WO2020192374A1

WO2020192374A1 - Polarizing filter device, photography device, and moving body

Info

Publication number: WO2020192374A1
Application number: PCT/CN2020/077770
Authority: WO
Inventors: 饭沼大; 中辻达也
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-03-22
Filing date: 2020-03-04
Publication date: 2020-10-01
Also published as: CN112119625B; JP6844086B2; CN112119625A; JP2020154264A

Abstract

Provided is a polarizing filter device, for use in solving the problem that it is difficult to easily know the current angle of rotation of a polarizing filter. The polarizing filter device may comprise a first polarizing filter. The polarizing filter device may comprise a detector for detecting the rotation state of the first polarizing filter. The polarizing filter device may comprise a memory for storing the angle of rotation of the first polarizing filter, the angle of rotation being determined on the basis of a signal output from the detector and used for indicating the rotation state of the first polarizing filter. The polarizing filter device may comprise an electric motor. The polarizing filter device may comprise a transfer mechanism for transferring power from the electric motor to the first polarizing filter so that the polarizing filter rotates.

Description

Polarization filter device, imaging device and moving body

【Technical Field】

The invention relates to a polarizing filter device, an imaging device and a moving body.

【Background technique】

Patent Document 1 discloses a filter operation device that is detachable from a lens barrel and can rotate a filter unit provided inside the device body by an operation from outside the device body.

[Prior Art Literature]

[Patent Literature]

[Patent Document 1] Japanese Patent Publication No. 2000-249888

[Content of the invention]

[Technical problems to be solved by the invention]

According to the filter operating device described in Patent Document 1, it is difficult to easily grasp the current rotation angle of the polarizing filter.

[Means used to solve technical problems]

The polarizing filter device according to an aspect of the present invention may include a first polarizing filter. The polarization filter device may include a detector that detects the rotation state of the first polarization filter. The polarization filter device may include a memory that stores the rotation angle of the first polarization filter, wherein the rotation angle is determined based on a signal output from the detector for indicating the rotation state of the first polarization filter.

The polarizing filter device may include a motor. The polarizing filter device may include a transmission mechanism that transmits power from the motor to the first polarizing filter to rotate the polarizing filter.

The transmission mechanism may include a gear that receives power from the motor and rotates. The detector can detect the rotation state of the gear as the rotation state of the first polarizing filter.

The detector may be a photo interrupter. The photointerrupter may output a signal corresponding to the rotation of the gear as a signal indicating the rotation state of the first polarizing filter.

The imaging device according to an aspect of the present invention may include the above-mentioned polarizing filter device. The imaging device may include an image sensor that receives light passing through the first polarization filter. The imaging device may include a circuit configured to determine the rotation angle of the first polarization filter based on a signal representing the rotation state of the first polarization filter output from the detector, and store the rotation angle in a memory.

The polarizing filter device may be an adapter that can be detached from the imaging device.

The circuit can control the motor to rotate the first polarizing filter.

The polarization filter device may include a second polarization filter that overlaps the first polarization filter in the direction of the optical path of the imaging device. The circuit can control the motor to rotate the first polarization filter, so as to adjust the polarization direction of the first polarization filter relative to the polarization direction of the second polarization filter.

The polarizing filter device may include a support structure that movably supports the second polarizing filter so that the second polarizing filter is inserted into the optical path or retracted from the optical path.

Through the control of the circuit, the information indicating the rotation angle stored in the memory can be displayed on the display unit.

The polarization filter device may include a holding frame that holds the first polarization filter, the motor, and the transmission mechanism. The imaging device may include a storage structure that detachably stores the holding frame.

The first polarizing filter may be adjacent to and rotatably held by the first end of the holding frame. The motor may be adjacent to and held by a second end on the opposite side of the first end of the holding frame. The holding frame may be inserted into the imaging device from the first end and stored in the storage structure.

The moving body according to one aspect of the present invention may be a moving body equipped with the aforementioned imaging device and moving.

According to an aspect of the present invention, the rotation angle of the polarizing filter can be easily grasped.

In addition, all the necessary features of the present invention are not exhaustive in the content of the present invention described above. In addition, sub-combinations of these feature groups can also form inventions.

【Explanation of drawings】

FIG. 1 is an external perspective view of the imaging device viewed from the imaging surface side.

FIG. 2 is a diagram showing an example of functional blocks of the imaging device.

3 is a diagram showing a state in which the outer cover of the imaging device is removed, and the filter device is pulled out of the storage structure.

Fig. 4 is a front view of the imaging device in a state where the outer cover of the imaging device is removed.

Fig. 5 is a cross-sectional view of A-A' shown in Fig. 4.

Fig. 6 is a diagram showing the circuit configuration of the optical filter device.

Fig. 7 is a flowchart showing an example of a processing procedure for rotating a polarizing filter.

Fig. 8 is a diagram showing an example of the appearance of an unmanned aircraft and a remote control device.

【detailed description】

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention related to the claims. In addition, the combination of all the features described in the embodiment is not necessarily necessary for the solution of the invention.

The claims, description, drawings, and summary of the description include matters that are the subject of copyright protection. As long as anyone makes copies of these files as indicated in the patent office files or records, the copyright owner cannot object. However, in other cases, all copyrights are reserved.

FIG. 1 is a perspective view of the external appearance of an imaging device 100 according to this embodiment viewed from the imaging surface side. The camera device 100 includes an image sensor 120 and a bayonet 800, wherein an interchangeable lens is detachably connected to the camera device 100 through the bayonet 800. The imaging device 100 may be supported by a supporting mechanism such as a universal joint when the interchangeable lens is installed, and the universal joint is used to adjust the posture of the imaging device 100. The imaging device 100 can be mounted on a mobile body. The imaging device 100 may be mounted on a mobile body via a support mechanism. Moving objects include concepts such as flying objects moving in the air, vehicles moving on the ground, and ships moving on the water. Flying objects moving in the air include concepts such as unmanned aircraft (UAV) and other aircraft, airships, and helicopters moving in the air.

FIG. 2 is an example of functional blocks of the imaging device 100. The imaging device 100 includes an imaging control unit 110, an image sensor 120, a memory 130, a filter device 140, a filter device 500, a storage structure 400, and a bayonet 800. The image sensor 120 may be composed of CCD or CMOS. The image sensor 120 captures the formed optical image through an interchangeable lens, and outputs the captured image to the imaging control unit 110. The image sensor 120 receives light passing through the filter device 500. The imaging control unit 110 may be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The imaging control unit 110 can control the imaging device 100, the filter device 140, and the filter device 500 in accordance with the operation command of the imaging device 100. The imaging control unit 110 is an example of a circuit.

The memory 130 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the housing of the imaging device 100. The storage 130 may be configured to be detachable from the housing of the imaging device 100.

The bayonet 800 has a mechanical structure for detachably connecting the interchangeable lens to the imaging device 100. The bayonet 800 is arranged at a position opposed to the imaging surface of the image sensor 120. The bayonet 800 has a locking pin 801 and an electrical contact 802. The lock pin 801 is provided to urge the object side by an elastic body such as a spring. The interchangeable lens rotates while pushing the locking pin 801 against the side of the imaging surface. When the interchangeable lens rotates to a preset position, the locking pin 801 is inserted into the positioning insertion hole of the interchangeable lens , The interchangeable lens is locked by the imaging device 100. In addition, when the interchangeable lens rotates to a preset position, the electrical contact 802 is electrically connected to the electrical contact of the interchangeable lens.

The filter device 140 includes at least one filter. The filter device 500 is an adapter that is detachably mounted on the imaging device 100. The filter device 500 includes a polarizing filter 504 and a holding frame 502 that rotatably holds the polarizing filter 504. The storage structure 400 detachably stores the holding frame 502.

FIG. 3 is a diagram showing a state where the outer cover of the imaging device 100 is removed, and the filter device 500 is pulled out from the storage structure 400. The holding frame 502 is inserted into the storage structure 400 from the first end 5021 of the sliding direction 550 of the holding frame 502. The filter device 500 further has a handle 506 on the second end 5022 on the opposite side of the first end 5021 of the holding frame 502. The user can grasp the handle portion 506 to disassemble and assemble the holding frame 502 relative to the storage structure 400. The imaging device 100 includes electrical contacts 150 for electrical connection with the filter device 500.

4 is a front view of the imaging device 100 in a state in which the outer cover of the imaging device 100 is removed. Fig. 5 is a cross-sectional view of A-A' shown in Fig. 4. The filter device 140 is arranged at a position opposed to the imaging surface of the image sensor 120. The filter device 140 includes a filter 142 and a filter 144. The filter 142 and the filter 144 are arranged side by side in the first direction 601. The filter device 140 includes a support structure that movably supports the filter 142 and the filter 144 in the first direction 601, which allows the filter 142 and the filter 144 to be inserted into the optical path of the imaging device 100 or opposite to each other. Retreat to the optical path. The supporting structure includes, for example, a pair of sliding shafts sandwiching the filter 142 and the filter 144 and slidably supporting them, and transmitting power from the motor to the filter 142 and the filter 144, thereby A transmission mechanism such as a gear that inserts the filter 142 and the filter 144 into the optical path or retracts from the optical path.

The filter 142 and the filter 144 may be a neutral density filter (ND filter), a polarizing filter (PL filter), an infrared transmission filter (IR filter), etc. One of the filter 142 and the filter 144 is an example of the second polarizing filter.

FIG. 6 is a diagram showing the circuit configuration of the filter device 500. The filter device 500 includes an electrical contact 505, a circuit board 507 electrically connected to the electrical contact 505, a memory 509 mounted on the circuit board 507, a motor 508, a transmission mechanism 510, and a photo interrupter 520. The holding frame 502 rotatably holds the polarization filter 504. The polarizing filter 504 is an example of the first polarizing filter. The holding frame 502 also holds the electrical contact 505, the circuit board 507, the memory 509, the motor 508, the transmission mechanism 510, and the photo interrupter 520. The electrical contact 505 is electrically connected to the electrical contact 150 of the camera 100.

The polarizing filter 504 is adjacent to the first end 5021 of the holding frame 502 and is rotatably mounted thereon. The motor 508 is adjacent to and supported by the second end 5022 on the opposite side of the first end 5021 of the holding frame 502. The holding frame 502 holds the motor 508, and the drive shaft of the motor 508 is arranged along the second direction 602 perpendicular to the first direction 601 and the direction 603 of the optical path of the imaging device 100. The holding frame 502 is inserted into the imaging device 100 from the first end 5021 and stored in the storage structure 400.

The transmission mechanism 510 transmits the power from the motor 508 to the polarizing filter 504 to rotate the polarizing filter 504. The motor 508 may be a DC motor, a coreless motor, or an ultrasonic motor. The transmission mechanism 510 has a first gear 511, a second gear 512, a third gear 513, a fourth gear 514, a fifth gear 515, and a sixth gear 516. The first gear 511 is a worm connected to the drive shaft of the electric motor 508. The second gear 512 is a worm gear that meshes with the first gear 511. The third gear 513 is a two-stage gear including a first-stage gear and a second-stage gear, and the first-stage gear meshes with the second gear 512. The fourth gear 514 is a two-stage gear including a first-stage gear and a second-stage gear. The first-stage gear of the fourth gear 514 meshes with the second-stage gear of the third gear 513. The fifth gear 515 is a spur gear, which meshes with the second-stage gear of the fourth gear 514. The sixth gear is arranged along the circumference of the circular polarizing filter 504 and meshes with the fifth gear 515. The photo interrupter 520 is a detector that detects the rotation state of the polarizing filter 504. The photo interrupter 520 detects the number of rotations of the third gear 513 as the rotation state of the polarization filter 504. The photointerrupter 520 may also detect the rotation of gears other than the third gear 513, as long as the detected gear is a gear that rotates according to the rotation of the polarization filter 504.

The imaging control unit 110 rotates the motor 508 via the electrical contact 505 in accordance with an instruction from the user, thereby rotating the polarization filter 504. The imaging control unit 110 determines the rotation angle of the polarization filter 504 based on the signal indicating the rotation state of the polarization filter 504 output from the photointerrupter 520 and stores the rotation angle in the memory 509. The memory 509 stores the number of rotations of the third gear 513 when the polarization filter 504 is located at a rotation position indicating a preset polarization direction (for example, the second direction 602) as an initial value (for example, 0).

The imaging control part 110 may include a counter that counts the number of revolutions of the third gear 513 according to a signal output from the photointerrupter 520. For example, when the third gear 513 rotates in the first rotation direction, the counter increments the count value, and when the third gear 513 rotates in the second rotation direction, the counter decrements the count value. The imaging control unit 110 may determine the rotation angle of the polarization filter 504 corresponding to the count value of the counter based on the preset correspondence relationship between the count and the rotation angle (rotation amount) of the polarization filter 504.

The imaging control unit 110 determines the number of rotations of the third gear 513 based on the signal output from the photointerrupter 520, and can determine the current polarization filter based on the number of rotations and the previous rotation angle of the polarization filter 504 stored in the memory 509. The rotation angle of the light sheet 504.

For example, when the polarization direction is parallel to the second direction 602, the rotation angle of the polarization filter 504 is recorded as 0 degree. The rotation angle of the polarization filter 504 may be an angle formed by the second direction 602 and the polarization direction of the polarization filter 504. The imaging control unit 110 stores the rotation angle of the polarization filter 504 determined based on the signal output from the photointerrupter 520 as the current rotation angle of the polarization filter 504 in the memory 509. The imaging control unit 110 may store the current rotation angle of the polarization filter 504 in the memory 130 included in the imaging device 100.

In addition, in this embodiment, the following example is described. That is, the imaging control unit 110 included in the imaging device 100 functions as a circuit that determines the rotation angle of the polarization filter 504 and stores it in the memory 509 Processing. However, devices other than the filter device 500 and the like may be equipped with circuits such as a processor that determines the rotation angle of the polarization filter 504 and processes that are stored in the memory 509.

In the filter device 140, the filter 142 or the filter 144 as a polarizing filter may be arranged at a position overlapping the polarizing filter 504 in the direction of the optical path of the imaging device 100. By overlapping the two polarizing filters and adjusting the polarization directions of each other, the amount of light passing through the two polarizing filters can be adjusted. That is, it is possible to make the two polarizing filters function as variable neutral density filters.

The imaging control unit 110 can control the motor 508 to rotate the polarizing filter 504, thereby adjusting the polarization direction of the polarizing filter 504 with respect to the polarization direction of the polarizing filter 142 or the filter 144 inserted in the optical path. Polarization direction. The imaging control unit 110 receives an instruction from the user and rotates the polarizing filter 504 so that the amount of light passing through the polarizing filter 504, the filter 142, or the filter 144 can be adjusted.

Under the control of the imaging control unit 110, information indicating the rotation angle stored in the memory 509 is displayed on the display unit. The imaging device 100 may include a display unit. The operation terminal for remotely operating the imaging device 100 may include a display unit. The imaging control unit 110 may display the angle formed by the polarization direction of the polarization filter 504 and the polarization direction of the filter 142 or the filter 144 or the ND value corresponding to the angle on the display unit.

In this embodiment, an example in which the filter device 500 includes the photointerrupter 520 as a detector has been described. That is, an example in which the imaging control unit 110 indirectly determines the rotation angle of the polarization filter 504 based on the number of rotations of the third gear 513 has been described. However, the detector can directly detect the rotation angle of the polarization filter 504. For example, the variable resistor may also function as a detector to directly detect the rotation angle of the polarization filter 504. A resistor is arranged along the circumference of the polarization filter 504. The holding frame 502 has a contact electrically connected to the resistor. The imaging control unit 110 may determine the resistance value according to the magnitude of the current flowing into the contact, and then determine the rotation angle of the polarizing filter 504 according to the resistance value.

FIG. 7 is a flowchart showing an example of a processing procedure of rotating the polarization filter 504.

When the filter device 500 is installed on the imaging device 100, the imaging control unit 110 reads the current rotation angle of the polarization filter 504 from the memory 509 (S100), and displays the polarization filter on the display unit of the remote operation terminal or the like 504 rotation angle (S102). The imaging control unit 110 receives a rotation instruction of the polarization filter 504 from the user interface of the imaging device 100, a remote operation terminal, etc. (S104). The imaging control unit 110 drives the motor 508 in accordance with the rotation instruction to rotate the polarization filter 504 (S106).

The imaging control unit 110 may drive the motor 508 to rotate the polarizing filter 504 when receiving the rotation instruction. The imaging control unit 110 may drive the motor 508 to rotate the polarizing filter 504 after receiving the rotation instruction and before receiving the rotation stop instruction. It is also possible to set the allowable rotation range that the polarizing filter 504 can rotate. In this case, the imaging control unit 110 may receive the rotation instruction, and drive the motor 508 within the rotation allowable range of the polarization filter 504 to rotate the polarization filter 504. The rotation indication may indicate the amount of rotation of the polarizing filter 504 from the current rotation position or the desired rotation angle of the polarizing filter 504. The imaging control unit 110 drives the motor 508 to rotate the polarization filter 504 so that the polarization filter 504 is rotated only by the rotation amount corresponding to the rotation instruction.

The imaging control unit 110 determines the current rotation angle of the polarization filter 504 based on the signal from the photointerrupter 520, and stores the rotation angle in the memory 509 (S108).

As described above, according to this embodiment, the current rotation angle of the polarization filter 504 is stored in the memory 509. Therefore, the user can easily grasp the current rotation angle of the polarizing filter 504. For example, even when the filter device 500 is detached from the imaging device 100 and then reattached to the imaging device 100, the imaging control unit 110 will read the rotation angle stored in the memory 509 and rotate it. The angle is displayed on the display. According to this, the user can easily grasp the current rotation angle of the polarization filter 504.

The imaging device 100 as described above may be mounted on a mobile body. The imaging device 100 may also be mounted on an unmanned aerial vehicle (UAV) shown in FIG. 8. The UAV 10 may include a UAV main body 20, a universal joint 50, a plurality of imaging devices 60, and the imaging device 100. The universal joint 50 and the camera device 100 are an example of a camera system. UAV10 is an example of a mobile body propelled by a propulsion unit. Moving objects are concepts that include not only UAVs, but also other flying objects such as airplanes that move in the air, vehicles that move on the ground, and ships that move on the water.

The UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section. The UAV main body 20 makes the UAV 10 fly by controlling the rotation of a plurality of rotors. The UAV main body 20 uses, for example, four rotors to fly the UAV 10. The number of rotors is not limited to four. In addition, UAV10 can also be a fixed-wing aircraft without rotors.

The imaging device 100 is an imaging camera that captures a subject included in a desired imaging range. The universal joint 50 rotatably supports the imaging device 100. The universal joint 50 is an example of a supporting mechanism. For example, the universal joint 50 uses an actuator to rotatably support the imaging device 100 around the pitch axis. The universal joint 50 uses an actuator to further rotatably support the imaging device 100 around the roll axis and the yaw axis, respectively. The gimbal 50 can change the posture of the imaging device 100 by rotating the imaging device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of imaging devices 60 are sensing cameras that photograph the surroundings of the UAV 10 in order to control the flight of the UAV 10. The two camera devices 60 can be installed on the nose of the UAV 10, that is, on the front side. In addition, the other two camera devices 60 may be provided on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired to function as a stereo camera. The three-dimensional spatial data around the UAV 10 can be generated based on the images taken by the plurality of camera devices 60. The number of imaging devices 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one imaging device 60. The UAV10 may be equipped with at least one camera 60 on the nose, tail, side, bottom, and top of the UAV10. The viewing angle that can be set in the imaging device 60 may be larger than the viewing angle that can be set in the imaging device 100. The imaging device 60 may have a single focus lens or a fisheye lens.

The remote operation device 300 communicates with the UAV 10 to remotely operate the UAV 10. The remote operation device 300 can wirelessly communicate with the UAV 10. The remote operation device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, forwarding, retreating, and rotating. The instruction information includes, for example, instruction information for raising the height of the UAV 10. The indication information may indicate the height at which the UAV10 should be located. The UAV 10 moves to be located at the height indicated by the instruction information received from the remote operation device 300. The instruction information may include an ascending instruction to raise the UAV10. UAV10 rises while receiving the rise command. When the height of UAV10 has reached the upper limit height, even if the ascending instruction is accepted, the ascent of UAV10 can be restricted.

The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above-mentioned embodiments. From the description of the claims, it is understood that all such changes or improvements can be included in the technical scope of the present invention.

It should be noted that the execution order of the actions, sequences, steps, and stages of the devices, systems, programs, and methods shown in the claims, descriptions, and drawings of the description, as long as there is no special indication "in... "Before", "in advance", etc., and as long as the output of the previous processing is not used in the subsequent processing, it can be implemented in any order. Regarding the operating procedures in the claims, the specification and the drawings, the descriptions are made using "first", "next", etc. for convenience, but it does not mean that it must be implemented in this order.

【Symbol Description】

10 UAV

20 UAV subject

50 universal joint

60 Camera device

100 camera device

110 Camera Control Department

120 Image sensor

130 Memory

140 filter device

142, 144 filter

300 remote operation device

400 Storage structure

500 filter device

502 Keep the frame

504 Polarizing filter

505 electrical contacts

506 Handle

507 Circuit Board

508 Electric Motor

509 Memory

510 Delivery agency

511 First Gear

512 Second Gear

513 Third Gear

514 Fourth Gear

515 Fifth Gear

516 Sixth Gear

520 Photointerrupter

800 bayonet

801 Locking Pin

802 electrical contacts

Claims

A polarizing filter device, characterized by comprising: a first polarizing filter;

A detector that detects the rotation state of the first polarizing filter; and

A memory storing the rotation angle of the first polarization filter, the rotation angle being determined based on a signal output from the detector for representing the rotation state of the first polarization filter.
The polarization filter device of claim 1, further comprising: a motor; and

A transmission mechanism that transmits power from the motor to the first polarizing filter to rotate the polarizing filter.
3. The polarization filter device according to claim 2, wherein the transmission mechanism includes a gear, and the gear is rotated by receiving power from the motor,

The detector detects the rotation state of the gear as the rotation state of the first polarizing filter.
The polarization filter device according to claim 3, wherein the detector is a photo interrupter,

The photointerrupter outputs a signal corresponding to the rotation of the gear as a signal indicating the rotation state of the first polarization filter.
An imaging device, comprising: the polarization filter device according to claim 1;

An image sensor that receives light passing through the first polarizing filter; and

The circuit is configured to determine the rotation angle of the first polarization filter based on a signal indicating the rotation state of the first polarization filter output from the detector, and store the rotation angle in the Mentioned in memory.
The imaging device according to claim 5, wherein the polarizing filter device is an adapter that can be detachably attached to the imaging device.
The imaging device according to claim 5, wherein the polarizing filter device further comprises:

Electric motor; and

A transmission mechanism that transmits power from the motor to the first polarizing filter to rotate the polarizing filter.
The imaging device according to claim 7, wherein the transmission mechanism includes a gear, and the gear is rotated by receiving power from the motor,

The detector detects the rotation state of the gear as the rotation state of the first polarizing filter.
The imaging device according to claim 8, wherein the detector is a photo interrupter,

The photointerrupter outputs a signal corresponding to the rotation of the gear as a signal indicating the rotation state of the first polarization filter.
9. The imaging device according to claim 9, wherein the circuit controls the motor to rotate the first polarizing filter.
The imaging device according to claim 10, further comprising: a second polarizing filter, the polarizing filter overlapping the first polarizing filter in the direction of the optical path of the imaging device ,

The circuit controls the motor to rotate the first polarization filter, thereby adjusting the polarization direction of the first polarization filter relative to the polarization direction of the second polarization filter.
The imaging device according to claim 11, further comprising a supporting structure, the supporting mechanism movably supports the second polarizing filter so that the second polarizing filter is inserted into the In the optical path or withdraw from the optical path.
The imaging device according to claim 5, wherein the circuit controls so that the information indicating the rotation angle stored in the memory is displayed on a display unit.
8. The imaging device according to claim 7, wherein the polarizing filter device further comprises a holding frame that holds the first polarizing filter, the motor, and the transmission mechanism,

The imaging device further includes a storage structure that detachably stores the holding frame.
The imaging device according to claim 14, wherein the first polarizing filter is adjacent to and rotatably held by the first end of the holding frame,

The motor is adjacent to and supported by a second end on the opposite side of the first end of the holding frame,

The holding frame is inserted into the imaging device from the first end, and is stored in the storage structure.
A mobile body characterized by being equipped with the imaging device according to any one of claims 5 to 15 and moving.