the display information to the output destination device for display or recording.
  • the display information includes various images taken during the surgery, various information regarding the surgery (for example, the physical information of the patient, past examination results, information about the surgical procedure, etc.).
  • the audiovisual controller 5107 information about the image of the surgical site in the body cavity of the patient captured by the endoscope can be transmitted from the device group 5101 as display information. Further, the ceiling camera 5187 may transmit, as the display information, information about the image of the operator's hand imaged by the ceiling camera 5187. Further, from the surgical field camera 5189, information about an image showing the state of the entire operating room imaged by the surgical field camera 5189 can be transmitted as display information. When the operating room system 5100 includes another device having an image capturing function, the audiovisual controller 5107 also acquires, as display information, information about an image captured by the other device from the other device. You may.
  • the recorder 5105 information about these images captured in the past is recorded by the audiovisual controller 5107.
  • the audiovisual controller 5107 can acquire, as the display information, information about the image captured in the past from the recorder 5105. Note that various types of information regarding surgery may be recorded in the recorder 5105 in advance.
  • the audiovisual controller 5107 displays the acquired display information (that is, the image captured during the surgery and various information regarding the surgery) on at least one of the display devices 5103A to 5103D that is the output destination device.
  • the display device 5103A is a display device installed by being suspended from the ceiling of the operating room
  • the display device 5103B is a display device installed on the wall surface of the operating room
  • the display device 5103C is installed in the operating room.
  • the display device 5103D is a display device installed on a desk
  • the display device 5103D is a mobile device having a display function (for example, a tablet PC (Personal Computer)).
  • the operating room system 5100 may include a device outside the operating room.
  • the device outside the operating room may be, for example, a server connected to a network built inside or outside the hospital, a PC used by medical staff, a projector installed in a conference room of the hospital, or the like.
  • the audiovisual controller 5107 can display the display information on the display device of another hospital via a video conference system or the like for remote medical treatment.
  • the operating room control device 5109 centrally controls processing other than processing related to image display in non-medical devices.
  • the operating room controller 5109 controls driving of the patient bed 5183, the ceiling camera 5187, the operating room camera 5189, and the illumination 5191.
  • a centralized operation panel 5111 is provided in the operating room system 5100, and the user gives an instruction for image display to the audiovisual controller 5107 or the operating room control device 5109 via the centralized operation panel 5111. Instructions can be given to the operation of the non-medical device.
  • the centralized operation panel 5111 is configured by providing a touch panel on the display surface of the display device.
  • FIG. 13 is a diagram showing a display example of an operation screen on the centralized operation panel 5111.
  • FIG. 13 shows, as an example, an operation screen corresponding to the case where the operating room system 5100 is provided with two display devices as output destination devices.
  • operation screen 5193 is provided with a source selection area 5195, a preview area 5197, and a control area 5201.
  • a transmission source device provided in the operating room system 5100 and a thumbnail screen showing display information of the transmission source device are displayed in association with each other. The user can select the display information to be displayed on the display device from any of the transmission source devices displayed in the transmission source selection area 5195.
  • a preview of the screen displayed on the two display devices (Monitor 1 and Monitor 2) that are output destination devices is displayed.
  • four images are displayed in PinP on one display device.
  • the four images correspond to the display information transmitted from the transmission source device selected in the transmission source selection area 5195.
  • one is displayed relatively large as a main image, and the remaining three are displayed relatively small as sub-images.
  • the user can switch the main image and the sub image by appropriately selecting the area in which the four images are displayed.
  • a status display area 5199 is provided below the area where the four images are displayed, and the status related to the operation (for example, the elapsed time of the operation and the physical information of the patient) is appropriately displayed in the area. obtain.
  • a sender operation area 5203 in which a GUI (Graphical User Interface) component for operating the source device is displayed, and a GUI component for operating the destination device And an output destination operation area 5205 in which is displayed.
  • the source operation area 5203 is provided with GUI components for performing various operations (pan, tilt, and zoom) on the camera of the source device having an imaging function. The user can operate the camera of the transmission source device by appropriately selecting these GUI components.
  • the transmission source device selected in the transmission source selection area 5195 is a recorder (that is, in the preview area 5197, an image recorded in the past is displayed on the recorder).
  • the sender operation area 5203 may be provided with GUI parts for performing operations such as reproduction, stop reproduction, rewind, and fast forward of the image.
  • GUI components for performing various operations are provided. It is provided. The user can operate the display on the display device by appropriately selecting these GUI components.
  • the operation screen displayed on the centralized operation panel 5111 is not limited to the illustrated example, and the user can operate the centralized operation panel 5111 to operate the audiovisual controller 5107 and the operating room control device 5109 provided in the operating room system 5100. Operational input for each device that may be controlled may be possible.
  • FIG. 14 is a diagram showing an example of a state of surgery to which the operating room system described above is applied.
  • the ceiling camera 5187 and the operating room camera 5189 are provided on the ceiling of the operating room, and can take a picture of the operator's (doctor) 5181 who is treating the affected part of the patient 5185 on the patient bed 5183 and the entire operating room. Is.
  • the ceiling camera 5187 and the operating room camera 5189 may be provided with a magnification adjusting function, a focal length adjusting function, a shooting direction adjusting function, and the like.
  • the illumination 5191 is provided on the ceiling of the operating room and illuminates at least the hand of the operator 5181.
  • the illumination 5191 may be capable of appropriately adjusting the irradiation light amount, the wavelength (color) of the irradiation light, the irradiation direction of the light, and the like.
  • the endoscopic surgery system 5113, the patient bed 5183, the ceiling camera 5187, the operating room camera 5189, and the illumination 5191 are connected via an audiovisual controller 5107 and an operating room control device 5109 (not shown in FIG. 14). Connected to each other.
  • a centralized operation panel 5111 is provided in the operating room, and as described above, the user can appropriately operate these devices existing in the operating room through the centralized operating panel 5111.
  • the endoscopic surgery system 5113 includes an endoscope 5115, other surgical tools 5131, a support arm device 5141 for supporting the endoscope 5115, and various devices for endoscopic surgery. And a cart 5151 on which is mounted.
  • trocars 5139a to 5139d are punctured in the abdominal wall. Then, from the trocars 5139a to 5139d, the lens barrel 5117 of the endoscope 5115 and other surgical tools 5131 are inserted into the body cavity of the patient 5185.
  • a pneumoperitoneum tube 5133, an energy treatment tool 5135, and forceps 5137 are inserted into the body cavity of the patient 5185 as other surgical tools 5131.
  • the energy treatment tool 5135 is a treatment tool that performs incision and separation of tissue, sealing of blood vessels, or the like by high-frequency current or ultrasonic vibration.
  • the illustrated surgical instrument 5131 is merely an example, and various surgical instruments generally used in endoscopic surgery, such as a concentrator and a retractor, may be used as the surgical instrument 5131.
  • An image of the surgical site in the body cavity of the patient 5185 taken by the endoscope 5115 is displayed on the display device 5155.
  • the surgeon 5181 uses the energy treatment tool 5135 and the forceps 5137 while performing real-time viewing of the image of the surgical site displayed on the display device 5155, and performs a procedure such as excising the affected site.
  • illustration is omitted, the pneumoperitoneum tube 5133, the energy treatment tool 5135, and the forceps 5137 are supported by the operator 5181, an assistant, or the like during the surgery.
  • the support arm device 5141 includes an arm portion 5145 extending from the base portion 5143.
  • the arm portion 5145 includes joint portions 5147a, 5147b, 5147c and links 5149a, 5149b, and is driven by the control from the arm control device 5159.
  • the endoscope 5115 is supported by the arm 5145, and its position and posture are controlled. As a result, stable fixation of the position of the endoscope 5115 can be realized.
  • the endoscope 5115 includes a lens barrel 5117 in which a region having a predetermined length from the distal end is inserted into the body cavity of the patient 5185, and a camera head 5119 connected to the base end of the lens barrel 5117.
  • the endoscope 5115 configured as a so-called rigid endoscope having the rigid lens barrel 5117 is illustrated, but the endoscope 5115 is configured as a so-called flexible mirror having the flexible lens barrel 5117. Good.
  • An opening in which an objective lens is fitted is provided at the tip of the lens barrel 5117.
  • a light source device 5157 is connected to the endoscope 5115, and the light generated by the light source device 5157 is guided to the tip of the lens barrel by a light guide extending inside the lens barrel 5117, and the light is emitted. It is irradiated through the lens toward the observation target in the body cavity of the patient 5185.
  • the endoscope 5115 may be a direct-viewing endoscope, or a perspective or side-viewing endoscope.
  • An optical system and an image pickup device are provided inside the camera head 5119, and the reflected light (observation light) from the observation target is focused on the image pickup device by the optical system.
  • the observation light is photoelectrically converted by the imaging element, and an electric signal corresponding to the observation light, that is, an image signal corresponding to the observation image is generated.
  • the image signal is transmitted as RAW data to the camera control unit (CCU: Camera Control Unit) 5153.
  • the camera head 5119 has a function of adjusting the magnification and the focal length by appropriately driving the optical system.
  • the camera head 5119 may be provided with a plurality of image pickup elements in order to support, for example, stereoscopic vision (3D display).
  • a plurality of relay optical systems are provided inside the barrel 5117 in order to guide the observation light to each of the plurality of image pickup devices.
  • the CCU 5153 is configured by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like, and integrally controls the operations of the endoscope 5115 and the display device 5155. Specifically, the CCU 5153 subjects the image signal received from the camera head 5119 to various kinds of image processing such as development processing (demosaic processing) for displaying an image based on the image signal. The CCU 5153 provides the display device 5155 with the image signal subjected to the image processing. Further, the audiovisual controller 5107 shown in FIG. 12 is connected to the CCU 5153. The CCU 5153 also provides the audiovisual controller 5107 with the image signal subjected to the image processing.
  • a CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • the CCU 5153 also transmits a control signal to the camera head 5119 to control the driving thereof.
  • the control signal may include information about imaging conditions such as magnification and focal length.
  • the information regarding the imaging condition may be input via the input device 5161 or may be input via the above-described centralized operation panel 5111.
  • the display device 5155 displays an image based on the image signal subjected to the image processing by the CCU 5153 under the control of the CCU 5153.
  • the endoscope 5115 is compatible with high-resolution imaging such as 4K (horizontal pixel number 3840 ⁇ vertical pixel number 2160) or 8K (horizontal pixel number 7680 ⁇ vertical pixel number 4320), and/or 3D display
  • high-resolution imaging such as 4K (horizontal pixel number 3840 ⁇ vertical pixel number 2160) or 8K (horizontal pixel number 7680 ⁇ vertical pixel number 4320)
  • 3D display If the display device 5155 corresponds to the display device 5155, a display device capable of high-resolution display and/or a display device capable of 3D display can be used correspondingly.
  • the display device 5155 is compatible with high-resolution photography such as 4K or 8K, a more immersive feeling can be obtained by using a display device 5155 having a size of 55 inches or more. Further, a plurality of display devices 5155 having different resolutions and sizes may be provided depending on the application.
  • the light source device 5157 includes, for example, a light source such as an LED (light emitting diode), and supplies irradiation light to the endoscope 5115 when the surgical site is imaged.
  • a light source such as an LED (light emitting diode)
  • the arm control device 5159 is configured by a processor such as a CPU, for example, and operates according to a predetermined program to control driving of the arm portion 5145 of the support arm device 5141 according to a predetermined control method.
  • the input device 5161 is an input interface for the endoscopic surgery system 5113.
  • the user can input various kinds of information and instructions to the endoscopic surgery system 5113 via the input device 5161.
  • the user inputs various kinds of information regarding the surgery, such as the physical information of the patient and the information regarding the surgical procedure, through the input device 5161.
  • the user may, via the input device 5161, give an instruction to drive the arm portion 5145 or an instruction to change the imaging condition (type of irradiation light, magnification, focal length, etc.) by the endoscope 5115.
  • An instruction to drive the energy treatment tool 5135 is input.
  • the type of the input device 5161 is not limited, and the input device 5161 may be various known input devices.
  • the input device 5161 for example, a mouse, a keyboard, a touch panel, a switch, a foot switch 5171 and/or a lever can be applied.
  • the touch panel may be provided on the display surface of the display device 5155.
  • the input device 5161 is a device worn by the user, such as a glasses-type wearable device or an HMD (Head Mounted Display), and various inputs are made according to the user's gesture or line of sight detected by these devices. Is done. Further, the input device 5161 includes a camera capable of detecting the movement of the user, and various inputs are performed according to the gesture or the line of sight of the user detected from the video imaged by the camera. Further, the input device 5161 includes a microphone capable of collecting the voice of the user, and various inputs are performed by voice through the microphone.
  • a glasses-type wearable device or an HMD Head Mounted Display
  • the input device 5161 is configured to be able to input various kinds of information in a contactless manner, a user (for example, a surgeon 5181) who belongs to a clean area can operate devices belonging to a dirty area in a contactless manner. Is possible. In addition, since the user can operate the device without releasing his/her hand from the surgical tool, the convenience of the user is improved.
  • the treatment instrument control device 5163 controls driving of the energy treatment instrument 5135 for cauterization of tissue, incision, sealing of blood vessel, or the like.
  • the pneumoperitoneum device 5165 supplies gas to the inside of the body cavity of the patient 5185 via the pneumoperitoneum tube 5133 in order to inflate the body cavity of the patient 5185 for the purpose of securing a visual field by the endoscope 5115 and a working space for the operator.
  • the recorder 5167 is a device capable of recording various information regarding surgery.
  • the printer 5169 is a device capable of printing various information regarding surgery in various formats such as text, images, and graphs.
  • the support arm device 5141 includes a base portion 5143 that is a base and an arm portion 5145 that extends from the base portion 5143.
  • the arm portion 5145 includes a plurality of joint portions 5147a, 5147b, and 5147c and a plurality of links 5149a and 5149b connected by the joint portion 5147b, but in FIG.
  • the configuration of the arm portion 5145 is illustrated in a simplified manner. Actually, the shapes, the numbers, and the arrangements of the joints 5147a to 5147c and the links 5149a and 5149b, the directions of the rotation axes of the joints 5147a to 5147c, and the like are appropriately set so that the arm 5145 has a desired degree of freedom. obtain.
  • the arm portion 5145 can be preferably configured to have 6 or more degrees of freedom. Accordingly, the endoscope 5115 can be freely moved within the movable range of the arm portion 5145, so that the lens barrel 5117 of the endoscope 5115 can be inserted into the body cavity of the patient 5185 from a desired direction. It will be possible.
  • the joints 5147a to 5147c are provided with actuators, and the joints 5147a to 5147c are configured to be rotatable about a predetermined rotation axis by driving the actuators.
  • the drive of the actuator is controlled by the arm controller 5159, whereby the rotation angles of the joints 5147a to 5147c are controlled and the drive of the arm 5145 is controlled. Thereby, control of the position and posture of the endoscope 5115 can be realized.
  • the arm control device 5159 can control the drive of the arm portion 5145 by various known control methods such as force control or position control.
  • the surgeon 5181 appropriately performs an operation input via the input device 5161 (including the foot switch 5171), whereby the arm controller 5159 appropriately controls the drive of the arm portion 5145 according to the operation input.
  • the position and orientation of the endoscope 5115 may be controlled. With this control, the endoscope 5115 at the tip of the arm portion 5145 can be moved from any position to any position, and then fixedly supported at the position after the movement.
  • the arm portion 5145 may be operated by a so-called master slave method. In this case, the arm unit 5145 can be remotely operated by the user via the input device 5161 installed at a place apart from the operating room.
  • the arm control device 5159 When force control is applied, the arm control device 5159 receives the external force from the user and operates the actuators of the joint parts 5147a to 5147c so that the arm part 5145 moves smoothly according to the external force. You may perform what is called a power assist control which drives. Accordingly, when the user moves the arm unit 5145 while directly touching the arm unit 5145, the arm unit 5145 can be moved with a comparatively light force. Therefore, the endoscope 5115 can be moved more intuitively and with a simpler operation, and the convenience of the user can be improved.
  • the arm control device 5159 does not necessarily have to be provided on the cart 5151. Moreover, the arm control device 5159 does not necessarily have to be one device. For example, the arm control device 5159 may be provided in each of the joint parts 5147a to 5147c of the arm part 5145 of the support arm device 5141, and the plurality of arm control devices 5159 cooperate with each other to drive the arm part 5145. Control may be realized.
  • the light source device 5157 supplies the endoscope 5115 with irradiation light for photographing a surgical site.
  • the light source device 5157 includes, for example, an LED, a laser light source, or a white light source configured by a combination thereof.
  • the white light source is configured by the combination of the RGB laser light sources
  • the output intensity and the output timing of each color can be controlled with high accuracy. Can be adjusted.
  • the laser light from each of the RGB laser light sources is time-divided onto the observation target, and the drive of the image pickup device of the camera head 5119 is controlled in synchronization with the irradiation timing, so that each of the RGB colors is supported. It is also possible to take the captured image in a time division manner. According to this method, a color image can be obtained without providing a color filter on the image sensor.
  • the drive of the light source device 5157 may be controlled so as to change the intensity of the output light at predetermined time intervals.
  • the drive of the image sensor of the camera head 5119 in synchronism with the timing of changing the intensity of the light to acquire an image in a time-division manner and synthesizing the images, a high dynamic without so-called blackout and whiteout. Images of the range can be generated.
  • the light source device 5157 may be configured to be able to supply light in a predetermined wavelength band corresponding to special light observation.
  • special light observation for example, by utilizing the wavelength dependence of absorption of light in body tissues, by irradiating a narrow band of light as compared with irradiation light (that is, white light) in normal observation, the mucosal surface layer
  • the so-called narrow band imaging is performed in which high-contrast images of specific tissues such as blood vessels are captured.
  • fluorescence observation in which an image is obtained by the fluorescence generated by irradiating the excitation light may be performed.
  • 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 injected into the body tissue and the body tissue is injected into the body tissue.
  • a reagent such as indocyanine green (ICG)
  • ICG indocyanine green
  • the light source device 5157 may be configured to be capable of supplying narrow band light and/or excitation light compatible with such special light observation.
  • FIG. 15 is a block diagram showing an example of the functional configuration of the camera head 5119 and CCU 5153 shown in FIG.
  • the camera head 5119 has, as its functions, a lens unit 5121, an imaging unit 5123, a driving unit 5125, a communication unit 5127, and a camera head control unit 5129.
  • the CCU 5153 has, as its functions, a communication unit 5173, an image processing unit 5175, and a control unit 5177.
  • the camera head 5119 and the CCU 5153 are bidirectionally connected by a transmission cable 5179.
  • the lens unit 5121 is an optical system provided at a connecting portion with the lens barrel 5117.
  • the observation light taken from the tip of the lens barrel 5117 is guided to the camera head 5119 and enters the lens unit 5121.
  • the lens unit 5121 is configured by combining a plurality of lenses including a zoom lens and a focus lens.
  • the optical characteristics of the lens unit 5121 are adjusted so that the observation light is condensed on the light receiving surface of the image pickup element of the image pickup unit 5123.
  • the zoom lens and the focus lens are configured so that their positions on the optical axis can be moved in order to adjust the magnification and focus of the captured image.
  • the image pickup unit 5123 is composed of an image pickup element, and is arranged in the latter stage of the lens unit 5121.
  • the observation light that has passed through the lens unit 5121 is condensed on the light receiving surface of the image sensor, and an image signal corresponding to the observation image is generated by photoelectric conversion.
  • the image signal generated by the imaging unit 5123 is provided to the communication unit 5127.
  • CMOS Complementary Metal Oxide Semiconductor
  • 4K Color Image pickup
  • the image pickup device constituting the image pickup unit 5123 is configured to have a pair of image pickup devices for respectively obtaining the image signals for the right eye and the left eye corresponding to 3D display.
  • the 3D display enables the operator 5181 to more accurately understand the depth of the living tissue in the operation site.
  • the image pickup unit 5123 is configured by a multi-plate type, a plurality of lens units 5121 are also provided corresponding to each image pickup element.
  • the image pickup unit 5123 does not necessarily have to be provided on the camera head 5119.
  • the imaging unit 5123 may be provided inside the lens barrel 5117 immediately after the objective lens.
  • the drive unit 5125 is composed of an actuator, and moves the zoom lens and the focus lens of the lens unit 5121 by a predetermined distance along the optical axis under the control of the camera head control unit 5129. As a result, the magnification and focus of the image captured by the image capturing unit 5123 can be adjusted appropriately.
  • the communication unit 5127 is composed of a communication device for transmitting and receiving various information to and from the CCU 5153.
  • the communication unit 5127 transmits the image signal obtained from the imaging unit 5123 as RAW data to the CCU 5153 via the transmission cable 5179.
  • the image signal is transmitted by optical communication in order to display the captured image of the surgical site with low latency.
  • the operator 5181 performs the operation while observing the state of the affected area by the captured image. Therefore, for safer and more reliable operation, the moving image of the operated area is displayed in real time as much as possible. Is required.
  • the communication unit 5127 is provided with a photoelectric conversion module that converts an electric signal into an optical signal.
  • the image signal is converted into an optical signal by the photoelectric conversion module, and then transmitted to the CCU 5153 via the transmission cable 5179.
  • the communication unit 5127 also receives a control signal from the CCU 5153 for controlling the driving of the camera head 5119.
  • the control signal includes, for example, information that specifies the frame rate of the captured image, information that specifies the exposure value at the time of capturing, and/or information that specifies the magnification and focus of the captured image. Contains information about the condition.
  • the communication unit 5127 provides the received control signal to the camera head control unit 5129.
  • the control signal from the CCU 5153 may also be transmitted by optical communication.
  • the communication unit 5127 is provided with a photoelectric conversion module that converts an optical signal into an electric signal, and the control signal is converted into an electric signal by the photoelectric conversion module and then provided to the camera head control unit 5129.
  • the imaging conditions such as the frame rate, the exposure value, the magnification, and the focus described above are automatically set by the control unit 5177 of the CCU 5153 based on the acquired image signal. That is, a so-called AE (Auto Exposure) function, AF (Auto Focus) function, and AWB (Auto White Balance) function are mounted on the endoscope 5115.
  • AE Auto Exposure
  • AF Automatic Focus
  • AWB Automatic White Balance
  • the camera head controller 5129 controls driving of the camera head 5119 based on a control signal from the CCU 5153 received via the communication unit 5127. For example, the camera head control unit 5129 controls the driving of the image pickup element of the image pickup unit 5123 based on the information indicating the frame rate of the captured image and/or the information indicating the exposure at the time of image capturing. Further, for example, the camera head control unit 5129 appropriately moves the zoom lens and the focus lens of the lens unit 5121 via the drive unit 5125 based on the information indicating that the magnification and the focus of the captured image are specified.
  • the camera head controller 5129 may further have a function of storing information for identifying the lens barrel 5117 and the camera head 5119.
  • the camera head 5119 can be made resistant to autoclave sterilization.
  • the communication unit 5173 is composed of a communication device for transmitting and receiving various information to and from the camera head 5119.
  • the communication unit 5173 receives the image signal transmitted from the camera head 5119 via the transmission cable 5179.
  • the image signal can be preferably transmitted by optical communication.
  • the communication unit 5173 is provided with a photoelectric conversion module that converts an optical signal into an electrical signal in response to optical communication.
  • the communication unit 5173 provides the image signal converted into the electric signal to the image processing unit 5175.
  • the communication unit 5173 also transmits a control signal for controlling the driving of the camera head 5119 to the camera head 5119.
  • the control signal may also be transmitted by optical communication.
  • the image processing unit 5175 performs various types of image processing on the image signal that is the RAW data transmitted from the camera head 5119.
  • image processing for example, development processing, high image quality processing (band emphasis processing, super-resolution processing, NR (Noise reduction) processing and/or camera shake correction processing, etc.), and/or enlargement processing (electronic zoom processing) Etc., various known signal processings are included.
  • the image processing unit 5175 also performs detection processing on the image signal for performing AE, AF, and AWB.
  • the image processing unit 5175 is composed of a processor such as a CPU and a GPU, and the image processing and the detection processing described above can be performed by the processor operating according to a predetermined program.
  • the image processing unit 5175 is composed of a plurality of GPUs, the image processing unit 5175 appropriately divides information related to the image signal, and the plurality of GPUs perform image processing in parallel.
  • the control unit 5177 performs various controls regarding imaging of a surgical site by the endoscope 5115 and display of the captured image. For example, the control unit 5177 generates a control signal for controlling the driving of the camera head 5119. At this time, when the imaging condition is input by the user, the control unit 5177 generates a control signal based on the input by the user. Alternatively, when the endoscope 5115 is equipped with the AE function, the AF function, and the AWB function, the control unit 5177 controls the optimum exposure value, the focal length, and the optimum exposure value according to the result of the detection processing by the image processing unit 5175. The white balance is appropriately calculated and a control signal is generated.
  • control unit 5177 causes the display device 5155 to display the image of the surgical site based on the image signal subjected to the image processing by the image processing unit 5175.
  • the control unit 5177 recognizes various objects in the surgical region image using various image recognition techniques.
  • the control unit 5177 detects a surgical tool such as forceps, a specific living body part, bleeding, a mist when the energy treatment tool 5135 is used, by detecting the shape and color of the edge of the object included in the surgical image. Can be recognized.
  • the control unit 5177 uses the recognition result to superimpose and display various types of surgical support information on the image of the surgical site. By displaying the surgery support information in a superimposed manner and presenting it to the operator 5181, it is possible to proceed with the surgery more safely and reliably.
  • the transmission cable 5179 connecting the camera head 5119 and the CCU 5153 is an electric signal cable compatible with electric signal communication, an optical fiber compatible with optical communication, or a composite cable of these.
  • wired communication is performed using the transmission cable 5179, but communication between the camera head 5119 and the CCU 5153 may be performed wirelessly.
  • the communication between the two is performed wirelessly, it is not necessary to lay the transmission cable 5179 in the operating room, so that the situation where the transmission cable 5179 hinders the movement of the medical staff in the operating room can be solved.
  • the example of the operating room system 5100 to which the technology according to the present disclosure can be applied has been described above.
  • the medical system to which the operating room system 5100 is applied is the endoscopic surgery system 5113 is described here as an example, the configuration of the operating room system 5100 is not limited to such an example.
  • the operating room system 5100 may be applied to a flexible endoscope system for inspection or a microscopic surgery system instead of the endoscopic surgery system 5113.
  • the technology according to the present disclosure can be suitably applied to the ceiling camera 5187, the operating room camera 5189, and the endoscope among the configurations described above. Specifically, it can be applied to image pickup devices such as these cameras and endoscopes, and variable focal length lens systems in these image pickup devices. By applying the technology according to the present disclosure to these cameras and endoscopes, it is possible to obtain a clearer surgical image.
  • the technology according to the present disclosure can be applied to various products.
  • the technology according to the present disclosure is applicable to any type of movement such as an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, a personal mobility, an airplane, a drone, a ship, a robot, a construction machine, and an agricultural machine (tractor). It may be applied to an imaging device mounted on the body or a variable focal length lens system.
  • FIG. 16 is a block diagram showing a schematic configuration example of a vehicle control system 7000 which is an example of a mobile body control system to which the technology according to the present disclosure can be applied.
  • the vehicle control system 7000 includes a plurality of electronic control units connected via a communication network 7010.
  • the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, a vehicle exterior information detection unit 7400, a vehicle interior information detection unit 7500, and an integrated control unit 7600. ..
  • the communication network 7010 connecting these plural control units complies with any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network) or FlexRay (registered trademark). It may be an in-vehicle communication network.
  • CAN Controller Area Network
  • LIN Local Interconnect Network
  • LAN Local Area Network
  • FlexRay registered trademark
  • Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores a program executed by the microcomputer or parameters used for various arithmetic operations, and a drive circuit that drives various controlled devices. Equipped with.
  • Each control unit is equipped with a network I/F for communicating with other control units via the communication network 7010, and is also capable of wired or wireless communication with devices or sensors inside or outside the vehicle. The communication I/F for performing communication is provided. In FIG.
  • a microcomputer 7610 As the functional configuration of the integrated control unit 7600, a microcomputer 7610, a general-purpose communication I/F 7620, a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I/F 7660, an audio image output unit 7670, An in-vehicle network I/F 7680 and a storage unit 7690 are illustrated.
  • the other control units also include a microcomputer, a communication I/F, a storage unit, and the like.
  • the drive system control unit 7100 controls the operation of devices related to the drive system of the vehicle according to various programs.
  • the drive system control unit 7100 includes a drive force generation device for generating a drive force of a vehicle such as an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting the drive force to wheels, and a steering angle of the vehicle. It functions as a steering mechanism for adjustment and a control device such as a braking device that generates a braking force of the vehicle.
  • the drive system control unit 7100 may have a function as a control device such as ABS (Antilock Brake System) or ESC (Electronic Stability Control).
  • a vehicle state detection unit 7110 is connected to the drive system control unit 7100.
  • the vehicle state detection unit 7110 includes, for example, a gyro sensor that detects the angular velocity of the axial rotation motion of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, or an accelerator pedal operation amount, a brake pedal operation amount, or a steering wheel steering operation. At least one of the sensors for detecting the angle, the engine speed, the wheel rotation speed, etc. is included.
  • the drive system control unit 7100 performs arithmetic processing using a signal input from the vehicle state detection unit 7110 to control the internal combustion engine, drive motor, electric power steering device, brake device, or the like.
  • the body system control unit 7200 controls the operation of various devices mounted on the vehicle body according to various programs.
  • the body system control unit 7200 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as a head lamp, a back lamp, a brake lamp, a winker, or a fog lamp.
  • the body system control unit 7200 may receive radio waves or signals of various switches transmitted from a portable device that substitutes for a key.
  • the body system control unit 7200 receives the input of these radio waves or signals and controls the vehicle door lock device, the power window device, the lamp, and the like.
  • the battery control unit 7300 controls the secondary battery 7310 that is the power supply source of the drive motor according to various programs. For example, the battery control unit 7300 receives information such as the battery temperature, the battery output voltage, or the remaining capacity of the battery from the battery device including the secondary battery 7310. The battery control unit 7300 performs arithmetic processing using these signals to control the temperature adjustment of the secondary battery 7310 or the cooling device or the like included in the battery device.
  • the exterior information detection unit 7400 detects information outside the vehicle equipped with the vehicle control system 7000.
  • the image capturing unit 7410 and the vehicle exterior information detection unit 7420 is connected to the vehicle exterior information detection unit 7400.
  • the imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras.
  • the vehicle exterior information detection unit 7420 detects, for example, an environment sensor for detecting current weather or weather, or another vehicle around the vehicle equipped with the vehicle control system 7000, an obstacle, a pedestrian, or the like. At least one of the ambient information detection sensors of.
  • the environment sensor may be, for example, at least one of a raindrop sensor that detects rainy weather, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall.
  • the ambient information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device.
  • the image pickup unit 7410 and the vehicle exterior information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which a plurality of sensors or devices are integrated.
  • FIG. 17 shows an example of installation positions of the image pickup unit 7410 and the vehicle exterior information detection unit 7420.
  • the imaging units 7910, 7912, 7914, 7916, 7918 are provided at at least one of the front nose of the vehicle 7900, the side mirrors, the rear bumper, the back door, and the upper part of the windshield in the vehicle interior.
  • the image capturing unit 7910 provided on the front nose and the image capturing unit 7918 provided on the upper part of the windshield in the vehicle interior mainly acquire an image in front of the vehicle 7900.
  • the image capturing units 7912 and 7914 provided in the side mirrors mainly acquire images of the side of the vehicle 7900.
  • the imaging unit 7916 provided on the rear bumper or the back door mainly acquires an image of the rear of the vehicle 7900.
  • the imaging unit 7918 provided on the upper part of the windshield in the vehicle interior is mainly used for detecting a preceding vehicle, a pedestrian, an obstacle, a traffic signal, a traffic sign, a lane, or the like.
  • FIG. 17 shows an example of the shooting ranges of the respective image pickup units 7910, 7912, 7914, 7916.
  • the imaging range a indicates the imaging range of the imaging unit 7910 provided on the front nose
  • the imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided on the side mirrors
  • the imaging range d is The imaging range of the imaging part 7916 provided in the rear bumper or the back door is shown. For example, by overlaying the image data captured by the image capturing units 7910, 7912, 7914, and 7916, a bird's-eye view image of the vehicle 7900 viewed from above can be obtained.
  • the vehicle exterior information detection units 7920, 7922, 7924, 7926, 7928, 7930 provided on the front, rear, sides, corners of the vehicle 7900 and above the windshield inside the vehicle may be ultrasonic sensors or radar devices, for example.
  • the vehicle exterior information detectors 7920, 7926, 7930 provided on the front nose, rear bumper, back door, and upper windshield of the vehicle 7900 may be LIDAR devices, for example.
  • These vehicle exterior information detecting units 7920 to 7930 are mainly used for detecting a preceding vehicle, a pedestrian, an obstacle, or the like.
  • the vehicle exterior information detection unit 7400 causes the image capturing unit 7410 to capture an image of the vehicle exterior and receives the captured image data.
  • the vehicle exterior information detection unit 7400 also receives detection information from the connected vehicle exterior information detection unit 7420.
  • the vehicle exterior information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device
  • the vehicle exterior information detection unit 7400 transmits ultrasonic waves, electromagnetic waves, or the like, and receives information on the received reflected waves.
  • the vehicle exterior information detection unit 7400 may perform an object detection process or a distance detection process such as a person, a car, an obstacle, a sign, or characters on the road surface based on the received information.
  • the vehicle exterior information detection unit 7400 may perform environment recognition processing for recognizing rainfall, fog, road surface conditions, or the like based on the received information.
  • the vehicle exterior information detection unit 7400 may calculate the distance to the object outside the vehicle based on the received information.
  • the vehicle exterior information detection unit 7400 may perform image recognition processing or distance detection processing for recognizing a person, a car, an obstacle, a sign, characters on the road surface, or the like based on the received image data.
  • the vehicle exterior information detection unit 7400 performs processing such as distortion correction or position adjustment on the received image data, combines image data captured by different image capturing units 7410, and generates an overhead image or panoramic image. Good.
  • the vehicle exterior information detection unit 7400 may perform viewpoint conversion processing using image data captured by different image capturing units 7410.
  • the in-vehicle information detection unit 7500 detects in-vehicle information.
  • a driver state detection unit 7510 that detects the state of the driver is connected.
  • the driver state detection unit 7510 may include a camera that captures an image of the driver, a biometric sensor that detects biometric information of the driver, a microphone that collects voice in the vehicle interior, and the like.
  • the biometric sensor is provided on, for example, a seat surface or a steering wheel, and detects biometric information of an occupant sitting on a seat or a driver who holds the steering wheel.
  • the in-vehicle information detection unit 7500 may calculate the degree of tiredness or concentration of the driver based on the detection information input from the driver state detection unit 7510, and determines whether the driver is asleep. You may.
  • the in-vehicle information detection unit 7500 may perform processing such as noise canceling processing on the collected audio signal.
  • the integrated control unit 7600 controls overall operations in the vehicle control system 7000 according to various programs.
  • An input unit 7800 is connected to the integrated control unit 7600.
  • the input unit 7800 is realized by a device that can be input and operated by a passenger, such as a touch panel, a button, a microphone, a switch or a lever. Data obtained by voice-recognizing voice input by a microphone may be input to the integrated control unit 7600.
  • the input unit 7800 may be, for example, a remote control device using infrared rays or other radio waves, or may be an external connection device such as a mobile phone or a PDA (Personal Digital Assistant) compatible with the operation of the vehicle control system 7000. May be.
  • the input unit 7800 may be, for example, a camera, in which case the passenger can input information by gesture. Alternatively, data obtained by detecting the movement of the wearable device worn by the passenger may be input. Further, the input unit 7800 may include, for example, an input control circuit that generates an input signal based on information input by a passenger or the like using the input unit 7800 and outputs the input signal to the integrated control unit 7600. A passenger or the like operates the input unit 7800 to input various data or instruct a processing operation to the vehicle control system 7000.
  • the storage unit 7690 may include a ROM (Read Only Memory) that stores various programs executed by the microcomputer, and a RAM (Random Access Memory) that stores various parameters, calculation results, sensor values, and the like.
  • the storage unit 7690 may be realized by a magnetic storage device such as an HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like.
  • the general-purpose communication I/F 7620 is a general-purpose communication I/F that mediates communication with various devices existing in the external environment 7750.
  • the general-purpose communication I/F 7620 is a cellular communication protocol such as GSM (registered trademark) (Global System of Mobile communications), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution), or LTE-A (LTE-Advanced).
  • GSM Global System of Mobile communications
  • WiMAX registered trademark
  • LTE registered trademark
  • LTE-A Long Term Evolution
  • LTE-A Long Term Evolution-Advanced
  • another wireless communication protocol such as a wireless LAN (also referred to as Wi-Fi (registered trademark)) or Bluetooth (registered trademark) may be implemented.
  • the general-purpose communication I/F 7620 is connected to a device (for example, an application server or a control server) existing on an external network (for example, the Internet, a cloud network, or a network unique to an operator) via a base station or an access point, for example. You may.
  • the general-purpose communication I/F 7620 uses, for example, the P2P (Peer To Peer) technology, and is a terminal existing in the vicinity of the vehicle (for example, a driver, a pedestrian or a shop terminal, or an MTC (Machine Type Communication) terminal) You may connect with.
  • P2P Peer To Peer
  • MTC Machine Type Communication
  • the dedicated communication I/F 7630 is a communication I/F that supports a communication protocol formulated for use in a vehicle.
  • the dedicated communication I/F 7630 uses a standard protocol such as WAVE (Wireless Access in Vehicle Environment), DSRC (Dedicated Short Range Communications), or a cellular communication protocol, which is a combination of a lower layer IEEE 802.11p and an upper layer IEEE 1609, for example. May be implemented.
  • the dedicated communication I/F 7630 is typically a vehicle-to-vehicle communication, a vehicle-to-infrastructure communication, a vehicle-to-home communication, and a vehicle-to-pedestrian communication. ) Perform V2X communications, a concept that includes one or more of the communications.
  • the positioning unit 7640 receives, for example, a GNSS signal from a GNSS (Global Navigation Satellite System) satellite (for example, a GPS signal from a GPS (Global Positioning System) satellite) to perform positioning, and the latitude, longitude, and altitude of the vehicle. Generate position information including.
  • the positioning unit 7640 may specify the current position by exchanging a signal with the wireless access point, or may acquire the position information from a terminal having a positioning function, such as a mobile phone, PHS, or smartphone.
  • the beacon receiving unit 7650 receives, for example, a radio wave or an electromagnetic wave transmitted from a wireless station or the like installed on the road, and acquires information such as the current position, traffic jam, traffic closure, or required time.
  • the function of beacon reception unit 7650 may be included in dedicated communication I/F 7630 described above.
  • the in-vehicle device I/F 7660 is a communication interface that mediates a connection between the microcomputer 7610 and various in-vehicle devices 7760 existing in the vehicle.
  • the in-vehicle device I/F 7660 may establish a wireless connection using a wireless communication protocol such as a wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB).
  • a wireless communication protocol such as a wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB).
  • the in-vehicle device I/F 7660 is connected to a USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface, or MHL (Mobile High) via a connection terminal (and a cable if necessary) not shown.
  • -Definition Link etc. may be established by wire connection, etc.
  • the in-vehicle device 7760 includes, for example, at least one of a mobile device or a wearable device that the passenger has, or an information device that is carried in or attached to the vehicle. Further, the in-vehicle device 7760 may include a navigation device that searches for a route to an arbitrary destination.
  • the in-vehicle device I/F 7660 is a control signal with the in-vehicle device 7760. Or exchange data signals.
  • the in-vehicle network I/F 7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010.
  • the in-vehicle network I/F 7680 transmits and receives signals and the like according to a predetermined protocol supported by the communication network 7010.
  • the microcomputer 7610 of the integrated control unit 7600 passes through at least one of a general-purpose communication I/F 7620, a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I/F 7660, and an in-vehicle network I/F 7680.
  • the vehicle control system 7000 is controlled according to various programs based on the information acquired by the above. For example, the microcomputer 7610 calculates a control target value of the driving force generation device, the steering mechanism or the braking device based on the acquired information on the inside and outside of the vehicle, and outputs a control command to the drive system control unit 7100. Good.
  • the microcomputer 7610 realizes functions of ADAS (Advanced Driver Assistance System) that includes collision avoidance or impact mitigation of a vehicle, follow-up traveling based on an inter-vehicle distance, vehicle speed maintenance traveling, a vehicle collision warning, or a vehicle lane departure warning. You may perform the cooperative control aiming at.
  • the microcomputer 7610 controls the driving force generation device, the steering mechanism, the braking device, and the like based on the acquired information about the surroundings of the vehicle, so that the microcomputer 7610 automatically travels independently of the driver's operation. You may perform cooperative control for the purpose of driving etc.
  • ADAS Advanced Driver Assistance System
  • a general-purpose communication I/F 7620 a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I/F 7660, and an in-vehicle network I/F 7680.
  • the microcomputer 7610 may generate a warning signal by predicting a danger such as a vehicle collision, a pedestrian or the like approaching a road, or entering a closed road, based on the acquired information.
  • the warning signal may be, for example, a signal for generating a warning sound or turning on a warning lamp.
  • the voice image output unit 7670 transmits an output signal of at least one of a voice and an image to an output device capable of visually or audibly notifying information to a passenger of the vehicle or the outside of the vehicle.
  • an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are illustrated as output devices.
  • the display unit 7720 may include at least one of an onboard display and a head-up display, for example.
  • the display unit 7720 may have an AR (Augmented Reality) display function.
  • the output device may be a device other than these devices, such as headphones, a wearable device such as a glasses-type display worn by a passenger, a projector, or a lamp.
  • the output device When the output device is a display device, the display device displays results obtained by various processes performed by the microcomputer 7610 or information received from another control unit in various formats such as text, images, tables, and graphs. Display it visually.
  • the output device is a voice output device, the voice output device converts an audio signal composed of reproduced voice data, acoustic data, or the like into an analog signal and outputs it audibly.
  • At least two control units connected via the communication network 7010 may be integrated as one control unit.
  • each control unit may be composed of a plurality of control units.
  • the vehicle control system 7000 may include another control unit not shown.
  • some or all of the functions of one of the control units may be given to another control unit. That is, if the information is transmitted and received via the communication network 7010, the predetermined arithmetic processing may be performed by any of the control units.
  • a sensor or device connected to one of the control units may be connected to another control unit, and a plurality of control units may send and receive detection information to and from each other via the communication network 7010. .
  • the present technology may also be configured as below.
  • a fifth lens group having a positive refracting power When the position of the lens changes from the wide-angle end state with the shortest focal length to the telephoto end state with the longest focal length, the first lens group is fixed in the optical axis direction, and the second lens group is moved to the image side.
  • a variable focal length lens system in which the third lens group and the fourth lens group move separately in a direction perpendicular to the optical axis.
  • variable focal length lens system which satisfies the following conditional expression (1).
  • (1) 0.25 ⁇
  • f2 focal length of second lens group
  • fw focal length of entire lens system in wide-angle end state
  • ft focal length of entire lens system in telephoto end state
  • ⁇ 3> An aperture stop is disposed between the second lens group and the fifth lens group, The variable focal length lens system according to ⁇ 2>, which satisfies the following conditional expression (2).
  • ⁇ AS length along the optical axis from the aperture stop to the image plane in the telephoto end state
  • ft focal length of the entire lens system in the telephoto end state
  • ⁇ 4> The variable focal length lens system according to ⁇ 3>, which satisfies the following conditional expression (3). (3) -2.5 ⁇ f12w/fw ⁇ -1.5 However, f12w: The combined focal length of the first lens group and the second lens group in the wide-angle end state fw: The focal length of the entire lens system in the wide-angle end state.
  • ⁇ 5> The variable focal length lens system according to ⁇ 4>, which satisfies the following conditional expressions (4) and (5).
  • ⁇ LA The amount of movement of the third lens group when the lens position state changes from the wide-angle end state with the shortest focal length to the focal length state with the longest focal length
  • ⁇ LB The focal length from the wide-angle end state with the shortest focal length
  • the movement amount ft of the fourth lens unit when the position of the lens changes to the longest focal length state the focal length of the entire lens system in the telephoto end state.
  • the sixth lens group, the seventh lens group, and the eighth lens group are sequentially arranged from the object side to the image side on the image side of the fifth lens group,
  • the sixth lens group has a positive refractive power
  • the seventh lens group has a negative refractive power
  • the eighth lens group has a positive refractive power
  • the variable focal length lens system according to ⁇ 5> wherein the fifth lens group and the sixth lens group each move toward the object side when the focal length changes from the wide-angle end state to the telephoto end state.
  • variable focal length lens system according to ⁇ 6>, wherein the seventh lens group moves in the optical axis direction according to a change in subject distance.
  • variable focal length lens system according to ⁇ 7>, wherein the eighth lens group is fixed in the optical axis direction when the focal length changes from the wide-angle end state to the telephoto end state.
  • variable focal length lens system and an image sensor for converting an optical image formed by the variable focal length lens system into an electrical signal
  • the variable focal length lens system A first lens group having a positive refractive power, a second lens group having a negative refractive power, a third lens group including a first free-form surface lens, and a second free-form surface lens in order from the object side to the image side.
  • a fifth lens group having a positive refracting power When the position of the lens changes from the wide-angle end state with the shortest focal length to the telephoto end state with the longest focal length, the first lens group is fixed in the optical axis direction, and the second lens group is moved to the image side.
  • An imaging device that moves, and the third lens group and the fourth lens group move separately in a direction perpendicular to the optical axis.
  • 1...Variable focal length lens system 2...Variable focal length lens system, 3...Variable focal length lens system, G1...First lens group, G2...Second lens group, G3...Third lens group, G4...Fourth lens G5... Fifth lens group, G6... Sixth lens group, G7... Seventh lens group, G8... Eighth lens group, L3... First free-form surface lens, L4... Second free-form surface lens, S... Aperture stop , 100... Imaging device, 10... Imaging element

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Abstract

L'invention comprend, dans l'ordre en partant du côté objet vers le côté image, un premier groupe de lentilles présentant une réfringence positive; un deuxième groupe de lentilles présentant une réfringence négative; un troisième groupe de lentilles comprenant une première lentille de forme libre; un quatrième groupe de lentilles comprenant une deuxième lentille de forme libre; et un cinquième groupe de lentilles présentant une réfringence positive. Lors du changement de l'état de position de lentille d'un état terminal à grand angle ayant la longueur focale la plus courte à un état terminal de téléobjectif ayant la longueur focale la plus longue, le premier groupe de lentilles est fixé dans la direction de l'axe optique, le deuxième groupe de lentilles se déplace vers le côté image et le troisième et le quatrième groupes de lentilles se déplacent séparément dans des directions perpendiculaires à l'axe optique.
PCT/JP2019/050966 2019-02-27 2019-12-25 Système de lentilles à longueur focale variable et dispositif d'imagerie WO2020174866A1 (fr)

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US3583790A (en) * 1968-11-07 1971-06-08 Polaroid Corp Variable power, analytic function, optical component in the form of a pair of laterally adjustable plates having shaped surfaces, and optical systems including such components
JPS59116710A (ja) * 1982-12-24 1984-07-05 Canon Inc 変倍光学系
JP2006065307A (ja) * 2004-07-30 2006-03-09 Canon Inc 変倍結像光学系及びそれを有する撮像装置
JP2009505166A (ja) * 2005-08-22 2009-02-05 イーストマン コダック カンパニー 可変なパワーの素子を有するズームレンズ系
JP2014186306A (ja) * 2013-02-22 2014-10-02 Panasonic Corp ズームレンズ系、交換レンズ装置及びカメラシステム
JP2016200772A (ja) * 2015-04-14 2016-12-01 ソニー株式会社 ズームレンズおよび撮像装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3305294A (en) * 1964-12-03 1967-02-21 Optical Res & Dev Corp Two-element variable-power spherical lens
US3583790A (en) * 1968-11-07 1971-06-08 Polaroid Corp Variable power, analytic function, optical component in the form of a pair of laterally adjustable plates having shaped surfaces, and optical systems including such components
JPS59116710A (ja) * 1982-12-24 1984-07-05 Canon Inc 変倍光学系
JP2006065307A (ja) * 2004-07-30 2006-03-09 Canon Inc 変倍結像光学系及びそれを有する撮像装置
JP2009505166A (ja) * 2005-08-22 2009-02-05 イーストマン コダック カンパニー 可変なパワーの素子を有するズームレンズ系
JP2014186306A (ja) * 2013-02-22 2014-10-02 Panasonic Corp ズームレンズ系、交換レンズ装置及びカメラシステム
JP2016200772A (ja) * 2015-04-14 2016-12-01 ソニー株式会社 ズームレンズおよび撮像装置

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