WO2021009634A1

WO2021009634A1 - Capturing unit and method of manufacturing capturing unit

Info

Publication number: WO2021009634A1
Application number: PCT/IB2020/056494
Authority: WO
Inventors: Masahiro SHIRAKURA
Original assignee: Ricoh Company, Ltd.
Priority date: 2019-07-16
Filing date: 2020-07-10
Publication date: 2021-01-21

Abstract

A capturing unit includes at least one imaging unit having an optical axis, a first cover having an opening on an installation side for the at least one imaging unit, and a second cover fixed to cover the installation side of the first cover. In the capturing unit, the second cover covering the installation side of the first cover is orthogonal to the optical axis of the at least one imaging unit when the second cover and the first cover are fixed together.

Description

[DESCRIPTION]

[Title of Invention]

CAPTURING UNIT AND METHOD OF MANUFACTURING CAPTURING UNIT

[Technical Field]

[0001]

Embodiments of the present disclosure relate to a capturing unit and a method of manufacturing the capturing unit.

[Background Art]

[0002]

Currently, capturing units are known in the art in which a disparity image is formed based on a plurality of images captured by a pair of imaging units for the right and left eyes and the distance to an object is calculated and obtained based on the formed disparity image. For example, capturing units are known in the art in which errors in operation due to the imbalances in heat distribution are controlled and reduced (see, for example, PTE 1).

[0003]

When one of such capturing units is assembled, firstly, a pair of imaging units for the right and left eyes are fixed to a top cover by screws, and a circuit board is accommodated in the top cover. Secondly, the bottom side of the top cover (i.e., the side of a plane parallel to the circuit board) and the rear side of the top cover (i.e., the rear side of the multiple imaging units) are covered with a bottom cover, and the bottom cover is fixed to the top cover by screws. In other words, a bottom-side cover that covers the bottom side of the top cover (i.e., the side of a plane parallel to the circuit board) and a rear- side cover that covers the rear side of the top cover (i.e., the rear side of the multiple imaging units) are integrally molded to form such a bottom cover.

[Citation Fist]

[Patent Fiterature]

[0004]

[PTE 1]

Japanese Patent Application Publication No. 2016-177257

[Summary of Invention]

[Technical Problem]

[0005]

As known in the art, the screw holes that are used to fix the multiple imaging units by screws are formed by performing a turning operation on the top cover in the direction parallel to the optical axes of the multiple imaging units. By contrast, the screw holes that are used to fix the rear-side cover of the bottom cover, which covers the rear side of the top cover (i.e., the rear side of the multiple imaging units), by screws are formed by performing a turning operation on the top cover as the screw holes that are used to fix the rear-side cover by screws, regardless of the direction of the turning operation that is performed to form the screw holes for the multiple imaging units.

[0006]

Due to such configurations as described above, the direction of the turning operation that is performed to form the screw holes that are used to fix the multiple imaging units by screws is different from the direction of the turning operation that is performed to form the screw holes that are used to fix the rear-side cover by screws. This means that a turning operation is performed separately. For example, after a turning operation is performed to form the screw holes that are used to fix the multiple imaging units by screws, another turning operation is performed to form the screw holes that are used to fix the rear-side cover by screws.

[0007]

In other words, there was a need in the related art to perform a turning operation separately on two kinds of screw holes of the top cover at different angles of insertion, i.e., the screw holes that are used to fix the multiple imaging units by screws and the screw holes that are used to fix the rear-side cover by screws. Accordingly, the number of processes to perform an operation on the top cover increases, and the length of time it takes for performing the operation tends to be long.

[0008]

Moreover, the assembling steps tend to be complicated, and the production efficiency of the capturing unit tends to be poor. For example, after the multiple imaging units are fixed by screws, the rear-side cover needs to be fixed by screws at different angles.

[Solution to Problem]

[0009]

[Advantageous Effects of Invention]

[0010]

According to one aspect of the present disclosure, the number of processes to perform an operation on the top cover can be reduced, and the length of time it takes for performing the operation and the length of time it takes for the assembly can be shortened. Accordingly, the production efficiency of the capturing unit improves.

[Brief Description of Drawings]

[0011]

The accompanying drawings are intended to depict example embodiments of the present invention and should not be interpreted to limit the scope thereof. The accompanying drawings are not to be considered as drawn to scale unless explicitly noted. Also, identical or similar reference numerals designate identical or similar components throughout the several views.

[Fig. 1]

FIG. 1 is a schematic lengthwise section of a vehicle provided with a vehicle control system along a straight line parallel to the ground, according to embodiments of the present disclosure. [Fig. 2]

FIG. 2 is an exploded perspective view of a capturing unit according to embodiments of the present disclosure.

[Fig. 3]

FIG. 3 is a rear view of a capturing unit from which a bottom cover is removed, according to embodiments of the present disclosure.

[Fig. 4]

FIG. 4 is a top view of a capturing unit according to embodiments of the present disclosure. [Fig. 5]

FIG. 5 is a lengthwise section of a capturing unit along the optical axis, according to embodiments of the present disclosure.

[Fig. 6]

FIG. 6 is a lengthwise section of a capturing unit that is attached to the bracket of a vehicle, along the optical axis, according to embodiments of the present disclosure.

[Fig. 7]

FIG. 7 is a schematic lengthwise section of a capturing unit along the optical axis, according to embodiments of the present disclosure.

[Fig. 8]

FIG. 8 is a diagram illustrating a modification of a capturing unit of a vehicle control system according to embodiments of the present disclosure.

[Description of Embodiments]

[0012] A vehicle control system according to embodiments of the present disclosure to which a capturing unit and a method of manufacturing the capturing unit are applied is described below with reference to the accompanying drawings.

[0013]

System Configuration

[0014]

FIG. 1 is a schematic lengthwise section of a vehicle 500 provided with a vehicle control system 300 along a straight line parallel to the ground, according to the present embodiment.

[0015]

The vehicle control system 300 includes, for example, a capturing unit 1 installed inside the vehicle 500, a controller 310, a steering wheel 320, and a brake pedal 330.

[0016]

The capturing unit 1 is arranged onto an upper side of the inner surface (on an interior side) of a front windshield 510 of the vehicle 500, near the rear- view mirror. More specifically, a bracket is installed onto an upper side of the inner surface (on an interior side) of the front windshield 510 of the vehicle 500. As the capturing unit 1 is inserted to this bracket, the capturing unit 1 is positioned and fixed to the vehicle 500.

[0017]

The capturing unit 1 captures an object to be measured (for example, a person, another mobile object, a guardrail, a utility-line pole, a road sign, and an animal) ahead of the vehicle 500 in the directions of travel, through a lens 101. The controller 310 automatically avoids an obstacle or the like according to, for example, the distance between the vehicle 500 and the object to be measured and the relative positions of the vehicle 500 and the object to be measured, which are calculated based on a disparity image obtained from at least one pair of stereo images captured by the capturing unit 1, and performs control on the steering wheel 320 such that, for example, the vehicle 500 travels along a traffic lane.

[0018]

Moreover, the controller 310 controls the brake pedal 330 to stop the vehicle 500 or reduce the speed of the vehicle 500, according to, for example, the distance between the vehicle 500 and the object to be measured and the relative positions of the vehicle 500 and the object to be measured, which are calculated based on a disparity image obtained from at least one pair of stereo images captured by the capturing unit 1. Accordingly, the safe driving of the vehicle 500 can be assisted or aided (driver-assistance control).

[0019]

The installation position of the capturing unit 1 is not limited to the position as described above, and the capturing unit 1 may be arranged at any part of the vehicle 500 as long as it can capture an image of the sight in a desired direction. For example, the capturing unit 1 may be arranged at a part of the vehicle 500 other than the front windshield 510.

[0020]

FIG. 2 is an exploded perspective view of the capturing unit 1 according to the present embodiment.

[0021]

FIG. 3 is a rear view of the capturing unit 1 from which a bottom cover 3 is removed, according to the present embodiment.

[0022]

FIG. 4 is a top view of the capturing unit 1 according to the present embodiment.

[0023]

FIG. 5 is a lengthwise section of the capturing unit 1 along the optical axis, according to the present embodiment.

[0024]

FIG. 6 is a lengthwise section of the capturing unit 1 that is attached to the bracket of the vehicle 500, along the optical axis, according to the present embodiment. [0025]

Firstly, the capturing unit 1 is approximately box- shaped, and has an opening on the bottom side and the rear side. Moreover, the capturing unit 1 includes a top cover 2 that can accommodate a circuit board 4 that is roughly a rectangular plate, and a bottom cover 3 that covers the bottom side and the rear side of the top cover 2 that accommodates the circuit board 4. Various kinds of electronic components are implemented on the circuit board 4. Note also that the top cover 2 is an example of a first cover and the bottom cover 3 is an example of a second cover.

[0026]

The top cover 2 has a hole 5R for the right eye and a hole 5L for the left eye that are arranged with predetermined spacing therebetween in the direction perpendicular to the optical axis. A lens cell 6R for the right eye is inserted into the hole 5R for the right eye, and a lens cell 6L for the left eye is inserted into the hole 5L for the left eye. Note also that the lens cells 6R and 6L correspond to the lens 101 as illustrated in FIG. 1.

[0027]

The top cover 2 has a top surface 2a that is processed to have a downward inclination from the pair of lens cells 6R and 6L to the front side of the top cover 2. It is desired that the angle of view of each of the lens cells 6R and 6L be not limited or narrowed by the angle of inclination of such a top surface 2a. For example, as illustrated in FIG. 5 and FIG. 6, it is desired that the angle of view of each of the lens cells 6R and 6L not interfere with the lower limit of the angle of view of each of the lens cells 6R and 6L and become approximately parallel with the lower limit of the angle of view. Due to such a configuration, inconvenience that the top surface 2a of the top cover 2 always appears in the captured images can be prevented.

[0028]

When the pair of lens cells 6R and 6L are attached to the top cover 2 as described above, firstly, the lens cell 6R for the right eye is inserted into the hole 5R for the right eye, and then the lens cell 6L for the left eye is inserted into the hole 5L for the left eye. Under these conditions, a pair of infrared filters 7R and 7L are attached to the pair of lens cells 6R and 6L, respectively, from the rear side of the top cover 2. Further, dustproofing rubbers 8R and 8L are attached to the infrared filters 7R and 7L, respectively, in an overlapping manner, and a pair of sensor boards 9R and 9L on which a pair of imaging devices 10 such as complementary metal oxide semiconductor (CMOS) image sensors or charge coupled device (CCD) image sensors are mounted are fastened to the top cover 2 by screws 12.

[0029]

For example, the pair of lens cells 6R and 6L, the pair of infrared filters 7R and 7L, the dustproofing rubbers 8R and 8L, the pair of the sensor boards 9R and 9L, and the imaging device 10 together configure an imaging unit.

[0030]

In other words, as illustrated in FIG. 3, a pair of screw holes 21 (an example of an imaging-unit fixation hole) used to fix the sensor board 9R by screws and a pair of screw holes 22 used to fix the sensor board 9L by screws are arranged on the rear side of the top cover 2. Turning operation is performed to form the pair of screw holes 21 and 22 in the direction parallel to the optical axes of the pair of lens cells 6R and 6L. A person who assembles the capturing unit 1 threadably fits the screw 12 to each one of the screw holes 21 and 22. By so doing, the pair of infrared filters 7R and 7L, the dustproofing rubbers 8R and 8L, and the pair of the sensor boards 9R and 9L are fixed to the top cover 2.

[0031]

Each one of the sensor boards 9R and 9L is electrically and physically coupled to the circuit board 4 through a flexible printed cable 11. After each one of the sensor boards 9R and 9L is attached to the top cover 2, the circuit board 4 is accommodated inside the top cover 2, having a thermal-conductive component 13 therebetween.

[0032] The top cover 2 has an opening on the bottom side and the rear side, and the bottom cover 3 has a pair of plates that can cover the bottom side and rear side of the top cover 2. These plates of the bottom cover 3 are integrally molded. A plurality of screw holes are formed on the bottom side 3b of the bottom cover 3. The bottom side 3b of the bottom cover 3 is fitted to the top cover 2 that accommodates the circuit board 4, and the bottom cover 3 is fastened to the top cover 2 by screws 15.

[0033]

Once the bottom cover 3 is fitted to the top cover 2, the rear side of the top cover 2 is covered with the rear side 3a of the bottom cover 3. As illustrated in FIG. 3, a pair of screw holes 23 (an example of a bottom-cover fixation hole) are arranged on the top-center side of the rear side of the top cover 2, with predetermined spacing therebetween. In a similar manner to the pair of screw holes 21 and 22 (an example of an imaging-unit fixation hole), a turning operation is performed on each of these screw holes 23, which is an example of a bottom-cover fixation hole, in the direction parallel to the optical axes of the pair of lens cells 6R and 6L. As illustrated in FIG. 2, a pair of screw holes 16 are arranged on the rear side 3a of the bottom cover 3, at the positions that correspond to the pair of screw holes 23, respectively.

[0034]

The circuit board 4 is stored in the top cover 2, and the bottom cover 3 is fitted to the top cover 2. Then, the bottom side 3b of the bottom cover 3 is fastened to the bottom side of the top cover 2 by the screws 15 as illustrated in FIG. 2, and a pair of screws 14 are threadably fitted to the pair of screw holes 23 of the top cover 2, through the pair of screw holes 16 arranged on the rear side 3a of the bottom cover 3. As a result, the capturing unit 1 is assembled. As illustrated in FIG. 6, the assembled capturing unit 1 is placed in the bracket 400 to capture an object such as a road, a person, a traffic sign, and a guardrail ahead of the vehicle 500, through the front windshield 510 of the vehicle 500.

[0035]

FIG. 7 is a schematic lengthwise section of the capturing unit 1 along the optical axis indicated by the dotted line, according to the present embodiment. In FIG. 7, the optical axis of the light is indicated by a dotted line, and the imaging device 10 is a component that receives the light that has the optical axis. As described above, a turning operation is performed to form the pair of screw holes 21 and 22 used to fix the pair of sensor boards 9R and 9L by screws, in the direction parallel to the optical axis. As illustrated in FIG. 7, each one of the sensor boards 9R and 9L are fixed to the top cover 2 by screws such that the centers of the pair of imaging devices 10 will match the optical axes and the pair of imaging devices 10 will approximately be orthogonal to the optical axes.

[0036]

It is desired in view of the manufacturing method that the optical-axis direction of the imaging device 10 be approximately orthogonal to the rear side 3 a of the bottom cover 3. In other words, the imaging device 10 is configured to be approximately parallel to the rear side 3a of the bottom cover 3, and the angle that the rear side 3 a of the bottom cover 3 forms with the bottom side 3b of the bottom cover 3 is not 90 degrees. Moreover, it is desired that the bottom side 3b of the bottom cover 3 be approximately parallel to the circuit board 4.

[0037]

The screw 12 is inserted into and threadably fitted to each one of the screw holes 21 and 22 such that the imaging device 10 is fixed to the top cover 2. Moreover, the screw 14 is inserted into and threadably fitted to each one of the screw holes 23 laid out on the top cover 2 such that the bottom side 3b of the bottom cover 3 is fixed to the top cover 2 so as to be parallel to the optical axis of the imaging device 10. When the rear side 3a of the bottom cover 3 that covers the rear side of the top cover 2 is fixed to the top cover 2, the rear side 3a of the bottom cover 3 has an angle orthogonal to the optical axis of the imaging device 10. Due to such a configuration, the optical-axis direction of the imaging device 10 can be made approximately orthogonal to the rear side 3 a of the bottom cover 3 quickly and simply by fixing the bottom cover 3 to the top cover 2 by screws. Accordingly, the number of processes to perform an operation on the top cover 2 can be reduced, and the length of time it takes for performing the operation and the length of time it takes for the assembly can be shortened. Moreover, the production efficiency of the capturing unit 1 can be improved.

[0038]

Preferably, a component that covers the opening on the rear side is orthogonal to the optical axis. In other words, it is desired in the present embodiment that the optical axis match the direction of the axes of the attachment components (screws).

[0039]

The capturing unit 1 is described in the present disclosure to have a so-called stereo-camera structure. However, no limitation is indicated thereby, and the capturing unit 1 may have a monocular-camera structure. In such a configuration, a second cover (that corresponds to the bottom cover 3 that adopts a monocular-camera structure) is fixed to a first cover (that corresponds to the top cover 2 that adopts a monocular-camera structure) such that the second cover covers the installation side of the first cover, which has an opening for the monocular imaging unit. Due to this configuration, the second cover that covers the installation side of the first cover is orthogonal to the optical axis of the imaging device, and the second cover and the first cover are fixed together. Even when the capturing unit 1 has such a minimum configuration, an effect similar to that of the embodiment of the present disclosure, as will be described later in detail, can be achieved.

[0040]

Turning operation is performed to form the pair of screw holes 23 that are used to fix the rear side 3a of the bottom cover 3 by screws, in the direction parallel to the optical axis. Due to this configuration, the rear side 3 a of the bottom cover 3 is parallel to the photo- sensing surface of the pair of imaging devices 10. In other words, the angle Q2 that the bottom side 3b of the bottom cover 3 forms with the rear side 3 a of the bottom cover 3 is smaller than 90 degrees (Q2 ¹ 90 degrees). Moreover, the angle Q2 that the bottom side 3b of the bottom cover 3 forms with the rear side 3a of the bottom cover 3 is wider than the angle 01 of the top cover 2, which is the opposite angle of the angle Q2 (Q1 > Q2). Accordingly, the rear side 3a of the bottom cover 3 is fixed to the top cover 2 by screws so as to be parallel to the pair of the sensor boards 9R and 9L and the pair of imaging devices 10.

[0041]

The frame that is indicated by the dotted line as illustrated in FIG. 7 and the dotted line as illustrated in FIG. 6 indicate the angle of a rear side 600 of a capturing unit according to a control sample of the above embodiment of the present disclosure. If the angle of the rear side 600 of the bottom cover in the capturing unit according to the present control sample of the above embodiment is formed to be 90 degrees, the direction in which the pair of sensor boards 9R and 9F are fixed by screws has an angle different from the angle of the direction in which the rear side 600 of the bottom cover is fixed by screws. Due to this configuration, a turning operation needs to be performed twice. For example, after a turning operation is performed to form the screw holes for the pair of sensor boards 9R and 9F, another turning operation is performed to form the screw holes for the rear sides of the bottom cover.

[0042]

By contrast, in the case of the capturing unit 1 of the vehicle control system 300 according to the above embodiment of the present disclosure, the angle of the rear side 3a of the bottom cover 3 is made parallel to each one of the sensor boards 9R and 9F. Due to this configuration, the direction of the turning operation that is performed to form the screw holes 21 and 22 for the pair of sensor boards 9R and 9F can be matched to the direction of the turning operation that is performed to form the pair of screw holes 23 arranged on the rear side 3 a of the bottom cover 3. Accordingly, the turning operation to be performed to form the screw holes 21 and 22 for the pair of sensor boards 9R and 9F and the turning operation to be performed to form the pair of screw holes 23 arranged on the rear side 3 a of the bottom cover 3 can be performed in parallel, and the processing step of the turning operation to be performed on the top cover 2 can be reduced.

[0043]

If the rear side 600 is formed to have an angle of 90 degrees with reference to the bottom side, as in the control sample as indicated by the dotted line as illustrated in FIG. 6, the rear side 600 protrudes in the height direction of the capturing unit so as to secure the angle of view, and the capturing unit 1 increases in size.

[0044]

By contrast, the rear side 3a of the bottom cover 3 is made parallel to the imaging device 10 in the capturing unit 1 of the vehicle control system 300 according to the above embodiment of the present disclosure. In other words, the optical-axis direction of the imaging device 10 be approximately orthogonal to the rear side 3 a of the bottom cover 3. Due to such a configuration, the amount of protrusion of the rear side 3a in the height direction of the capturing unit 1 can be reduced, and the capturing unit 1 can be downsized in its entirety.

[0045]

Moreover, the direction in which the pair of sensor boards 9R and 9L are fixed by screws becomes the same as the direction in which the rear side 3a of the bottom cover 3 is fixed by screws. Accordingly, the fixing process by screws can be simplified, and the production efficiency of the capturing unit 1 improves. For example, the rear side 3a of the bottom cover 3 does not have to be fixed by screws with a different angle after the pair of sensor boards 9R and 9L are fixed by screws.

[0046]

Moreover, the angle Q2 that the bottom side 3b of the bottom cover 3 forms with the rear side 3a of the bottom cover 3 is made narrower than the angle 01 of the top cover 2, which is the opposite angle of the angle Q2 (Q1 > Q2), and the angle that the top surface 2a of the top cover 2 forms with the circuit board 4 is made an acute angle towards the front side. Due to this configuration, the size of angle of view can be secured, and the amount of protrusion can be minimized in the height direction of the capturing unit 1. Accordingly, the capturing unit 1 can be downsized.

[0047]

Modification

[0048]

In the above embodiment of the present disclosure as described above, the rear side 3a and the bottom side 3b of the bottom cover 3 are integrally molded. However, no limitation is indicated thereby, and as illustrated in FIG. 8, each one of the rear side 3a and the bottom side 3b of the bottom cover 3 may be formed as a separate member, and the rear side 3 a and the bottom side 3b of the bottom cover 3 may separately be fixed to the top cover 2 by screws. Also in such a configuration as above, each one of the sensor boards 9R and 9L can be made parallel to the rear side 3 a of the bottom cover 3 to achieve an effect similar to that of the above embodiment of the present disclosure.

[0049]

The top cover 2 may have an opening only on the rear side, and such an opening may be covered with the rear side 3 a of the bottom cover 3.

[0050]

Lastly, the description of the above embodiments is given by way of example, and no limitation is intended thereby. Numerous additional modifications and variations are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the disclosure of the present invention may be practiced otherwise than as specifically described herein. For example, elements and/or features of different illustrative embodiments may be combined with each other and/or substituted for each other within the scope of this disclosure and appended claims.

[0051] For example, in the embodiment of the present disclosure as described above, it is assumed that the capturing unit 1 has a stereo-camera structure including the pair of lens cells 6R and 6L. However, no limitation is indicated thereby, and the capturing unit 1 may have a monocular- camera structure. Also in such a configuration as above, advantageous effects similar to those of the embodiments as described above can be achieved.

[0052]

In the above embodiment of the present disclosure, for example, the pair of sensor boards 9R and 9L and the rear side 3a of the bottom cover 3 are fixed by screws through a plurality of screw holes. However, no limitation is indicated thereby, and for example, a fixation member may be inserted into the holes such that the pair of sensor boards 9R and 9L and the rear side 3a of the bottom cover 3 are fixed with adhesion.

[0053]

This patent application is based on and claims priority to Japanese Patent Application Nos. 2019-131490 and 2020-103984, filed on July 16, 2019, and June 16, 2020, respectively, in the Japan Patent Office, the entire disclosures of which are hereby incorporated by reference herein. [Reference Sings List]

[0054]

1 Capturing unit

2 Top cover

3 Bottom cover

4 Circuit board

5R Hole for the right eye

5L Hole for the left eye

6R Lens cell for the right eye

6L Lens cell for the left eye

7R Infrared filter

7L Infrared filter

8R Dustproofing rubber

8L Dustproofing rubber

9R Sensor board

9L Sensor board

10 Imaging device

11 Flexible printed cable

12 Screw

13 Thermal-conductive component

14 Screw

15 Screw

16 Screw hole on rear side of bottom cover

21 Screw hole for sensor board

22 Screw hole for sensor board

23 Screw hole used to fix rear side of bottom cover

Claims

[CLAIMS]

[Claim 1]

A capturing unit comprising:

at least one imaging unit having an optical axis,

a first cover having an opening on an installation side for the at least one imaging unit; and a second cover fixed to cover the installation side of the first cover,

wherein the second cover covering the installation side of the first cover is orthogonal to the optical axis of the at least one imaging unit when the second cover and the first cover are fixed together.

[Claim 2]

The capturing unit according to claim 1,

wherein the first cover is a top cover with an opening at least on a rear side and includes an imaging-unit fixation hole and a bottom-cover fixation hole,

wherein the at least one imaging unit is fixed to the top cover using a fixation member inserted into the imaging-unit fixation hole,

wherein the second cover is a bottom cover covering a rear side of the top cover, and a rear side of the bottom cover has an angle orthogonal to an optical axis of the at least one imaging unit when the second cover is fixed to the top cover, and

wherein the bottom cover has a bottom side, and the bottom side of the bottom cover is fixed to the top cover to be parallel to an optical axis of the at least one imaging unit, using a fixation member inserted into the bottom-cover fixation hole of the top cover.

[Claim 3]

The capturing unit according to claim 1 or 2,

wherein the first cover has an opening on a rear side and a bottom side, and

wherein the second cover includes a rear-side cover covering a rear side of the first cover and a bottom-side cover covering a bottom side of the first cover.

[Claim 4]

The capturing unit according to claim 3,

wherein the rear- side cover and the bottom- side cover of the second cover are integrally molded or formed as separate members.

[Claim 5]

The capturing unit according to any one of claims 1 to 4,

wherein the top cover has a top surface, and the top surface of the top cover is processed to have an inclination and is not included in a capturing range or an angle of view of the at least one imaging unit.

[Claim 6]

A method of manufacturing a capturing unit including at least one imaging unit having an optical axis, a first cover having an opening on an installation side for the at least one imaging unit, and a second cover fixed to cover the installation side of the first cover,

the method comprising:

shaping the second cover covering the installation side of the first cover to be orthogonal to the optical axis of the at least one imaging unit; and

fixing the second cover and the first cover together to make the second cover orthogonal to the optical axis of the at least one imaging unit.

[Claim 7]

The method according to claim 6,

wherein the first cover is a top cover with an opening at least on a rear side, and includes an imaging-unit fixation hole and a bottom-cover fixation hole,

wherein the second cover is a bottom cover covering a rear side of the top cover, and a rear side of the bottom cover has an angle orthogonal to the optical axis of the at least one imaging unit when the second cover is fixed to the top cover, the method further comprising:

inserting a fixation member into the imaging-unit fixation hole to fix the at least one imaging unit to the top cover; and

inserting a fixation member into the bottom-cover fixation hole of the top cover to fix a bottom side of the bottom cover to the top cover to be parallel to the optical axis of the at least one imaging unit.

[Claim 8]

A vehicle comprising:

the capturing unit according to any one of claims 1 to 5; and

a controller configured to perform a driver-assistance control based on an image captured by the capturing unit.