WO2022028251A1 - Retaining component, camera device, and camera system - Google Patents

Retaining component, camera device, and camera system Download PDF

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Publication number
WO2022028251A1
WO2022028251A1 PCT/CN2021/107762 CN2021107762W WO2022028251A1 WO 2022028251 A1 WO2022028251 A1 WO 2022028251A1 CN 2021107762 W CN2021107762 W CN 2021107762W WO 2022028251 A1 WO2022028251 A1 WO 2022028251A1
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WO
WIPO (PCT)
Prior art keywords
light
emitting element
camera
distance measuring
bayonet
Prior art date
Application number
PCT/CN2021/107762
Other languages
French (fr)
Chinese (zh)
Inventor
饭沼大
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2022028251A1 publication Critical patent/WO2022028251A1/en

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
    • G03B17/14—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets interchangeably
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

Definitions

  • the present invention relates to a holding member, a camera device, and a camera system.
  • Patent Document 1 describes a LIDAR mounted on a vehicle.
  • Patent Document 1 Japanese Patent Publication No. 2019-526056.
  • the holding member holds a distance measuring device provided outside the imaging device.
  • the holding member can be connected to a bayonet member in the camera device on which the lens device is mounted.
  • the retaining member may include a first portion that engages with the bayonet member.
  • the bayonet member may include a first face on which the lens device is mounted.
  • the bayonet member may include a second face parallel to the first face. The first portion can be engaged with the second side.
  • the first face may be an annular face.
  • the second surface may be an annular surface positioned closer to the outer peripheral side than the first surface.
  • the first portion may have an annular face.
  • the annular surface of the first part can be fastened to the second surface by means of a fastening element.
  • the retaining member may be integrally formed with the bayonet member.
  • the holding member may include a second portion extending in the optical axis direction of the imaging device and supporting the distance measuring device in the extended position.
  • the second part may be connected to the support part of the distance measuring device.
  • the second part can be fastened to the supporting part of the distance measuring device through the fixing part.
  • the second portion may be integrally formed with the support member of the distance measuring device.
  • the bayonet part is detachable with respect to the camera device.
  • the ranging device may include a TOF (Time Of Flight) sensor.
  • TOF Time Of Flight
  • An imaging device includes the above-described holding member.
  • the camera device may include the above-mentioned distance measuring device.
  • An imaging system may include the imaging device described above.
  • the camera system may include a support mechanism for supporting the camera device so that it can rotate about a predetermined rotation axis.
  • a holding member of a distance measuring device the holding member being connected with a bayonet member on which a lens device is mounted.
  • FIG. 1 is a perspective view showing the appearance of the imaging system 188 according to the present embodiment.
  • FIG. 2 is a side view showing the appearance of the camera module 100 .
  • FIG. 3 is a perspective view showing both the bayonet member 110 and the distance measuring device 400 included in the imaging device 180 .
  • FIG. 4 is a perspective view showing the distance measuring device 400 and the holding member 430 .
  • FIG. 5 shows a cross section of the camera 170 .
  • FIG. 6 is an external perspective view showing the holding member 430 .
  • FIG. 7 is an external perspective view showing the distance measuring device 400 .
  • FIG. 8 is an external perspective view showing the distance measuring device 400 .
  • FIG. 9 is an external perspective view showing the distance measuring device 400 .
  • FIG. 10 is a front view of the distance measuring device 400 .
  • FIG. 11 shows the AA section of FIG. 7 .
  • FIG. 12 is a side view of the camera system 188 .
  • FIG. 13 is a perspective view showing a part of the internal structure of the distance measuring device 400 .
  • FIG. 14 is a cross-sectional view of the distance measuring device 400 .
  • FIG. 15 is a perspective view of the cooling mechanism including the support member 500 and the blower 590 .
  • FIG. 16 is a perspective view of the shielding member 800 .
  • FIG. 17 is a perspective view of the shielding member 800 .
  • FIG. 18 is a perspective view of the shielding member 800 .
  • FIG. 19 schematically shows both the configuration of the electronic circuit mounted on the substrate 900 and the first part 810 .
  • FIG. 20 schematically shows a configuration of an electronic circuit mounted on a substrate 900a as a comparative example.
  • Figure 21 shows an example of an unmanned aerial vehicle (UAV).
  • UAV unmanned aerial vehicle
  • FIG. 1 is a perspective view showing the appearance of an imaging system 188 according to the present embodiment.
  • Camera system 188 includes camera 170 and gimbal 300 .
  • the camera 170 includes a camera device 180 , an interchangeable lens 190 , and a distance measuring device 400 .
  • the distance measuring device 400 is provided outside the camera device 180 .
  • Camera 170 may be a lens-interchangeable camera.
  • the interchangeable lens 190 is a lens device that is detachable from the camera device 180.
  • the camera device 180 includes the camera module 100 , the bayonet member 110 , and the holding member 430 .
  • the holding member 430 is a member that holds the distance measuring device 400 .
  • the holding member 430 is made of metal.
  • the distance measuring device 400 is installed outside the imaging device 180 and held by the holding member 430 .
  • the distance measuring device 400 is a time of flight type sensor that measures the distance to an object by light.
  • the camera module 100 includes a circuit that performs focus control by adjusting the position of the focus lens included in the interchangeable lens 190 based on the distance measured by the distance measuring device 400 .
  • the direction along the optical axis of the interchangeable lens 190 is referred to as the z-axis direction. That is, the direction in which the subject light flux is incident is referred to as the z-axis direction.
  • the direction in which the subject light beam is incident toward the camera 170 is referred to as the negative z-axis direction, and the opposite direction is referred to as the positive z-axis direction.
  • the positive z-axis direction may be referred to as front, front, or the like.
  • the negative z-axis direction may be referred to as rear, rear, or the like.
  • the camera device 180 is supported so as to be rotatable around a preset rotation axis.
  • the imaging unit 180 is supported by the gimbal 300 and is rotatable around three rotation axes.
  • the universal joint 300 can be attached to a moving object such as a UAV.
  • the gimbal 300 supports the camera 170 so that it can rotate about the pitch axis 318 .
  • the gimbal 300 supports the camera 170 so that it can rotate about the roll axis 328 .
  • the gimbal 300 supports the camera 170 so that it can rotate about the yaw axis 338 .
  • the pitch axis 318 and the yaw axis 338 are orthogonal to the z axis.
  • the pitch axis 318 and the yaw axis 338 are substantially orthogonal to the z-axis.
  • Pitch axis 318 and yaw axis 338 are examples of axes having components in directions orthogonal to the z-axis.
  • the universal joint 300 includes a rotating device 310, a rotating device 320, and a rotating device 330 as part of the support mechanism.
  • Rotation device 310 rotates camera 170 about pitch axis 318 .
  • Rotation device 320 rotates camera 170 about roll axis 328 .
  • Rotation device 330 rotates camera 170 about yaw axis 338 .
  • the universal joint 300 includes a control circuit that controls the rotary device 310 , the rotary device 320 , and the processor of the rotary device 330 , and the like.
  • the control circuit controls the posture of the camera 170 with respect to the attachment portion 302 for attaching the gimbal 300 to the moving body by controlling the rotation device 310 , the rotation device 320 , and the rotation device 330 .
  • the rotating device 320 rotates the rotating member 322 about the roll axis 328 .
  • the rotation device 310 is located on the back surface 202 side of the camera module 100 .
  • the back surface 202 is the surface on the opposite side to the side on which the interchangeable lens 190 is attached.
  • the rotating device 310 is connected to the rotating member 322 .
  • the rotating device 310 can be rotated about the rolling axis 328 by the rotating device 320 .
  • FIG. 2 is a perspective view of the camera module 100 .
  • FIG. 3 is a perspective view showing the bayonet member 110 and the distance measuring device 400 included in the imaging device 180 .
  • the housing 200 of the camera module 100 includes an image sensor and an optical filter 108 .
  • the subject light beam that has passed through the interchangeable lens 190 passes through the filter 108 and is incident on the image sensor included in the camera module 100 .
  • the image sensor included in the camera module 100 is imaged by the subject light beam passing through the filter 108 .
  • the filter 108 is detachable to the camera module 100 .
  • the bayonet member 110 is a member for attaching the interchangeable lens 190 to the imaging device 180 .
  • the bayonet component 110 is detachable to the camera module 100 .
  • the bayonet member 110 is detachable to the base portion 102 of the camera module 100 .
  • the bayonet component 110 includes a middle bayonet 120 and a bayonet module 130 .
  • the middle bayonet 120 is detachable relative to the camera module 100 .
  • the middle bayonet 120 can be fixed to the camera module 100 by screws.
  • the middle bayonet 120 can be fixed to the base portion 102 of the camera module 100 by screws.
  • the bayonet module 130 is detachable relative to the camera module 100 .
  • the bayonet module 130 is detachable relative to the middle bayonet 120 .
  • the middle bayonet 120 can hold the bayonet module 130 through a bayonet-type disassembly and assembly structure. In this way, the bayonet module 130 can be detached from the camera module 100 through the intermediate bayonet 120 .
  • the interchangeable lens 190 is detachable relative to the bayonet module 130 .
  • the bayonet module 130 can hold the interchangeable lens 190 through a bayonet-type detachable structure. In this way, the interchangeable lens 190 can be detachably attached to the camera module 100 through the intermediate member including the bayonet module 130 and the intermediate bayonet 120 .
  • the bayonet module 130 includes a first face 131 .
  • the first face 131 is an annular face.
  • the interchangeable lens 190 is mounted on the first surface 131 .
  • the bayonet module 130 has a second face 132 that is parallel to the first face 131 .
  • the components constituting the bayonet module 130 at least the components having the first surface 131 and the second surface 132 are formed of metal.
  • the second surface 132 is an annular surface positioned closer to the outer peripheral side than the first surface 131 .
  • the holding member 430 is attached to the second surface 132 .
  • the bayonet module 130 may be a bayonet corresponding to the bayonet specification of the interchangeable lens 190 .
  • the bayonet module 130 may be selected from a plurality of bayonet modules with different bayonet specifications and corresponding to the bayonet specifications of the interchangeable lens 190 .
  • the bayonet module 130 can be replaced according to the bayonet specification of the interchangeable lens 190 mounted to the camera device 180 .
  • the z-axis represents the direction along the optical axis of the interchangeable lens 190 .
  • the image sensor included in the camera module 100 is arranged so that its light-receiving surface is orthogonal to the z-axis.
  • the z-axis is the direction along the optical axis of the camera 180 .
  • FIG. 4 is a perspective view showing the distance measuring device 400 and the holding member 430 .
  • the holding member 430 is connected to the bayonet member 110 .
  • the holding member 430 includes a base portion 410 and an extension portion 420 .
  • the base portion 410 is a portion to which the bayonet member 110 is connected.
  • the extension portion 420 is a portion extending in the z-axis direction.
  • the base portion 410 is integrally formed with the extension portion 420 .
  • Connection is not limited to the meaning of connecting objects that are otherwise physically separate. The concept of connection also includes the manner in which the TOF bracket base 410 is integrated with the bayonet member 110 .
  • the base 410 is engaged with the bayonet member 110 . Specifically, the base 410 is engaged with the bayonet module 130 . The base 410 engages the second face 132 of the bayonet module 130 as described below.
  • the base 410 has an annular first face 431 and an annular second face 432 .
  • the second surface 432 is a surface closer to the negative side of the z-axis than the first surface 431 in the z-axis direction.
  • the second surface 432 is fastened to the second surface 132 of the bayonet module 130 by fixing members such as screws. Bonding includes mechanical bonding, metallurgical bonding, and chemical bonding. Mechanical bonding includes fastening with fixing components, shrink fit, and the like. Metallurgical bonding includes welding, brazing, and the like. Chemical bonding includes bonding and the like.
  • the base 410 is formed with a hole 412a, a hole 412b, a hole 412c, a hole 412d, and a hole 412e.
  • the hole 412 a , the hole 412 b , the hole 412 c , the hole 412 d , and the hole 412 e are through holes penetrating from the first surface 431 to the second surface 432 .
  • a hole 133 a , a hole 133 b , a hole 133 c , a hole 133 d and a hole 133 e are formed on the second surface 132 of the bayonet module 130 .
  • the fixing members are inserted into the holes 412a, 412b, and 412e, respectively. 412c , holes 412d and holes 412e , so that the base 410 of the holding member 430 is fastened to the second surface 432 of the bayonet module 130 .
  • the holding member 430 is positioned with respect to the bayonet member 110, which is a bayonet member to which the interchangeable lens 190 is mounted in the imaging apparatus.
  • FIG. 5 shows a cross section of the camera 170 cut along a plane parallel to the optical axis and orthogonal to the pitch axis 318 .
  • the interchangeable lens 190 is fixed to the first surface 131 of the bayonet module 130.
  • the base portion 410 of the holding member 430 is fixed to the second surface 132 of the bayonet module 130 .
  • the position of the distance measuring device 400 relative to the bayonet module 130 is determined.
  • the holding member 430 is connected to the bayonet member 110 by engaging with the bayonet member 110 .
  • the retaining member 430 may be integrally formed with any bayonet member to which the interchangeable lens 190 is mounted, for example, the retaining member 430 may be integrally formed with the bayonet module 130 .
  • the base portion 410 and the extension portion 420 are connected together by integrally forming the base portion 410 and the extension portion 420 .
  • the extension portion 420 may be fixed to the base portion 410 by fixing components such as screws, so as to be connected to the base portion 410 .
  • FIG. 6 is a perspective view showing the appearance of the holding member 430 .
  • the extension portion 420 extends in the z-axis direction.
  • the extension portion 420 extends in the positive direction of the z-axis.
  • the extension portion 420 extends from the base portion 410 in the positive z-axis direction.
  • the extending portion 420 supports the distance measuring device 400 at a position extending in the z-axis direction.
  • the extension part 420 is connected to the distance measuring device 400 .
  • the extension portion 420 guides the movement of the distance measuring device in the z-axis direction.
  • a through hole 422 formed in the z-axis direction is formed in the extension portion 420 .
  • the through hole 422 guides the distance measuring device 400 .
  • the through hole 422 is used to fix the distance measuring device 400 to the holding member 430 .
  • FIG. 7 , 8 and 9 are perspective views showing the appearance of the distance measuring device 400 .
  • FIG. 10 is a front view of the distance measuring device 400 .
  • FIG. 11 shows the AA section of FIG. 7 .
  • the distance measuring device 400 includes a support member 500 , a cover 610 , a case member 620 , and a blower 590 .
  • the support member 500 is formed of metal.
  • the support member 500 may be formed of magnesium.
  • the support member 500 and the housing member 620 form at least a part of the housing that provides the appearance of the distance measuring device 400 .
  • the blower 590 may be located within the housing member 620 . At least a part of the blower 590 may be provided integrally with the support member 500 .
  • at least a part of the blower 590 may be integrally formed with the support member 500 .
  • a member that accommodates a fan included in the blower 590 may be integrally formed with the support member 500 .
  • the support member 500 supports the distance measuring sensor provided in the distance measuring device 400 .
  • the distance measuring sensor will be described later.
  • the cover 610 includes a light-transmitting part 612 and a light-transmitting part 614 .
  • the light-transmitting member 612 transmits the detection light emitted from the distance-measuring sensor.
  • the light-transmitting member 614 transmits the returned light from the object.
  • the support member 500 includes a first side portion 510, a second side portion 520, an upper portion 530, and a bottom portion 540.
  • the support member 500 is formed of metal.
  • the support member 500 may be formed of aluminum.
  • the first side portion 510 includes a first vent 512 for circulating external air for cooling the distance measuring device 400 .
  • the second side portion 520 includes a second vent 522 for circulating external air for cooling the distance measuring device 400 .
  • the cooling structure of the distance measuring device 400 will be described later.
  • Bottom 540 includes recess 542 .
  • the extension portion 420 of the holding member 430 has an outer shape in contact with the recessed portion 542 .
  • the concave portion 542 of the support member 500 slides relative to the extension portion 420 .
  • the support member 500 is slidable relative to the extension portion 420 in the z-axis direction by sliding the recessed portion 542 and the extension portion 420 relative to each other.
  • the distance measuring device 400 is fixed to the holding member 430 by the fixing member 502 .
  • the support member 500 of the distance measuring device 400 is fixed to the extension portion 420 of the holding member 430 via the fixing member 502 .
  • the fixing member 502 is inserted into the through hole 422 of the extension portion 420 as shown in FIG. 6 .
  • the fixing member 502 includes a shaft portion 503 , a first portion 504 and a second portion 505 .
  • the first portion 504 is a portion provided at one end of the shaft portion 503 .
  • the first portion 504 has an outer diameter larger than that of the shaft portion 503 .
  • the second portion 505 is disposed on the other end of the shaft portion 503 .
  • a groove 423 for guiding the first portion 504 in the z-axis direction is formed in the extending portion 420 of the holding member 430 .
  • the groove 423 is a surface on the opposite side to the surface on the side where the extension portion 420 and the support member 500 are in contact.
  • the first portion 504 is embedded in the groove 423 formed on the extension portion 420 .
  • the shaft portion 503 passes through the through hole 570 formed in the support member 500 while being in contact with the support member 500 .
  • a part of the fixing member 502 on the side of the first portion 504 protrudes from the bottom portion 540 of the supporting member 500 .
  • the extending portion 420 of the holding member 430 presses the supporting member 500 through the first portion 504 , thereby fixing the supporting member 500 .
  • the shaft portion 503 includes a screw portion 506 .
  • the through hole 570 of the support member 500 has a screw hole 507 that engages with the screw portion 506 of the shaft portion 503 .
  • the screw portion 506 of the shaft portion 503 is engaged with the screw hole 507 .
  • the second portion 505 of the fixing member 502 receives a force that rotates the shaft portion 503 .
  • the second portion 505 can be rotated by a user of the camera 170 . If the second part 505 is rotated in the predetermined tightening direction, the screw part 506 and the screw hole 507 are engaged, so that the extension part 420 is pressed against the support member 500 through the first part 504 . Thereby, the support member 500 is fixed to the holding member 430 .
  • the first portion 504 can slide relative to the through hole 422.
  • the distance measuring device 400 slides relative to the extending portion 420 in the z-axis direction through the relative sliding of the first portion 504 and the through hole 422 to each other. Thereby, the position of the distance measuring device 400 in the z-axis direction can be located.
  • the support member 500 and the holding member 430 of the distance measuring device 400 are fixed together by the fixing member 502 .
  • at least the extension portion 420 may be integrally formed with the support member 500 to be connected to the support member 500 .
  • the holding member 430 and the supporting member 500 may be connected by integrally forming the entire holding member 430 including the base portion 410 and the extending portion 420 with the supporting member 500 .
  • FIG. 12 is a side view of the camera system 188 .
  • a line 490 drawn by a two-dot chain line indicates the movement trajectory of the outermost portion of the outer surface of the distance measuring device 400 .
  • the distance measuring device 400 can slide in the z-axis direction along the extension portion 420 as described above.
  • the straight line 491 in the line 490 is the outermost trajectory of the outer surface of the distance measuring device 400 when the distance measuring device 400 slides in the z-axis direction.
  • the position of the distance measuring device 400 relative to the bayonet member 110 in the z-axis direction can be positioned.
  • Arc 492 in line 490 is a circle of radius r centered on pitch axis 318 .
  • r is the maximum value of the distance between the pitch axis 318 and the outer surface of the ranging device 400 .
  • Circular arc 492 represents the outermost trajectory of the outer surface of ranging device 400 as camera 170 rotates about pitch axis 318 . As indicated by the arc 492 , when the camera 170 rotates around the pitch axis 318 , the ranging device 400 is not in contact with the rotating member 322 .
  • An adjustment mechanism 260 is provided on the housing 200 of the camera module 100 .
  • the adjustment mechanism 260 is a member for adjusting the position of the rotation shaft in the imaging device 180 .
  • the adjustment mechanism 260 adjusts the position of the camera module 100 relative to the pitch axis 318 in the z-axis direction.
  • the adjustment mechanism 260 may include a sliding mechanism slidably held in the z-axis direction relative to the rotation device 310 .
  • the gimbal 300 can adjust the position of the support camera 170 in the z-axis direction.
  • the position of the distance measuring device 400 in the z-axis direction can be adjusted along the extension portion 420 .
  • the position of the entire camera 170 in the z-axis direction can be adjusted.
  • the position of the camera 170 in the z-axis direction is adjusted by the adjustment mechanism 260, so that when the camera 170 rotates around the tilt axis 318, any part of the camera 170 will not contact the rotating member 322.
  • the distance measuring device 400 can also be prevented from coming into contact with the rotating member 322 .
  • the adjustment mechanism 260 to adjust the position of the camera 170 in the z-axis direction according to at least one of the weight and the length of the interchangeable lens 190 attached to the camera 170 , the center of gravity of the camera 170 can be brought closer to the tilt axis 318 .
  • the position of the distance measuring device 400 in the z-axis direction can be adjusted along the extending portion 420 according to at least one of the weight and the length of the interchangeable lens 190 mounted on the camera 170 .
  • the counterweight 172 is detachable from the back surface 202 of the camera module 100 .
  • the position of the counterweight 172 mounted on the camera module 100 is adjusted. number and location so that the center of gravity of the camera 170 is close to the pitch axis 318 .
  • FIG. 13 is a perspective view showing a part of the internal structure of the distance measuring device 400 .
  • a TOF (Time Of Flight) sensor including a substrate 900 , a power source 990 , a light emitting element 710 , a light emitting element 720 , a light emitting element 730 , a light receiving unit 700 and a shielding member 800 is housed in the distance measuring device 400 .
  • the light-receiving unit 700 , the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 operate by electric power supplied from the power supply 990 .
  • the light receiving unit 700 , the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the power source 990 are mounted on the substrate 900 .
  • the light-emitting element 710, the light-emitting element 720, and the light-emitting element 730 are elements that emit detection light.
  • the light-emitting element 710, the light-emitting element 720, and the light-emitting element 730 constitute at least a part of the light-emitting portion.
  • the light emitting element 710 is an example of the first light emitting element.
  • the light-emitting element 720 and the light-emitting element 730 are an example of a second light-emitting element that is driven when emitting light having a smaller divergence angle than that of the light emitted by the first light-emitting element 710 .
  • a lens for reducing the divergence angle of the light is provided in the optical path of the light emitted from the light emitting element 720 and the light emitting element 730 .
  • the light emitted by the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 is emitted to the outside of the distance measuring device 400 through the light-transmitting member 614 .
  • the light receiving unit 700 receives and returns light from the light emitting unit to the object.
  • the light-receiving unit 700 includes a light-receiving element that receives light that has passed through the lens.
  • the returning light from the object is incident on the light receiving unit 700 through the light transmitting member 612 .
  • the detection light can be prevented from entering the light receiving portion 700 through the light transmitting member.
  • a circuit for calculating the distance to the object based on the light received by the light receiving unit 700 can be mounted on the substrate 900 .
  • the shielding member 800 is a member that electromagnetically shields between the light-emitting portion including the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 .
  • the shielding member 800 will be described later.
  • FIG. 14 is a cross-sectional view of the distance measuring device 400 .
  • FIG. 14 is a cross-sectional perspective view of the distance measuring device 400 when taken along the BB plane of FIG. 10 .
  • FIG. 15 is a perspective view of the cooling mechanism including the support member 500 and the blower 590 .
  • the support member 500 is thermally bonded to the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the light receiving portion 700 .
  • the concept of thermal bonding means that at least the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the light-receiving portion 700 can conduct heat transfer. For example, heat is transferred through media such as air, metal, and other heat-transferring materials.
  • the support member 500 functions as a heat dissipation member that dissipates heat generated in the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the light-receiving portion 700 .
  • the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 are thermally bonded to the support member 500 through at least the heat transfer member 880 .
  • the light receiving portion 700 is thermally bonded to the support member 500 .
  • the support member 500 includes a plurality of first heat dissipation fins 511 and a plurality of second heat dissipation fins 521 .
  • the first side 510 of the support member 500 includes a first vent 512 .
  • the second side portion 520 opposite to the first side portion 510 of the support member 500 includes a second vent 522 .
  • the first cooling fins 511 are disposed at the first vents 512 .
  • the second heat sink 521 is disposed at the second vent 522 .
  • the support member 500 includes the first portion 551 thermally bonded to the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 to transfer heat to the plurality of second heat sinks 521 .
  • the first portion 551 is a plurality of portions thermally bonded to the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 .
  • the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 are thermally connected to the first portion 551 through at least the heat transfer member 880 .
  • the support member 500 is thermally bonded to the light receiving portion 700 , and includes the second portion 552 that transfers heat to the plurality of second heat dissipation fins 521 .
  • the first portion 551 and the second portion 552 are portions that protrude in the positive z-axis direction from the base portion 560 of the support member 500 .
  • the base portion 560 has a first surface 561 facing the substrate 900, and a second surface 562 opposite to the first surface 561.
  • the first portion 551 and the second portion 552 are disposed on the first surface 561 .
  • a plurality of first heat dissipation fins 511 and a plurality of second heat dissipation fins 521 are disposed on the second surface 562 .
  • the heat generated by each of the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the light receiving unit 700 is released to the outside through the first heat sink 511 and the second heat sink 521 .
  • the blower 590 sucks outside air from the first vent 512 and the second vent 522, respectively, and discharges it to the outside.
  • the first fins 511 and the second fins 521 are cooled by external air sucked in from the first vents 512 and the second vents 522 , respectively.
  • the support member 500 releases the heat generated in the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the light-receiving portion 700 to the outside.
  • the support member 500 constitutes at least a part of a route for heat dissipation from the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the light receiving unit 700 to the outside.
  • the support member 500 is formed with a through hole 570 into which the fixing member is inserted.
  • a fixing member 502 for attaching the above-described distance measuring device 400 to the imaging device 180 is inserted into the through hole 570 .
  • the support member 500 is formed with a hole 541a and a hole 541b.
  • the holes 541 a and 541 b are holes for attaching the shielding member 800 to the supporting member 500 .
  • the mounting configuration of the shielding member 800 to the supporting member 500 will be described later.
  • a lens 722 supported by the shielding member 800 is provided in the optical path of the light emitted by the light emitting element 720 . Due to the presence of the lens 722, the divergence angle of the light emitted by the light emitting element 720 becomes smaller. Likewise, a lens supported by the shielding member 800 is provided in the light path of the light emitting element 730 . In addition, no lens is provided in the optical path of the light emitted from the light-emitting element 710 .
  • FIG. 16 and 17 are perspective views of the shielding member 800 mounted on the substrate 900 .
  • FIG. 18 is a perspective view of the shielding member 800 .
  • the light receiving portion 700 in addition to the shielding member 800 , the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 are also shown.
  • the shielding member 800 may be formed of metal.
  • the shielding member 800 may be formed of aluminum.
  • the shielding member 800 includes a first portion 810 .
  • the first portion 810 is disposed between the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 .
  • the first portion 810 electromagnetically shields the light-emitting element 710, the light-emitting element 720, and the light-emitting element 730 and the light-receiving portion 700.
  • Electromagnetically shielding may include attenuating electromagnetic wave energy. So-called “electromagnetically shielding” may include reducing coupling of electromagnetic fields.
  • the first part 810 can shield the electric waves.
  • the first portion 810 may shield the electrostatic field.
  • the shield member 800 includes a base 805 .
  • the base 805 includes a first side 801 and a second side 802 .
  • the first surface 801 is the surface opposite to the substrate 900 .
  • the first surface 801 is the surface opposite to the surface 901 of the substrate 900 .
  • the surface 901 is the surface on which the light-receiving portion 700 , the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 are provided on the substrate 900 .
  • the second surface 802 is a surface opposite to the first surface 801 . When the distance measuring device 400 is mounted on the camera device 180 , the position of the second surface 802 is closer to the positive z-axis direction than the first surface 801 .
  • the first portion 810 is arranged to extend from the base portion 805 toward the substrate 900 .
  • the shielding member 800 includes a first mounting portion 830 a , a first mounting portion 830 b , and a first mounting portion 830 c for mounting the substrate 900 on the shielding member 800 .
  • the first mounting portion 830a is formed with a first hole 831a into which a fixing member for fixing the substrate 900 to the shielding member 800 is inserted.
  • the first mounting portion 830b is formed with a first hole 831b into which a fixing member for fixing the substrate 900 to the shielding member 800 is inserted.
  • the first mounting portion 830c is formed with a first hole 831c into which a fixing member for fixing the substrate 900 to the shielding member 800 is inserted.
  • the fixing member for fixing the substrate 900 to the shielding member 800 may be a screw or the like.
  • a hole 931a, a hole 931b, and a hole 931c are formed in the base portion 900. As shown in FIG.
  • the fixing member By inserting the fixing member into the first hole 831a, the first hole 831b and the first hole, respectively, in a state where the first hole 831a is aligned with the hole 931a, the first hole 831b is aligned with the hole 931b, and the first hole 831c is aligned with the hole 931c 831c, the substrate 900 is fixed to the shielding member 800.
  • the first mounting portion 830 a is provided on the first portion 810 .
  • the first mounting portion 830b and the first mounting portion 830c are provided on the base portion 805 .
  • at least the first portion 810 is provided with one or more first mounting portions 830a.
  • the first mounting portion 830a includes a protruding portion 832a that is inserted into a hole 932a provided in the substrate 900 .
  • the first portion 810 includes one or more protrusions 832a.
  • the first mounting portion 830b includes a protruding portion 832b that is inserted into a hole 932b provided in the substrate 900 .
  • the position of the substrate 900 relative to the shielding member 800 can be positioned.
  • the shielding member 800 includes a second mounting portion 840 a , a second mounting portion 840 b , and a second mounting portion 840 c for mounting the shielding member 800 to the support member 500 .
  • a hole 841a, a hole 841b, and a hole 841c are formed in the second mounting portion 840a, the second mounting portion 840b, and the second mounting portion 840c, respectively.
  • a fixing member for fixing the shielding member 800 to the supporting member 500 is inserted into the hole 841a, the hole 841b, and the hole 841c.
  • the shielding member can be inserted into the holes 841a and 841b, respectively.
  • 800 is fixed to the support member 500 .
  • the shielding member 800 is fixed to the supporting member 500 , and the distance measuring sensor including the light receiving unit 700 , the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 is fixed to the supporting member 500 .
  • the shielding member 800 includes a second portion 820 .
  • the second portion 820 is located between the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 .
  • the second portion 820 shields the light emitted by each of the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 .
  • the second portion 820 is provided on the base portion 805 .
  • the second portion 820 is disposed on the second surface 802 .
  • the second portion 820 protrudes from the second face 802 . At least a portion of the second portion 820 is disposed on the opposite side of the first portion 810 .
  • At least a portion of the second portion 820 is disposed along the first portion 810 .
  • the first portion 810 can prevent the light emitted by the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 from directly entering the light receiving portion 700 through the space in the distance measuring device 400 .
  • the shielding member 800 includes a mounting portion 852 and a mounting portion 853 for mounting the lens.
  • the mounting portion 852 and the mounting portion 853 are provided on the second surface 802 .
  • the mounting portion 852 is provided so as to surround the light emitting element 720 .
  • a lens 722 provided in the optical path of the light emitted by the light-emitting element 720 is fixed to the attachment portion 852 .
  • the mounting portion 853 is provided so as to surround the light emitting element 730 .
  • a lens provided in the optical path of the light emitted from the light-emitting element 730 is fixed to the attachment portion 853 .
  • FIG. 19 schematically shows the configuration of the electronic circuit mounted on the substrate 900 .
  • the first portion 810 is schematically shown.
  • a drive circuit 740 for driving the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 is mounted, respectively.
  • a sensor 750 including a light-receiving element included in the light-receiving unit 700, a driving circuit for the light-receiving element, and a circuit for calculating the distance to the object is mounted.
  • a first electrode 910 is provided on the substrate 900 .
  • the first electrode 910 provides the reference potential of the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the driving circuit 740 .
  • the reference potential may be the ground potential.
  • the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 are located around the driving circuit 740 .
  • the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 are disposed along two consecutive sides of the driving circuit 740 . With the circuit configuration shown in FIG. 19 , the distances between the driving circuit 740 and the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 can be shortened.
  • a second electrode 920 is provided on the substrate 900 .
  • the second electrode 920 provides the reference potential for the sensor 750 .
  • the reference potential may be the ground potential.
  • the first portion 810 is located between the first electrode 910 and the second electrode 920 .
  • the substrate 900 is divided into a first region 941 and a second region 942 by the first portion 810 .
  • the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , the driving circuit 740 and the first electrode 910 are disposed in the first region 941 .
  • the sensor 750 including the light receiving unit 700 and the second electrode 920 are provided in the second region 942 . Thereby, electromagnetic noise (eg, noise radiation) generated on the circuits provided in the first region 941 can be suppressed from being transmitted to the circuits provided in the second region 942 .
  • electromagnetic noise eg, noise radiation
  • the electromagnetic noise generated in the circuits provided in the second area 942 can be suppressed from being transmitted to the circuits provided in the first area 941 .
  • the first electrode 910 and the second electrode 920 are provided separately. Therefore, the suppressing effect of electromagnetic noise can be improved.
  • FIG. 20 schematically shows a configuration of an electronic circuit mounted on a substrate 900a as a comparative example.
  • the symbol “a” is added to the end of the symbol of the component corresponding to the component shown in FIG. 19 . Therefore, the description of the components shown in FIG. 20 is omitted.
  • the light emitting element 710a, the light emitting element 720a, and the light emitting element 730a are arranged around the sensor 750a.
  • the first electrode 910a is disposed to surround the sensor 750a.
  • electromagnetic noise generated in the drive circuit 740a is easily transmitted to the sensor 750a.
  • the distances between the drive circuit 740a and the light-emitting element 710a, the light-emitting element 720a, and the light-emitting element 730a are increased. Therefore, as compared with the circuit configuration shown in FIG. 19, the noise applied to the sensor 750a tends to become larger. 16 to 20 , etc., according to the distance measuring device 400 of the present embodiment, the electromagnetic noise generated by the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 in the driving circuit 740 can be shielded.
  • the camera 170 is an interchangeable lens type camera.
  • the above-described distance measuring device 400 and the holding member 430 holding the distance measuring device 400 are applicable to any camera other than the interchangeable lens type.
  • the above-described imaging device 180 may be mounted on a mobile body.
  • the camera 180 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. 21 .
  • UAV 1000 may include a UAV body 1020 , a gimbal 300 , a plurality of cameras 1060 , and a camera 180 .
  • UAV 1000 is an example of a moving object propelled by a propelling unit.
  • the concept of a moving object includes, in addition to a UAV, a flying object such as an airplane moving in the air, a vehicle moving on the ground, and a ship moving on the water.
  • UAV body 1020 includes a plurality of rotors.
  • a plurality of rotors is one example of a propulsion section.
  • the UAV body 1020 makes the UAV 1000 fly by controlling the rotation of the plurality of rotors.
  • UAV body 1020 uses, for example, four rotors to fly UAV 1000.
  • the number of rotors is not limited to four.
  • the UAV1000 can also be a fixed-wing aircraft without rotors.
  • the imaging device 180 is an imaging camera for imaging a subject included in a desired imaging range.
  • the gimbal 300 rotatably supports the camera device 180 .
  • Cardan joint 300 is one example of a support mechanism.
  • the gimbal 300 rotatably supports the camera device 180 with a pitch axis using an actuator.
  • the gimbal 300 further supports the camera device 180 rotatably around the roll axis and the yaw axis, respectively, using an actuator.
  • the gimbal 300 can change the posture of the camera 180 by rotating the camera 180 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 1060 are sensor cameras that capture images of the surroundings of the UAV 1000 in order to control the flight of the UAV 1000 .
  • the two camera devices 1060 can be installed on the nose of the UAV1000, that is, the front.
  • the other two camera devices 1060 can be arranged on the bottom surface of the UAV 1000 .
  • the two imaging devices 1060 on the front side may be paired to function as so-called stereo cameras.
  • the two imaging devices 1060 on the bottom side may also be paired to function as stereo cameras.
  • Three-dimensional space data around the UAV 1000 can be generated from images captured by the plurality of cameras 1060 .
  • the number of cameras 1060 included in the UAV 1000 is not limited to four.
  • the UAV 1000 only needs to include at least one camera device 1060 .
  • the UAV1000 may also include at least one camera device 1060 on the nose, tail, side, bottom and top surfaces of the UAV1000, respectively.
  • the angle of view that can be set in the camera device 1060 may be larger than the angle of view that can be set in the camera device 180 .
  • the camera 1060 may also have a single focus lens or a fisheye lens.
  • the remote operation device 1600 communicates with the UAV 1000 to remotely operate the UAV 1000 .
  • the remote operation device 1600 can wirelessly communicate with the UAV 1000 .
  • the remote control device 1600 transmits to the UAV 1000 instruction information indicating various commands related to the movement of the UAV 1000, such as ascending, descending, acceleration, deceleration, forward, backward, and rotation.
  • the instruction information includes, for example, instruction information to raise the altitude of UAV 1000 .
  • the indication information may indicate the altitude at which the UAV 1000 should be located.
  • UAV 1000 moves so as to be located at the height indicated by the instruction information received from remote control device 1600 .
  • the instruction information may include an ascending instruction to ascend the UAV 1000 .
  • the UAV1000 rises while receiving the rising command. When the height of the UAV1000 has reached the upper limit, even if the ascending command is accepted, the UAV1000 can be restricted from ascending.

Abstract

A retaining component, retaining a ranging device arranged outside a camera device. The retaining component is connected to a bayonet component, on which a lens device is mounted, of the camera device.

Description

保持部件、摄像装置以及摄像系统Holding parts, cameras, and camera systems 技术领域technical field
本发明涉及一种保持部件、摄像装置以及摄像系统。The present invention relates to a holding member, a camera device, and a camera system.
背景技术Background technique
专利文献1中记载了搭载于车辆的LIDAR。 Patent Document 1 describes a LIDAR mounted on a vehicle.
[专利文献1]日本专利文献特表2019-526056号公报。[Patent Document 1] Japanese Patent Publication No. 2019-526056.
发明内容SUMMARY OF THE INVENTION
本发明的一个方面所涉及的保持部件保持设置于摄像装置外部的测距装置。保持部件可以与摄像装置中安装镜头装置的卡口部件连接。The holding member according to one aspect of the present invention holds a distance measuring device provided outside the imaging device. The holding member can be connected to a bayonet member in the camera device on which the lens device is mounted.
保持部件可以包括与卡口部件接合的第一部分。The retaining member may include a first portion that engages with the bayonet member.
卡口部件可以包括安装镜头装置的第一面。卡口部件可以包括与第一面平行的第二面。第一部分可以与第二面接合。The bayonet member may include a first face on which the lens device is mounted. The bayonet member may include a second face parallel to the first face. The first portion can be engaged with the second side.
第一面可以是环形的面。第二面可以是位置比第一面更靠近外周侧的环形的面。第一部分可以具有环形的面。第一部分具有的环形的面可以通过固定部件与第二面紧固连接。The first face may be an annular face. The second surface may be an annular surface positioned closer to the outer peripheral side than the first surface. The first portion may have an annular face. The annular surface of the first part can be fastened to the second surface by means of a fastening element.
保持部件可以与卡口部件一体的形成。The retaining member may be integrally formed with the bayonet member.
保持部件可以包括第二部分，该第二部分沿摄像装置的光轴方向延伸，并在延伸位置支撑测距装置。The holding member may include a second portion extending in the optical axis direction of the imaging device and supporting the distance measuring device in the extended position.
第二部分可以与测距装置的支撑部件连接。The second part may be connected to the support part of the distance measuring device.
第二部分可以通过固定部件与测距装置的支撑部件紧固连接。The second part can be fastened to the supporting part of the distance measuring device through the fixing part.
第二部分可以与测距装置的支撑部件一体地形成。The second portion may be integrally formed with the support member of the distance measuring device.
卡口部件可以相对于摄像装置可拆装。The bayonet part is detachable with respect to the camera device.
测距装置可以包括TOF(Time Of Flight，飞行时间)传感器。The ranging device may include a TOF (Time Of Flight) sensor.
本发明的一个方面所涉及的摄像装置包括上述保持部件。An imaging device according to an aspect of the present invention includes the above-described holding member.
摄像装置可以包括上述测距装置。The camera device may include the above-mentioned distance measuring device.
本发明的一个方面所涉及的摄像系统可以包括上述摄像装置。摄像系统可以包括支撑摄像装置使其能够绕预设的旋转轴旋转的支撑 机构。An imaging system according to an aspect of the present invention may include the imaging device described above. The camera system may include a support mechanism for supporting the camera device so that it can rotate about a predetermined rotation axis.
根据本发明的一个方面，可以提供一种测距装置的保持部件，该保持部件与安装镜头装置的卡口部件连接。According to an aspect of the present invention, there can be provided a holding member of a distance measuring device, the holding member being connected with a bayonet member on which a lens device is mounted.
此外，上述发明内容未列举本发明的必要的全部特征。此外，这些特征组的子组合也可以构成发明。In addition, the above-mentioned summary of the invention does not enumerate all the necessary features of the present invention. Furthermore, subcombinations of these feature groups may also constitute inventions.
附图说明Description of drawings
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and together with the following specific embodiments, are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached image:
图1表示示出本实施方式所涉及的摄像系统188的外观立体图。FIG. 1 is a perspective view showing the appearance of the imaging system 188 according to the present embodiment.
图2表示示出相机模块100的外观侧视图。FIG. 2 is a side view showing the appearance of the camera module 100 .
图3是同时示出摄像装置180包括的卡口部件110、测距装置400的立体图。FIG. 3 is a perspective view showing both the bayonet member 110 and the distance measuring device 400 included in the imaging device 180 .
图4是示出测距装置400及保持部件430的立体图。FIG. 4 is a perspective view showing the distance measuring device 400 and the holding member 430 .
图5示出相机170的剖面。FIG. 5 shows a cross section of the camera 170 .
图6是示出保持部件430的外观立体图。FIG. 6 is an external perspective view showing the holding member 430 .
图7是示出测距装置400的外观立体图。FIG. 7 is an external perspective view showing the distance measuring device 400 .
图8是示出测距装置400的外观立体图。FIG. 8 is an external perspective view showing the distance measuring device 400 .
图9是示出测距装置400的外观立体图。FIG. 9 is an external perspective view showing the distance measuring device 400 .
图10是测距装置400的正视图。FIG. 10 is a front view of the distance measuring device 400 .
图11示出图7的AA剖面。FIG. 11 shows the AA section of FIG. 7 .
图12是摄像系统188的侧视图。FIG. 12 is a side view of the camera system 188 .
图13是表示测距装置400内部的构造的一部分的立体图。FIG. 13 is a perspective view showing a part of the internal structure of the distance measuring device 400 .
图14是测距装置400的剖面图。FIG. 14 is a cross-sectional view of the distance measuring device 400 .
图15是包括支持部件500及送风机590的冷却机构的立体图。FIG. 15 is a perspective view of the cooling mechanism including the support member 500 and the blower 590 .
图16是遮蔽部件800的立体图。FIG. 16 is a perspective view of the shielding member 800 .
图17是遮蔽部件800的立体图。FIG. 17 is a perspective view of the shielding member 800 .
图18是遮蔽部件800的立体图。FIG. 18 is a perspective view of the shielding member 800 .
图19同时示意性地示出安装于基板900的电子电路的配置与第一部分810。FIG. 19 schematically shows both the configuration of the electronic circuit mounted on the substrate 900 and the first part 810 .
图20示意性地示出安装于作为对比例的基板900a的电子电路的配置。FIG. 20 schematically shows a configuration of an electronic circuit mounted on a substrate 900a as a comparative example.
图21示出无人驾驶航空器(UAV)的一个示例。Figure 21 shows an example of an unmanned aerial vehicle (UAV).
符号说明Symbol Description
100 相机模块100 camera modules
102 底座部102 Base part
108 滤光片108 filter
110 卡口部件110 bayonet parts
120 中间卡口120 middle bayonet
130 卡口模块130 bayonet module
131 第一面131 first side
132 第二面132 Second side
133 孔133 holes
170 相机170 Cameras
172 配重172 Counterweight
180 摄像装置180 Cameras
188 摄像系统188 Camera System
190 可更换镜头190 interchangeable lenses
300 万向节3 million joints
200 壳体200 shells
202 背面202 Back
260 调整机构260 Adjustment mechanism
302 安装部302 Installation Department
310 旋转装置310 Rotary device
318 俯仰轴318 Pitch axis
320 旋转装置320 Rotary device
322 旋转部件322 rotating parts
328 滚转轴328 roll axis
330 旋转装置330 Rotary device
338 偏航轴338 Yaw axis
400 测距装置400 ranging devices
410 基部410 base
412 孔412 holes
420 延伸部420 Extension
422 通孔422 through hole
423 沟槽423 Groove
430 保持部件430 Holding parts
431 第一面431 first side
432 第二面432 Second side
490 线490 lines
491 直线491 Straight
492 圆弧492 Arc
500 支撑部件500 support parts
502 固定部件502 Fixed parts
503 轴部503 Shaft
504 第一部分504 Part 1
505 第二部分505 Part II
506 螺丝部506 Screw part
507 螺丝孔507 screw holes
510 第一侧部510 first side
511 第一散热片511 First heat sink
512 通风口512 Vents
520 第二侧部520 Second side
521 第二散热片521 Second heat sink
522 通风口522 Vents
530 上部530 upper
540 底部540 bottom
541 孔541 holes
542 凹部542 Recess
551 第一部分551 Part 1
552 第二部分552 Part Two
560 基部560 base
561 第一面561 first side
562 第二面562 Second side
570 通孔570 through hole
590 送风机590 blower
610 盖610 cover
612 透光部件612 Translucent parts
614 透光部件614 Translucent parts
620 外壳部件620 Housing Parts
700 受光部700 Receiver
710 发光元件710 light-emitting element
720 发光元件720 light-emitting elements
722 镜头722 lenses
730 发光元件730 light-emitting elements
740 驱动电路740 drive circuit
750 传感器750 sensors
800 遮蔽部件800 Shading Parts
801 第一面801 first side
802 第二面802 Second side
805 基部805 base
810 第一部分810 Part 1
820 第二部分820 Part II
830 第一安装部830 first installation part
831 第一孔831 first hole
832 突起部832 Protrusions
840 第二安装部840 Second installation part
841 孔841 holes
852 安装部852 Installation Department
853 安装部853 Installation Department
880 传热部件880 Heat Transfer Components
900 基板900 substrates
901 面901 faces
910 第一电极910 first electrode
920 第二电极920 second electrode
931 孔931 holes
932 孔932 holes
941 第一区域941 First area
942 第二区域942 Second area
990 电源990 Power
1000 UAV1000 UAVs
1060 摄像装置1060 Camera Unit
1020 UAV主体1020 UAV body
1600 远程操作装置1600 Remote Control Unit
具体实施方式detailed description
以下，通过发明的实施方式来说明本发明，但是以下的实施方式并不限定权利要求书所涉及的发明。此外，实施方式中所说明的所有特征组合对于发明的解决方案未必是必须的。对本领域普通技术人员来说，显然可以对以下实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。Hereinafter, the present invention will be described based on the embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Furthermore, all combinations of features described in the embodiments are not necessarily essential to the solution of the invention. It will be apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is apparent from the description of the claims that any form in which such a change or improvement is added can be included in the technical scope of the present invention.
权利要求书、说明书、说明书附图以及说明书摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人则不会提出异议。但是，在除此以外的情况下，保留一切的著作权。The claims, description, drawings and abstract of the description include matters subject to copyright protection. The copyright owner has no objection to the reproduction of these documents by anyone as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.
图1是示出本实施方式所涉及的摄像系统188的外观的立体图。摄像系统188包括相机170、万向节300。相机170包括摄像装置180、可更换镜头190、测距装置400。测距装置400设置于摄像装置180的外部。相机170可以是镜头可更换式相机。可更换镜头190是相对 于摄像装置180可拆装的镜头装置。FIG. 1 is a perspective view showing the appearance of an imaging system 188 according to the present embodiment. Camera system 188 includes camera 170 and gimbal 300 . The camera 170 includes a camera device 180 , an interchangeable lens 190 , and a distance measuring device 400 . The distance measuring device 400 is provided outside the camera device 180 . Camera 170 may be a lens-interchangeable camera. The interchangeable lens 190 is a lens device that is detachable from the camera device 180.
摄像装置180包括相机模块100、卡口部件110、保持部件430。保持部件430是保持测距装置400的部件。保持部件430由金属制成。测距装置400设置于摄像装置180的外部，由保持部件430进行保持。测距装置400是通过光来测量到对象物的距离的飞行时间(Time Of Flight)型传感器。相机模块100包括电路，该电路通过基于测距装置400测量的距离调整可更换镜头190包括的聚焦镜头的位置，来执行对焦控制。The camera device 180 includes the camera module 100 , the bayonet member 110 , and the holding member 430 . The holding member 430 is a member that holds the distance measuring device 400 . The holding member 430 is made of metal. The distance measuring device 400 is installed outside the imaging device 180 and held by the holding member 430 . The distance measuring device 400 is a time of flight type sensor that measures the distance to an object by light. The camera module 100 includes a circuit that performs focus control by adjusting the position of the focus lens included in the interchangeable lens 190 based on the distance measured by the distance measuring device 400 .
对摄像系统188的结构进行说明时，将沿可更换镜头190的光轴的方向设为z轴方向。即，将被摄体光束入射的方向设为z轴方向。将被摄体光束朝向相机170入射的方向设为z轴负方向，其反方向设为z轴正方向。另外，有时将z轴正方向称为前方、前侧等。另外，有时将z轴负方向称为后方、后侧等。When describing the configuration of the imaging system 188 , the direction along the optical axis of the interchangeable lens 190 is referred to as the z-axis direction. That is, the direction in which the subject light flux is incident is referred to as the z-axis direction. The direction in which the subject light beam is incident toward the camera 170 is referred to as the negative z-axis direction, and the opposite direction is referred to as the positive z-axis direction. In addition, the positive z-axis direction may be referred to as front, front, or the like. In addition, the negative z-axis direction may be referred to as rear, rear, or the like.
摄像装置180以可绕预设的旋转轴旋转的方式被支撑。例如，摄像部180由万向节300支撑，可绕三个旋转轴旋转。The camera device 180 is supported so as to be rotatable around a preset rotation axis. For example, the imaging unit 180 is supported by the gimbal 300 and is rotatable around three rotation axes.
万向节300可安装于UAV等移动体。万向节300支撑相机170，使其能够以俯仰轴318为中心旋转。万向节300支撑相机170，使其能够以滚转轴328为中心旋转。万向节300支撑相机170，使其能够以偏航轴338为中心旋转。俯仰轴318及偏航轴338与z轴正交。俯仰轴318及偏航轴338基本与z轴正交。俯仰轴318及偏航轴338是具有与z轴正交方向的分量的轴的一个示例。The universal joint 300 can be attached to a moving object such as a UAV. The gimbal 300 supports the camera 170 so that it can rotate about the pitch axis 318 . The gimbal 300 supports the camera 170 so that it can rotate about the roll axis 328 . The gimbal 300 supports the camera 170 so that it can rotate about the yaw axis 338 . The pitch axis 318 and the yaw axis 338 are orthogonal to the z axis. The pitch axis 318 and the yaw axis 338 are substantially orthogonal to the z-axis. Pitch axis 318 and yaw axis 338 are examples of axes having components in directions orthogonal to the z-axis.
万向节300包括作为支撑机构一部分的旋转装置310、旋转装置320、旋转装置330。旋转装置310使相机170绕俯仰轴318旋转。旋转装置320使相机170绕滚转轴328旋转。旋转装置330使相机170绕偏航轴338旋转。万向节300包括控制旋转装置310、旋转装置320及旋转装置330的处理器等的控制电路。控制电路通过控制旋转装置310、旋转装置320及旋转装置330，控制相机170相对于将万向节300安装于移动体的安装部302的姿势。The universal joint 300 includes a rotating device 310, a rotating device 320, and a rotating device 330 as part of the support mechanism. Rotation device 310 rotates camera 170 about pitch axis 318 . Rotation device 320 rotates camera 170 about roll axis 328 . Rotation device 330 rotates camera 170 about yaw axis 338 . The universal joint 300 includes a control circuit that controls the rotary device 310 , the rotary device 320 , and the processor of the rotary device 330 , and the like. The control circuit controls the posture of the camera 170 with respect to the attachment portion 302 for attaching the gimbal 300 to the moving body by controlling the rotation device 310 , the rotation device 320 , and the rotation device 330 .
旋转装置320使旋转部件322绕滚转轴328旋转。旋转装置310位于相机模块100的背面202侧。背面202是与安装可更换镜头190 的一侧相反侧的面。旋转装置310连接于旋转部件322。旋转装置310能够通过旋转装置320绕滚转轴328旋转。The rotating device 320 rotates the rotating member 322 about the roll axis 328 . The rotation device 310 is located on the back surface 202 side of the camera module 100 . The back surface 202 is the surface on the opposite side to the side on which the interchangeable lens 190 is attached. The rotating device 310 is connected to the rotating member 322 . The rotating device 310 can be rotated about the rolling axis 328 by the rotating device 320 .
图2是相机模块100的立体图。图3是示出摄像装置180包括的卡口部件110、测距装置400的立体图。FIG. 2 is a perspective view of the camera module 100 . FIG. 3 is a perspective view showing the bayonet member 110 and the distance measuring device 400 included in the imaging device 180 .
相机模块100的壳体200内包括图像传感器以及滤光片108。通过了可更换镜头190的被摄体光束通过滤光片108，入射至相机模块100包括的图像传感器。相机模块100包括的图像传感器由通过滤光片108的被摄体光束成像。滤光片108可拆装于相机模块100。The housing 200 of the camera module 100 includes an image sensor and an optical filter 108 . The subject light beam that has passed through the interchangeable lens 190 passes through the filter 108 and is incident on the image sensor included in the camera module 100 . The image sensor included in the camera module 100 is imaged by the subject light beam passing through the filter 108 . The filter 108 is detachable to the camera module 100 .
卡口部件110是在摄像装置180上安装可更换镜头190的部件。卡口部件110可拆装于相机模块100。卡口部件110可拆装于相机模块100的底座部102。The bayonet member 110 is a member for attaching the interchangeable lens 190 to the imaging device 180 . The bayonet component 110 is detachable to the camera module 100 . The bayonet member 110 is detachable to the base portion 102 of the camera module 100 .
如图3所示，卡口部件110包括中间卡口120和卡口模块130。中间卡口120相对于相机模块100可拆装。中间卡口120可通过螺丝固定于相机模块100。例如，中间卡口120可通过螺丝固定于相机模块100的底座部102。As shown in FIG. 3 , the bayonet component 110 includes a middle bayonet 120 and a bayonet module 130 . The middle bayonet 120 is detachable relative to the camera module 100 . The middle bayonet 120 can be fixed to the camera module 100 by screws. For example, the middle bayonet 120 can be fixed to the base portion 102 of the camera module 100 by screws.
卡口模块130相对于相机模块100可拆装。具体而言，卡口模块130相对于中间卡口120可拆装。例如，中间卡口120可通过卡口式拆装结构来保持卡口模块130。这样，卡口模块130通过中间卡口120，相对于相机模块100可拆装。The bayonet module 130 is detachable relative to the camera module 100 . Specifically, the bayonet module 130 is detachable relative to the middle bayonet 120 . For example, the middle bayonet 120 can hold the bayonet module 130 through a bayonet-type disassembly and assembly structure. In this way, the bayonet module 130 can be detached from the camera module 100 through the intermediate bayonet 120 .
可更换镜头190相对于卡口模块130可拆装。卡口模块130可通过卡口式拆卸结构来保持可更换镜头190。这样，可更换镜头190通过包括卡口模块130及中间卡口120的中间部件，可拆装于相机模块100。The interchangeable lens 190 is detachable relative to the bayonet module 130 . The bayonet module 130 can hold the interchangeable lens 190 through a bayonet-type detachable structure. In this way, the interchangeable lens 190 can be detachably attached to the camera module 100 through the intermediate member including the bayonet module 130 and the intermediate bayonet 120 .
卡口模块130包括第一面131。第一面131是环形面。可更换镜头190安装于第一面131。如下文所述，卡口模块130具有与第一面131平行的第二面132。构成卡口模块130的部件中，至少具有第一面131及第二面132的部件是由金属形成的。第二面132是位置比第一面131更靠近外周侧的环形的面。保持部件430安装于第二面132。The bayonet module 130 includes a first face 131 . The first face 131 is an annular face. The interchangeable lens 190 is mounted on the first surface 131 . As described below, the bayonet module 130 has a second face 132 that is parallel to the first face 131 . Among the components constituting the bayonet module 130, at least the components having the first surface 131 and the second surface 132 are formed of metal. The second surface 132 is an annular surface positioned closer to the outer peripheral side than the first surface 131 . The holding member 430 is attached to the second surface 132 .
卡口模块130可以是与可更换镜头190的卡口规格对应的卡口。卡口模块130可以是从卡口规格各不相同的多个卡口模块中选出的、 与可更换镜头190的卡口规格对应的卡口。卡口模块130可根据安装到摄像装置180的可更换镜头190的卡口规格进行更换。The bayonet module 130 may be a bayonet corresponding to the bayonet specification of the interchangeable lens 190 . The bayonet module 130 may be selected from a plurality of bayonet modules with different bayonet specifications and corresponding to the bayonet specifications of the interchangeable lens 190 . The bayonet module 130 can be replaced according to the bayonet specification of the interchangeable lens 190 mounted to the camera device 180 .
如上所述，z轴表示沿可更换镜头190的光轴的方向。相机模块100包括的图像传感器设置成其受光面与z轴正交。z轴为沿摄像装置180的光轴的方向。As described above, the z-axis represents the direction along the optical axis of the interchangeable lens 190 . The image sensor included in the camera module 100 is arranged so that its light-receiving surface is orthogonal to the z-axis. The z-axis is the direction along the optical axis of the camera 180 .
图4是示出测距装置400及保持部件430的立体图。保持部件430与卡口部件110连接。保持部件430包括基部410和延伸部420。基部410是与卡口部件110连接的部分。延伸部420是沿z轴方向延伸的部分。基部410与延伸部420一体地形成。连接并不仅限于将原本物理性分离的物体连接这一意义。连接的概念也包括将TOF支架基部410与卡口部件110一体的方式。FIG. 4 is a perspective view showing the distance measuring device 400 and the holding member 430 . The holding member 430 is connected to the bayonet member 110 . The holding member 430 includes a base portion 410 and an extension portion 420 . The base portion 410 is a portion to which the bayonet member 110 is connected. The extension portion 420 is a portion extending in the z-axis direction. The base portion 410 is integrally formed with the extension portion 420 . Connection is not limited to the meaning of connecting objects that are otherwise physically separate. The concept of connection also includes the manner in which the TOF bracket base 410 is integrated with the bayonet member 110 .
基部410与卡口部件110接合。具体而言，基部410与卡口模块130接合。如下文所述，基部410与卡口模块130的第二面132接合。基部410具有环形的第一面431和环形的第二面432。第二面432是在z轴方向上比第一面431更靠近z轴负侧的面。第二面432与卡口模块130的第二面132通过螺钉等固定部件紧固。接合包括机械接合、冶金结合以及化学接合。机械接合包括使用固定部件紧固、热装等。冶金接合包括焊接、钎焊等。化学接合包括粘结等。The base 410 is engaged with the bayonet member 110 . Specifically, the base 410 is engaged with the bayonet module 130 . The base 410 engages the second face 132 of the bayonet module 130 as described below. The base 410 has an annular first face 431 and an annular second face 432 . The second surface 432 is a surface closer to the negative side of the z-axis than the first surface 431 in the z-axis direction. The second surface 432 is fastened to the second surface 132 of the bayonet module 130 by fixing members such as screws. Bonding includes mechanical bonding, metallurgical bonding, and chemical bonding. Mechanical bonding includes fastening with fixing components, shrink fit, and the like. Metallurgical bonding includes welding, brazing, and the like. Chemical bonding includes bonding and the like.
例如，基部410上形成有孔412a、孔412b、孔412c、孔412d及孔412e。孔412a、孔412b、孔412c、孔412d及孔412e是从第一面431贯通至第二面432的通孔。如图3所示，卡口模块130的第二面132上形成有孔133a、孔133b、孔133c、孔133d和孔133e。在孔133a、孔133b、孔133c、孔133d、孔133e分别与孔412a、孔412b、孔412c、孔412d及孔412e对位的状态下，通过将固定部件分别插入孔412a、孔412b、孔412c、孔412d及孔412e，从而使保持部件430的基部410与卡口模块130的第二面432紧固。由此，保持部件430相对于卡口部件110被定位，该卡口部件110是摄像装置中安装可更换镜头190的卡口部件。For example, the base 410 is formed with a hole 412a, a hole 412b, a hole 412c, a hole 412d, and a hole 412e. The hole 412 a , the hole 412 b , the hole 412 c , the hole 412 d , and the hole 412 e are through holes penetrating from the first surface 431 to the second surface 432 . As shown in FIG. 3 , a hole 133 a , a hole 133 b , a hole 133 c , a hole 133 d and a hole 133 e are formed on the second surface 132 of the bayonet module 130 . In a state where the holes 133a, 133b, 133c, 133d, and 133e are aligned with the holes 412a, 412b, 412c, 412d, and 412e, respectively, the fixing members are inserted into the holes 412a, 412b, and 412e, respectively. 412c , holes 412d and holes 412e , so that the base 410 of the holding member 430 is fastened to the second surface 432 of the bayonet module 130 . Thereby, the holding member 430 is positioned with respect to the bayonet member 110, which is a bayonet member to which the interchangeable lens 190 is mounted in the imaging apparatus.
图5示出在平行于光轴且与俯仰轴318正交的面将相机170切断的剖面。如图5所示，可更换镜头190固定于卡口模块130的第一面 131。另外，保持部件430的基部410固定于卡口模块130的第二面132。由此，测距装置400相对于卡口模块130的位置确定。FIG. 5 shows a cross section of the camera 170 cut along a plane parallel to the optical axis and orthogonal to the pitch axis 318 . As shown in FIG. 5 , the interchangeable lens 190 is fixed to the first surface 131 of the bayonet module 130. In addition, the base portion 410 of the holding member 430 is fixed to the second surface 132 of the bayonet module 130 . Thus, the position of the distance measuring device 400 relative to the bayonet module 130 is determined.
在本实施方式中，保持部件430通过与卡口部件110的接合，与卡口部件110连接。在其他的实施方式中，保持部件430可与安装可更换镜头190的任意卡口部件一体地形成，例如，保持部件430可与卡口模块130一体地形成。另外，在本实施方式中，通过基部410和延伸部420一体地形成而使基部410和延伸部420连接在一起。在其他的实施方式中，延伸部420可通过螺钉等固定部件固定于基部410，以此与基部410连接。In this embodiment, the holding member 430 is connected to the bayonet member 110 by engaging with the bayonet member 110 . In other embodiments, the retaining member 430 may be integrally formed with any bayonet member to which the interchangeable lens 190 is mounted, for example, the retaining member 430 may be integrally formed with the bayonet module 130 . In addition, in the present embodiment, the base portion 410 and the extension portion 420 are connected together by integrally forming the base portion 410 and the extension portion 420 . In other embodiments, the extension portion 420 may be fixed to the base portion 410 by fixing components such as screws, so as to be connected to the base portion 410 .
图6是示出保持部件430的外观的立体图。延伸部420沿z轴方向延伸。延伸部420向z轴正方向延伸。延伸部420从基部410向z轴正方向延伸。延伸部420在向z轴方向延伸的位置处支撑测距装置400。延伸部420与测距装置400连接。FIG. 6 is a perspective view showing the appearance of the holding member 430 . The extension portion 420 extends in the z-axis direction. The extension portion 420 extends in the positive direction of the z-axis. The extension portion 420 extends from the base portion 410 in the positive z-axis direction. The extending portion 420 supports the distance measuring device 400 at a position extending in the z-axis direction. The extension part 420 is connected to the distance measuring device 400 .
延伸部420引导z轴方向的测距装置的移动。在延伸部420上形成有沿z轴方向形成的通孔422。通孔422引导测距装置400。通孔422用于将测距装置400固定于保持部件430。The extension portion 420 guides the movement of the distance measuring device in the z-axis direction. A through hole 422 formed in the z-axis direction is formed in the extension portion 420 . The through hole 422 guides the distance measuring device 400 . The through hole 422 is used to fix the distance measuring device 400 to the holding member 430 .
图7、图8及图9是示出测距装置400的外观的立体图。图10是测距装置400的正视图。图11示出图7的AA剖面。7 , 8 and 9 are perspective views showing the appearance of the distance measuring device 400 . FIG. 10 is a front view of the distance measuring device 400 . FIG. 11 shows the AA section of FIG. 7 .
测距装置400包括支撑部件500、盖610、外壳部件620、送风机590。支撑部件500由金属形成。支撑部件500可以由镁形成。支撑部件500及外壳部件620形成了提供测距装置400的外观的壳体的至少一部分。送风机590可位于外壳部件620内。送风机590中的至少一部分可以与支撑部件500一体地设置。另外，送风机590中的至少一部分可以与支撑部件500一体地形成。例如，收纳送风机590包括的风扇的部件可以与支撑部件500一体地形成。The distance measuring device 400 includes a support member 500 , a cover 610 , a case member 620 , and a blower 590 . The support member 500 is formed of metal. The support member 500 may be formed of magnesium. The support member 500 and the housing member 620 form at least a part of the housing that provides the appearance of the distance measuring device 400 . The blower 590 may be located within the housing member 620 . At least a part of the blower 590 may be provided integrally with the support member 500 . In addition, at least a part of the blower 590 may be integrally formed with the support member 500 . For example, a member that accommodates a fan included in the blower 590 may be integrally formed with the support member 500 .
支撑部件500支撑设置于测距装置400内的测距传感器。关于测距传感器将在后文描述。盖610包括透光部件612和透光部件614。透光部件612使从测距传感器射出的检测光通过。透光部件614使来自对象物的返回光通过。The support member 500 supports the distance measuring sensor provided in the distance measuring device 400 . The distance measuring sensor will be described later. The cover 610 includes a light-transmitting part 612 and a light-transmitting part 614 . The light-transmitting member 612 transmits the detection light emitted from the distance-measuring sensor. The light-transmitting member 614 transmits the returned light from the object.
支撑部件500包括第一侧部510、第二侧部520、上部530、底 部540。支撑部件500由金属形成。支撑部件500可以由铝形成。第一侧部510包括使用于冷却测距装置400的外部空气流通的第一通风口512。第二侧部520包括使用于冷却测距装置400的外部空气流通的第二通风口522。关于测距装置400的冷却结构将在后文描述。The support member 500 includes a first side portion 510, a second side portion 520, an upper portion 530, and a bottom portion 540. The support member 500 is formed of metal. The support member 500 may be formed of aluminum. The first side portion 510 includes a first vent 512 for circulating external air for cooling the distance measuring device 400 . The second side portion 520 includes a second vent 522 for circulating external air for cooling the distance measuring device 400 . The cooling structure of the distance measuring device 400 will be described later.
底部540包括凹部542。保持部件430的延伸部420具有与凹部542相接的外形。支撑部件500的凹部542相对于延伸部420滑动。支撑部件500通过凹部542与延伸部420的相对彼此滑动，可相对延伸部420在z轴方向上滑动。 Bottom 540 includes recess 542 . The extension portion 420 of the holding member 430 has an outer shape in contact with the recessed portion 542 . The concave portion 542 of the support member 500 slides relative to the extension portion 420 . The support member 500 is slidable relative to the extension portion 420 in the z-axis direction by sliding the recessed portion 542 and the extension portion 420 relative to each other.
测距装置400通过固定部件502固定于保持部件430。具体而言，测距装置400的支撑部件500通过固定部件502固定于保持部件430的延伸部420。固定部件502插入如图6所示的延伸部420的通孔422。The distance measuring device 400 is fixed to the holding member 430 by the fixing member 502 . Specifically, the support member 500 of the distance measuring device 400 is fixed to the extension portion 420 of the holding member 430 via the fixing member 502 . The fixing member 502 is inserted into the through hole 422 of the extension portion 420 as shown in FIG. 6 .
固定部件502包括轴部503、第一部分504和第二部分505。第一部分504是设置于轴部503的一端的部分。第一部分504具有比轴部503的外径大的外径。第二部分505设置于轴部503的另一端。如图11所示，在保持部件430的延伸部420上形成有沿z轴方向引导第一部分504的沟槽423。沟槽423是与延伸部420和支撑部件500相接触侧的面相反侧的面。第一部分504嵌入延伸部420上形成的沟槽423。The fixing member 502 includes a shaft portion 503 , a first portion 504 and a second portion 505 . The first portion 504 is a portion provided at one end of the shaft portion 503 . The first portion 504 has an outer diameter larger than that of the shaft portion 503 . The second portion 505 is disposed on the other end of the shaft portion 503 . As shown in FIG. 11 , a groove 423 for guiding the first portion 504 in the z-axis direction is formed in the extending portion 420 of the holding member 430 . The groove 423 is a surface on the opposite side to the surface on the side where the extension portion 420 and the support member 500 are in contact. The first portion 504 is embedded in the groove 423 formed on the extension portion 420 .
轴部503与支撑部件500相接的同时，穿过支撑部件500上形成的通孔570。由此，固定部件502的第一部分504侧的一部分从支撑部件500的底部540突出。保持部件430的延伸部420通过第一部分504压紧支撑部件500，以此来固定支撑部件500。The shaft portion 503 passes through the through hole 570 formed in the support member 500 while being in contact with the support member 500 . Thereby, a part of the fixing member 502 on the side of the first portion 504 protrudes from the bottom portion 540 of the supporting member 500 . The extending portion 420 of the holding member 430 presses the supporting member 500 through the first portion 504 , thereby fixing the supporting member 500 .
轴部503包括螺丝部506。支撑部件500的通孔570具有与轴部503的螺丝部506啮合的螺丝孔507。轴部503的螺丝部506与螺丝孔507啮合。固定部件502的第二部分505受到使轴部503旋转的力。例如，第二部分505能够由相机170的使用者进行旋转。如果使第二部分505按预设的紧固方向旋转，则螺丝部506和螺丝孔507相啮合，以此延伸部420通过第一部分504压紧在支撑部件500上。由此，支撑部件500固定于保持部件430。The shaft portion 503 includes a screw portion 506 . The through hole 570 of the support member 500 has a screw hole 507 that engages with the screw portion 506 of the shaft portion 503 . The screw portion 506 of the shaft portion 503 is engaged with the screw hole 507 . The second portion 505 of the fixing member 502 receives a force that rotates the shaft portion 503 . For example, the second portion 505 can be rotated by a user of the camera 170 . If the second part 505 is rotated in the predetermined tightening direction, the screw part 506 and the screw hole 507 are engaged, so that the extension part 420 is pressed against the support member 500 through the first part 504 . Thereby, the support member 500 is fixed to the holding member 430 .
如果使第二部分505向与紧固方向相反的一侧旋转而使延伸部 420压紧在支撑部件500上的力变小，则第一部分504可相对于通孔422滑动。测距装置400通过第一部分504与通孔422的相对彼此滑动，相对延伸部420在z轴方向上滑动。由此，可定位测距装置400在z轴方向上的位置。If the second portion 505 is rotated to the side opposite to the tightening direction to reduce the force with which the extension portion 420 is pressed against the support member 500, the first portion 504 can slide relative to the through hole 422. The distance measuring device 400 slides relative to the extending portion 420 in the z-axis direction through the relative sliding of the first portion 504 and the through hole 422 to each other. Thereby, the position of the distance measuring device 400 in the z-axis direction can be located.
如上所述，在本实施方式中，测距装置400的支撑部件500与保持部件430通过固定部件502而固定在一起。在其他的实施方式中，也可以使至少延伸部420与支撑部件500一体地形成来与支撑部件500连接。另外，也可以通过将包括基部410及延伸部420的保持部件430整体与支撑部件500一体地形成而使保持部件430与支撑部件500连接。As described above, in the present embodiment, the support member 500 and the holding member 430 of the distance measuring device 400 are fixed together by the fixing member 502 . In other embodiments, at least the extension portion 420 may be integrally formed with the support member 500 to be connected to the support member 500 . In addition, the holding member 430 and the supporting member 500 may be connected by integrally forming the entire holding member 430 including the base portion 410 and the extending portion 420 with the supporting member 500 .
图12是摄像系统188的侧视图。双点划线描绘的线490表示测距装置400的外表面的最外侧部位的移动轨迹。如上所述测距装置400可沿延伸部420在z轴方向上滑动。在图11中，线490中的直线491是测距装置400在z轴方向上滑动时测距装置400的外表面的最外侧的轨迹。如图12所示，可定位测距装置400在z轴方向上相对于卡口部件110的位置。FIG. 12 is a side view of the camera system 188 . A line 490 drawn by a two-dot chain line indicates the movement trajectory of the outermost portion of the outer surface of the distance measuring device 400 . The distance measuring device 400 can slide in the z-axis direction along the extension portion 420 as described above. In FIG. 11 , the straight line 491 in the line 490 is the outermost trajectory of the outer surface of the distance measuring device 400 when the distance measuring device 400 slides in the z-axis direction. As shown in FIG. 12 , the position of the distance measuring device 400 relative to the bayonet member 110 in the z-axis direction can be positioned.
线490中的圆弧492是以俯仰轴318为中心的半径为r的圆。r是俯仰轴318与测距装置400的外表面之间的距离的最大值。圆弧492表示相机170绕俯仰轴318旋转时测距装置400的外表面的最外侧的轨迹。如圆弧492所示，相机170绕俯仰轴318旋转时，测距装置400不与旋转部件322接触。 Arc 492 in line 490 is a circle of radius r centered on pitch axis 318 . r is the maximum value of the distance between the pitch axis 318 and the outer surface of the ranging device 400 . Circular arc 492 represents the outermost trajectory of the outer surface of ranging device 400 as camera 170 rotates about pitch axis 318 . As indicated by the arc 492 , when the camera 170 rotates around the pitch axis 318 , the ranging device 400 is not in contact with the rotating member 322 .
相机模块100的壳体200上设置有调整机构260。调整机构260是用于调整摄像装置180中的旋转轴的位置的部件。具体而言，调整机构260调整相机模块100在z轴方向上相对俯仰轴318的位置。调整机构260可包括相对于旋转装置310可滑动地保持在z轴方向上的滑动机构。通过调整机构260，万向节300可调整支撑相机170的z轴方向的位置。An adjustment mechanism 260 is provided on the housing 200 of the camera module 100 . The adjustment mechanism 260 is a member for adjusting the position of the rotation shaft in the imaging device 180 . Specifically, the adjustment mechanism 260 adjusts the position of the camera module 100 relative to the pitch axis 318 in the z-axis direction. The adjustment mechanism 260 may include a sliding mechanism slidably held in the z-axis direction relative to the rotation device 310 . Through the adjustment mechanism 260 , the gimbal 300 can adjust the position of the support camera 170 in the z-axis direction.
如上所述，测距装置400的z轴方向的位置可沿延伸部420进行调整。另外，通过调整机构260，可调整整个相机170在z轴方向上的位置。通过调整机构260来调整相机170在z轴方向上的位置，以 此可使相机170在绕俯仰轴318旋转时，相机170的任意部位不会与旋转部件322接触。另外，通过调整测距装置400在z轴方向上的位置，也可使测距装置400不会与旋转部件322接触。As described above, the position of the distance measuring device 400 in the z-axis direction can be adjusted along the extension portion 420 . In addition, through the adjustment mechanism 260, the position of the entire camera 170 in the z-axis direction can be adjusted. The position of the camera 170 in the z-axis direction is adjusted by the adjustment mechanism 260, so that when the camera 170 rotates around the tilt axis 318, any part of the camera 170 will not contact the rotating member 322. In addition, by adjusting the position of the distance measuring device 400 in the z-axis direction, the distance measuring device 400 can also be prevented from coming into contact with the rotating member 322 .
另外，通过根据安装于相机170的可更换镜头190的重量及长度中的至少一个并使用调整机构260来调整相机170在z轴方向的位置，可使相机170的重心靠近俯仰轴318。另外，可根据安装于相机170的可更换镜头190的重量及长度中的至少一个，沿延伸部420调整测距装置400在z轴方向上的位置。另外，配重172相对相机模块100的背面202可拆装。根据安装于相机170的可更换镜头190的长度及重量、测距装置400的有无、测距装置400的重量及位置、以及调整机构260的位置来调整安装于相机模块100的配重172的数量及位置，以此可使相机170的重心靠近俯仰轴318。In addition, by using the adjustment mechanism 260 to adjust the position of the camera 170 in the z-axis direction according to at least one of the weight and the length of the interchangeable lens 190 attached to the camera 170 , the center of gravity of the camera 170 can be brought closer to the tilt axis 318 . In addition, the position of the distance measuring device 400 in the z-axis direction can be adjusted along the extending portion 420 according to at least one of the weight and the length of the interchangeable lens 190 mounted on the camera 170 . In addition, the counterweight 172 is detachable from the back surface 202 of the camera module 100 . According to the length and weight of the interchangeable lens 190 mounted on the camera 170 , the presence or absence of the ranging device 400 , the weight and position of the ranging device 400 , and the position of the adjustment mechanism 260 , the position of the counterweight 172 mounted on the camera module 100 is adjusted. number and location so that the center of gravity of the camera 170 is close to the pitch axis 318 .
图13是表示测距装置400内部的构造的一部分的立体图。测距装置400内收纳有包括基板900、电源990、发光元件710、发光元件720、发光元件730、受光部700和遮蔽部件800的TOF(Time Of Flight，飞行时间)传感器。FIG. 13 is a perspective view showing a part of the internal structure of the distance measuring device 400 . A TOF (Time Of Flight) sensor including a substrate 900 , a power source 990 , a light emitting element 710 , a light emitting element 720 , a light emitting element 730 , a light receiving unit 700 and a shielding member 800 is housed in the distance measuring device 400 .
受光部700、发光元件710、发光元件720、发光元件730通过电源990提供的电力来工作。受光部700、发光元件710、发光元件720、发光元件730以及电源990安装于基板900。The light-receiving unit 700 , the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 operate by electric power supplied from the power supply 990 . The light receiving unit 700 , the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the power source 990 are mounted on the substrate 900 .
发光元件710、发光元件720及发光元件730是发出检测光的元件。发光元件710、发光元件720及发光元件730构成发光部的至少一部分。发光元件710是第一发光元件的一个示例。发光元件720及发光元件730是当发出比第一发光元件710发出的光的发散角小的发散角的光时被驱动的第二发光元件一个示例。如下文所述，发光元件720及发光元件730发出的光的光路中设置有用于使光的发散角变小的镜头。发光元件710、发光元件720及发光元件730发出的光通过透光部件614出射至测距装置400的外部。The light-emitting element 710, the light-emitting element 720, and the light-emitting element 730 are elements that emit detection light. The light-emitting element 710, the light-emitting element 720, and the light-emitting element 730 constitute at least a part of the light-emitting portion. The light emitting element 710 is an example of the first light emitting element. The light-emitting element 720 and the light-emitting element 730 are an example of a second light-emitting element that is driven when emitting light having a smaller divergence angle than that of the light emitted by the first light-emitting element 710 . As described later, a lens for reducing the divergence angle of the light is provided in the optical path of the light emitted from the light emitting element 720 and the light emitting element 730 . The light emitted by the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 is emitted to the outside of the distance measuring device 400 through the light-transmitting member 614 .
受光部700接收与发光部发出的光至对象物的返回光。受光部700包括接收通过了镜头的光的受光元件。来自对象物的返回光通过透光部件612入射至受光部700。而且，如图10等所示，由于另外 设置了与透光部件612不同的透光部件614，可以抑制检测光通过透光部件入射至受光部700。在基板900上，可安装基于受光部700接收的光计算到对象物的距离的电路。The light receiving unit 700 receives and returns light from the light emitting unit to the object. The light-receiving unit 700 includes a light-receiving element that receives light that has passed through the lens. The returning light from the object is incident on the light receiving unit 700 through the light transmitting member 612 . Furthermore, as shown in Fig. 10 and the like, since the light transmitting member 614 different from the light transmitting member 612 is provided separately, the detection light can be prevented from entering the light receiving portion 700 through the light transmitting member. A circuit for calculating the distance to the object based on the light received by the light receiving unit 700 can be mounted on the substrate 900 .
遮蔽部件800是在包括发光元件710、发光元件720及发光元件730的发光部与受光部700之间电磁式地进行遮蔽的部件。关于遮蔽部件800将在后文描述。The shielding member 800 is a member that electromagnetically shields between the light-emitting portion including the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 . The shielding member 800 will be described later.
图14是测距装置400的剖面图。图14是沿图10的BB面截断时，测距装置400的剖面透视图。图15是包括支持部件500及送风机590的冷却机构的立体图。FIG. 14 is a cross-sectional view of the distance measuring device 400 . FIG. 14 is a cross-sectional perspective view of the distance measuring device 400 when taken along the BB plane of FIG. 10 . FIG. 15 is a perspective view of the cooling mechanism including the support member 500 and the blower 590 .
支撑部件500与发光元件710、发光元件720、发光元件730及受光部700进行热接合。热接合的概念是指，至少可以与发光元件710、发光元件720、发光元件730及受光部700进行热传递。例如，通过空气、金属、其他的传递热的材料等媒介来传热。支撑部件500作为将发光元件710、发光元件720、发光元件730及受光部700中产生的热量释放的散热部件而发挥作用。The support member 500 is thermally bonded to the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the light receiving portion 700 . The concept of thermal bonding means that at least the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the light-receiving portion 700 can conduct heat transfer. For example, heat is transferred through media such as air, metal, and other heat-transferring materials. The support member 500 functions as a heat dissipation member that dissipates heat generated in the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the light-receiving portion 700 .
发光元件710、发光元件720以及发光元件730至少通过传热部件880与支撑部件500热接合。受光部700与支撑部件500热接合。The light emitting element 710 , the light emitting element 720 , and the light emitting element 730 are thermally bonded to the support member 500 through at least the heat transfer member 880 . The light receiving portion 700 is thermally bonded to the support member 500 .
支撑部件500包括多个第一散热片511、多个第二散热片521。支撑部件500的第一侧部510包括第一通风口512。与支撑部件500的第一侧部510相反侧的第二侧部520包括第二通风口522。第一散热片511设置于第一通风口512。第二散热片521设置于第二通风口522。The support member 500 includes a plurality of first heat dissipation fins 511 and a plurality of second heat dissipation fins 521 . The first side 510 of the support member 500 includes a first vent 512 . The second side portion 520 opposite to the first side portion 510 of the support member 500 includes a second vent 522 . The first cooling fins 511 are disposed at the first vents 512 . The second heat sink 521 is disposed at the second vent 522 .
支撑部件500包括与发光元件710、发光元件720及发光元件730热接合并向多个第二散热片521传热的第一部分551。第一部分551是与发光元件710、发光元件720及发光元件730热接合的多个部分。发光元件710、发光元件720以及发光元件730至少通过传热部件880与第一部分551热连接。支撑部件500与受光部700热接合，并包括向多个第二散热片521传热的第二部分552。The support member 500 includes the first portion 551 thermally bonded to the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 to transfer heat to the plurality of second heat sinks 521 . The first portion 551 is a plurality of portions thermally bonded to the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 . The light emitting element 710 , the light emitting element 720 , and the light emitting element 730 are thermally connected to the first portion 551 through at least the heat transfer member 880 . The support member 500 is thermally bonded to the light receiving portion 700 , and includes the second portion 552 that transfers heat to the plurality of second heat dissipation fins 521 .
第一部分551及第二部分552是从支撑部件500的基部560向z轴正方向突出的部分。具体而言，基部560具有与基板900相对的第 一面561、与第一面561相反侧的第二面562。第一部分551及第二部分552设置于第一面561。多个第一散热片511以及多个第二散热片521设置于第二面562。The first portion 551 and the second portion 552 are portions that protrude in the positive z-axis direction from the base portion 560 of the support member 500 . Specifically, the base portion 560 has a first surface 561 facing the substrate 900, and a second surface 562 opposite to the first surface 561. The first portion 551 and the second portion 552 are disposed on the first surface 561 . A plurality of first heat dissipation fins 511 and a plurality of second heat dissipation fins 521 are disposed on the second surface 562 .
发光元件710、发光元件720、发光元件730以及受光部700各自产生的热量通过第一散热片511以及第二散热片521释放到外部。具体而言，送风机590分别从第一通风口512和第二通风口522吸入外部空气再排到外部。第一散热片511以及第二散热片521分别通过从第一通风口512及第二通风口522吸入的外部空气而冷却。由此，支撑部件500将发光元件710、发光元件720、发光元件730及受光部700中产生的热量释放到外部。这样，支撑部件500构成从发光元件710、发光元件720、发光元件730及受光部700向外部散热的路径的至少一部分。The heat generated by each of the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the light receiving unit 700 is released to the outside through the first heat sink 511 and the second heat sink 521 . Specifically, the blower 590 sucks outside air from the first vent 512 and the second vent 522, respectively, and discharges it to the outside. The first fins 511 and the second fins 521 are cooled by external air sucked in from the first vents 512 and the second vents 522 , respectively. Thereby, the support member 500 releases the heat generated in the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the light-receiving portion 700 to the outside. In this way, the support member 500 constitutes at least a part of a route for heat dissipation from the light emitting element 710 , the light emitting element 720 , the light emitting element 730 , and the light receiving unit 700 to the outside.
如图14及图11所示，支撑部件500上形成有插入固定部件的通孔570。通孔570中插入用于将上述测距装置400安装于摄像装置180的固定部件502。而且，如图15所示，支撑部件500上形成有孔541a和孔541b。孔541a和孔541b是用于将遮蔽部件800安装于支撑部件500的孔。关于遮蔽部件800对支撑部件500的安装构造将在下文描述。As shown in FIGS. 14 and 11 , the support member 500 is formed with a through hole 570 into which the fixing member is inserted. A fixing member 502 for attaching the above-described distance measuring device 400 to the imaging device 180 is inserted into the through hole 570 . Furthermore, as shown in FIG. 15, the support member 500 is formed with a hole 541a and a hole 541b. The holes 541 a and 541 b are holes for attaching the shielding member 800 to the supporting member 500 . The mounting configuration of the shielding member 800 to the supporting member 500 will be described later.
如图14所示，在发光元件720发出的光的光路中设置有通过遮蔽部件800支撑的镜头722。由于镜头722的存在，发光元件720发出的光的发散角变小。同样，发光元件730的光路中设置有通过遮蔽部件800支撑的镜头。另外，发光元件710发出的光的光路中没有设置镜头。As shown in FIG. 14 , a lens 722 supported by the shielding member 800 is provided in the optical path of the light emitted by the light emitting element 720 . Due to the presence of the lens 722, the divergence angle of the light emitted by the light emitting element 720 becomes smaller. Likewise, a lens supported by the shielding member 800 is provided in the light path of the light emitting element 730 . In addition, no lens is provided in the optical path of the light emitted from the light-emitting element 710 .
图16及图17是安装于基板900的遮蔽部件800的立体图。图18是遮蔽部件800的立体图。在图18中，除遮蔽部件800外，还示出了受光部700、发光元件710、发光元件720及发光元件730。16 and 17 are perspective views of the shielding member 800 mounted on the substrate 900 . FIG. 18 is a perspective view of the shielding member 800 . In FIG. 18 , in addition to the shielding member 800 , the light receiving portion 700 , the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 are also shown.
遮蔽部件800可由金属形成。遮蔽部件800可以由铝形成。遮蔽部件800包括第一部分810。第一部分810设置于发光元件710、发光元件720及发光元件730与受光部700之间。第一部分810在发光元件710、发光元件720及发光元件730与受光部700之间进行电磁 式地遮蔽的部件。所谓“电磁式地遮蔽”可以包括使电磁波能量衰减。所谓“电磁式地遮蔽”可以包括减少电磁场的耦合。第一部分810可以遮蔽电波。第一部分810可以遮蔽静电场。The shielding member 800 may be formed of metal. The shielding member 800 may be formed of aluminum. The shielding member 800 includes a first portion 810 . The first portion 810 is disposed between the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 . The first portion 810 electromagnetically shields the light-emitting element 710, the light-emitting element 720, and the light-emitting element 730 and the light-receiving portion 700. "Electromagnetically shielding" may include attenuating electromagnetic wave energy. So-called "electromagnetically shielding" may include reducing coupling of electromagnetic fields. The first part 810 can shield the electric waves. The first portion 810 may shield the electrostatic field.
遮蔽部件800包括基部805。基部805包括第一面801和第二面802。第一面801是与基板900相对的面。第一面801是与基板900的面901相对的面。面901是在基板900上设置有受光部700、发光元件710、发光元件720、发光元件730的面。第二面802是与第一面801相反侧的面。当测距装置400安装于摄像装置180时，第二面802的位置比第一面801更靠近z轴正方向。第一部分810设置成由基部805向基板900延伸。The shield member 800 includes a base 805 . The base 805 includes a first side 801 and a second side 802 . The first surface 801 is the surface opposite to the substrate 900 . The first surface 801 is the surface opposite to the surface 901 of the substrate 900 . The surface 901 is the surface on which the light-receiving portion 700 , the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 are provided on the substrate 900 . The second surface 802 is a surface opposite to the first surface 801 . When the distance measuring device 400 is mounted on the camera device 180 , the position of the second surface 802 is closer to the positive z-axis direction than the first surface 801 . The first portion 810 is arranged to extend from the base portion 805 toward the substrate 900 .
如图17及图18所示，遮蔽部件800包括用于将基板900安装于遮蔽部件800的第一安装部830a、第一安装部830b以及第一安装部830c。第一安装部830a上形成有插入用于将基板900固定于遮蔽部件800的固定部件的第一孔831a。第一安装部830b上形成有插入用于将基板900固定于遮蔽部件800的固定部件的第一孔831b。第一安装部830c上形成有插入用于将基板900固定于遮蔽部件800的固定部件的第一孔831c。用于将基板900固定于遮蔽部件800的固定部件可以为螺钉等。基部900上形成有孔931a、孔931b及孔931c。通过在第一孔831a与孔931a对齐对齐，第一孔831b与孔931b，第一孔831c与孔931c对齐的状态下，将固定部件分别插入第一孔831a、第一孔831b以及第一孔831c，使基板900固定于遮蔽部件800。As shown in FIGS. 17 and 18 , the shielding member 800 includes a first mounting portion 830 a , a first mounting portion 830 b , and a first mounting portion 830 c for mounting the substrate 900 on the shielding member 800 . The first mounting portion 830a is formed with a first hole 831a into which a fixing member for fixing the substrate 900 to the shielding member 800 is inserted. The first mounting portion 830b is formed with a first hole 831b into which a fixing member for fixing the substrate 900 to the shielding member 800 is inserted. The first mounting portion 830c is formed with a first hole 831c into which a fixing member for fixing the substrate 900 to the shielding member 800 is inserted. The fixing member for fixing the substrate 900 to the shielding member 800 may be a screw or the like. A hole 931a, a hole 931b, and a hole 931c are formed in the base portion 900. As shown in FIG. By inserting the fixing member into the first hole 831a, the first hole 831b and the first hole, respectively, in a state where the first hole 831a is aligned with the hole 931a, the first hole 831b is aligned with the hole 931b, and the first hole 831c is aligned with the hole 931c 831c, the substrate 900 is fixed to the shielding member 800.
第一安装部830a设置于第一部分810。第一安装部830b以及第一安装部830c设置于基部805。优选地，至少在第一部分810上设置有一个或多个第一安装部830a。通过在第一部分810上设置有第一安装部830a，可以在位于发光元件710、发光元件720以及发光元件730与受光部700之间，使第一部分810牢固地接合于基板900。The first mounting portion 830 a is provided on the first portion 810 . The first mounting portion 830b and the first mounting portion 830c are provided on the base portion 805 . Preferably, at least the first portion 810 is provided with one or more first mounting portions 830a. By providing the first mounting portion 830 a on the first portion 810 , the first portion 810 can be firmly bonded to the substrate 900 between the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 .
第一安装部830a包括插入设置于基板900的孔932a的突起部832a。优选地，第一部分810包括一个或多个突起部832a。第一安装部830b包括插入设置于基板900的孔932b的突起部832b。由此，可定位基板900相对于测遮蔽部件800的位置。The first mounting portion 830a includes a protruding portion 832a that is inserted into a hole 932a provided in the substrate 900 . Preferably, the first portion 810 includes one or more protrusions 832a. The first mounting portion 830b includes a protruding portion 832b that is inserted into a hole 932b provided in the substrate 900 . Thus, the position of the substrate 900 relative to the shielding member 800 can be positioned.
遮蔽部件800包括用于将遮蔽部件800安装于支撑部件500的第二安装部840a、第二安装部840b以及第二安装部840c。第二安装部840a、第二安装部840b以及第二安装部840c上分别形成有孔841a、孔841b以及孔841c。孔841a、孔841b以及孔841c上插入用于将遮蔽部件800固定于支撑部件500的固定部件。例如，通过在支撑部件500上形成的孔541a与孔841a对齐，支撑部件500上形成的孔541b与孔841b对齐的状态下，将螺钉等固定部件分别插入孔841a和孔841b，可以将遮蔽部件800固定于支撑部件500。通过将基板900固定于遮蔽部件800，遮蔽部件800固定于支撑部件500，包括受光部700、发光元件710、发光元件720以及发光元件730的测距传感器固定于支撑部件500。The shielding member 800 includes a second mounting portion 840 a , a second mounting portion 840 b , and a second mounting portion 840 c for mounting the shielding member 800 to the support member 500 . A hole 841a, a hole 841b, and a hole 841c are formed in the second mounting portion 840a, the second mounting portion 840b, and the second mounting portion 840c, respectively. A fixing member for fixing the shielding member 800 to the supporting member 500 is inserted into the hole 841a, the hole 841b, and the hole 841c. For example, by inserting fixing members such as screws into the holes 841a and 841b in a state where the holes 541a and 841a formed in the support member 500 are aligned, and the holes 541b and 841b formed in the support member 500 are aligned, the shielding member can be inserted into the holes 841a and 841b, respectively. 800 is fixed to the support member 500 . By fixing the substrate 900 to the shielding member 800 , the shielding member 800 is fixed to the supporting member 500 , and the distance measuring sensor including the light receiving unit 700 , the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 is fixed to the supporting member 500 .
遮蔽部件800包括第二部分820。第二部分820位于发光元件710、发光元件720及发光元件730与受光部700之间。第二部分820遮蔽发光元件710、发光元件720及发光元件730各自发出的光。第二部分820设置于基部805。第二部分820设置于第二面802。第二部分820从第二面802突出。第二部分820的至少一部分设置于第一部分810的相反侧。第二部分820的至少一部分沿第一部分810设置。通过第一部分810，可以抑制发光元件710、发光元件720及发光元件730发出的光通过测距装置400内的空间直接入射至受光部700。The shielding member 800 includes a second portion 820 . The second portion 820 is located between the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 and the light-receiving portion 700 . The second portion 820 shields the light emitted by each of the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 . The second portion 820 is provided on the base portion 805 . The second portion 820 is disposed on the second surface 802 . The second portion 820 protrudes from the second face 802 . At least a portion of the second portion 820 is disposed on the opposite side of the first portion 810 . At least a portion of the second portion 820 is disposed along the first portion 810 . The first portion 810 can prevent the light emitted by the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 from directly entering the light receiving portion 700 through the space in the distance measuring device 400 .
遮蔽部件800包括用于安装镜头的安装部852和安装部853。安装部852和安装部853设置于第二面802。安装部852设置为将发光元件720包围。安装部852上固定有设置于发光元件720发出的光的光路中的镜头722。安装部853设置为将发光元件730包围。安装部853上固定有设置于发光元件730发出的光的光路中的镜头。The shielding member 800 includes a mounting portion 852 and a mounting portion 853 for mounting the lens. The mounting portion 852 and the mounting portion 853 are provided on the second surface 802 . The mounting portion 852 is provided so as to surround the light emitting element 720 . A lens 722 provided in the optical path of the light emitted by the light-emitting element 720 is fixed to the attachment portion 852 . The mounting portion 853 is provided so as to surround the light emitting element 730 . A lens provided in the optical path of the light emitted from the light-emitting element 730 is fixed to the attachment portion 853 .
图19示意性地示出安装于基板900的电子电路的配置。图19中除了基板900以及安装于基板900的电路构成外，还示意性地示出第一部分810。在基板900的面901上安装有分别驱动发光元件710、发光元件720及发光元件730的驱动电路740。另外，基板900的面901上安装有传感器750，该传感器包括受光部700所包括的受光元件、该受光元件的驱动电路、计算到对象物的距离的电路。FIG. 19 schematically shows the configuration of the electronic circuit mounted on the substrate 900 . In FIG. 19 , in addition to the substrate 900 and the circuit configuration mounted on the substrate 900 , the first portion 810 is schematically shown. On the surface 901 of the substrate 900 , a drive circuit 740 for driving the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 is mounted, respectively. In addition, on the surface 901 of the substrate 900, a sensor 750 including a light-receiving element included in the light-receiving unit 700, a driving circuit for the light-receiving element, and a circuit for calculating the distance to the object is mounted.
基板900上设置有第一电极910。第一电极910提供发光元件710、发光元件720、发光元件730以及驱动电路740的基准电位。基准电位可以为接地电位。发光元件710、发光元件720及发光元件730位于驱动电路740的周围。例如，发光元件710、发光元件720及发光元件730设置于沿驱动电路740的接连两边的位置。通过图19所示的电路构成，可以缩短驱动电路740与发光元件710、发光元件720及发光元件730之间的距离。A first electrode 910 is provided on the substrate 900 . The first electrode 910 provides the reference potential of the light-emitting element 710 , the light-emitting element 720 , the light-emitting element 730 , and the driving circuit 740 . The reference potential may be the ground potential. The light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 are located around the driving circuit 740 . For example, the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 are disposed along two consecutive sides of the driving circuit 740 . With the circuit configuration shown in FIG. 19 , the distances between the driving circuit 740 and the light-emitting element 710 , the light-emitting element 720 , and the light-emitting element 730 can be shortened.
基板900上设置有第二电极920。第二电极920提供传感器750的基准电位。基准电位可以为接地电位。A second electrode 920 is provided on the substrate 900 . The second electrode 920 provides the reference potential for the sensor 750 . The reference potential may be the ground potential.
第一部分810位于第一电极910和第二电极920之间。在基板900的面901的面内，通过第一部分810将基板900划分为第一区域941和第二区域942。发光元件710、发光元件720、发光元件730、驱动电路740以及第一电极910设置于第一区域941。包括受光部700的传感器750以及第二电极920设置于第二区域942。由此，可以抑制在设置于第一区域941的电路上产生的电磁噪声(例如，噪声辐射)传递至设置于第二区域942的电路。另外，可以抑制在设置于第二区域942的电路上产生的电磁噪声传递至设置于第一区域941的电路。另外，第一电极910和第二电极920分开设置。因此，可以提高电磁噪声的抑制效果。The first portion 810 is located between the first electrode 910 and the second electrode 920 . Within the surface of the surface 901 of the substrate 900 , the substrate 900 is divided into a first region 941 and a second region 942 by the first portion 810 . The light emitting element 710 , the light emitting element 720 , the light emitting element 730 , the driving circuit 740 and the first electrode 910 are disposed in the first region 941 . The sensor 750 including the light receiving unit 700 and the second electrode 920 are provided in the second region 942 . Thereby, electromagnetic noise (eg, noise radiation) generated on the circuits provided in the first region 941 can be suppressed from being transmitted to the circuits provided in the second region 942 . In addition, the electromagnetic noise generated in the circuits provided in the second area 942 can be suppressed from being transmitted to the circuits provided in the first area 941 . In addition, the first electrode 910 and the second electrode 920 are provided separately. Therefore, the suppressing effect of electromagnetic noise can be improved.
图20示意性地示出安装于作为对比例的基板900a的电子电路的配置。图20所示的部件中，与图19所示部件中对应的部件的符号末尾加上“a”的符号。因此，省略关于图20所示部件的说明。FIG. 20 schematically shows a configuration of an electronic circuit mounted on a substrate 900a as a comparative example. Among the components shown in FIG. 20 , the symbol “a” is added to the end of the symbol of the component corresponding to the component shown in FIG. 19 . Therefore, the description of the components shown in FIG. 20 is omitted.
在图20所示的对比例中，发光元件710a、发光元件720a以及发光元件730a设置于传感器750a的周围。第一电极910a设置为包围传感器750a。在图20所示的电路构成中，例如在驱动电路740a上产生的电磁噪声容易传递给传感器750a。而且，驱动电路740a与发光元件710a、发光元件720a以及发光元件730a之间的距离变长。因此，与图19所示的电路配置相比，施加到传感器750a的噪声容易变大。如图16至图20等的关联说明所述，根据本实施方式的测距装置400，可以遮蔽发光元件710、发光元件720以及发光元件730在驱动电路 740上产生的电磁噪声。In the comparative example shown in FIG. 20, the light emitting element 710a, the light emitting element 720a, and the light emitting element 730a are arranged around the sensor 750a. The first electrode 910a is disposed to surround the sensor 750a. In the circuit configuration shown in FIG. 20, for example, electromagnetic noise generated in the drive circuit 740a is easily transmitted to the sensor 750a. Furthermore, the distances between the drive circuit 740a and the light-emitting element 710a, the light-emitting element 720a, and the light-emitting element 730a are increased. Therefore, as compared with the circuit configuration shown in FIG. 19, the noise applied to the sensor 750a tends to become larger. 16 to 20 , etc., according to the distance measuring device 400 of the present embodiment, the electromagnetic noise generated by the light emitting element 710 , the light emitting element 720 , and the light emitting element 730 in the driving circuit 740 can be shielded.
上述说明中，相机170是更换镜头式的相机。但是，上述测距装置400以及保持测距装置400的保持部件430适用于更换镜头式以外的任意相机。In the above description, the camera 170 is an interchangeable lens type camera. However, the above-described distance measuring device 400 and the holding member 430 holding the distance measuring device 400 are applicable to any camera other than the interchangeable lens type.
上述摄像装置180可以搭载于移动体上。摄像装置180可以搭载于如图21所示的无人驾驶航空器(UAV)上。UAV1000可以包括UAV主体1020、万向节300、多个摄像装置1060以及摄像装置180。UAV1000为由推进部推进的移动体的一个示例。移动体的概念是指除UAV之外，包括在空中移动的飞机等飞行体、在地面上移动的车辆、在水上移动的船舶等。The above-described imaging device 180 may be mounted on a mobile body. The camera 180 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. 21 . The UAV 1000 may include a UAV body 1020 , a gimbal 300 , a plurality of cameras 1060 , and a camera 180 . UAV 1000 is an example of a moving object propelled by a propelling unit. The concept of a moving object includes, in addition to a UAV, a flying object such as an airplane moving in the air, a vehicle moving on the ground, and a ship moving on the water.
UAV主体1020包括多个旋翼。多个旋翼为推进部的一个示例。UAV主体1020通过控制多个旋翼的旋转而使UAV1000飞行。UAV主体1020使用例如四个旋翼来使UAV1000飞行。旋翼的数量不限于四个。另外，UAV1000也可以是没有旋翼的固定翼机。 UAV body 1020 includes a plurality of rotors. A plurality of rotors is one example of a propulsion section. The UAV body 1020 makes the UAV 1000 fly by controlling the rotation of the plurality of rotors. UAV body 1020 uses, for example, four rotors to fly UAV 1000. The number of rotors is not limited to four. In addition, the UAV1000 can also be a fixed-wing aircraft without rotors.
摄像装置180是对包含在所期望的摄像范围内的被摄体进行摄像的摄像用相机。万向节300可旋转地支撑摄像装置180。万向节300为支撑机构的一个示例。例如，万向节300使用致动器以俯仰轴可旋转地支撑摄像装置180。万向节300使用致动器进一步分别以滚转轴和偏航轴为中心可旋转地支撑摄像装置180。万向节300可通过使摄像装置180以偏航轴、俯仰轴以及滚转轴中的至少一个为中心旋转，来改变摄像装置180的姿势。The imaging device 180 is an imaging camera for imaging a subject included in a desired imaging range. The gimbal 300 rotatably supports the camera device 180 . Cardan joint 300 is one example of a support mechanism. For example, the gimbal 300 rotatably supports the camera device 180 with a pitch axis using an actuator. The gimbal 300 further supports the camera device 180 rotatably around the roll axis and the yaw axis, respectively, using an actuator. The gimbal 300 can change the posture of the camera 180 by rotating the camera 180 around at least one of the yaw axis, the pitch axis, and the roll axis.
多个摄像装置1060是为了控制UAV1000的飞行而对UAV1000的周围进行拍摄的传感用相机。两个摄像装置1060可以设置于UAV1000的机头、即正面。并且，其它两个摄像装置1060可以设置于UAV1000的底面。正面侧的两个摄像装置1060可以成对，起到所谓的立体相机的作用。底面侧的两个摄像装置1060也可以成对，起到立体相机的作用。可以根据由多个摄像装置1060所摄像的图像来生成UAV1000周围的三维空间数据。UAV1000所包括的摄像装置1060的数量不限于四个。UAV1000包括至少一个摄像装置1060即可。UAV1000也可以在UAV1000的机头、机尾、侧面、底面及顶面分别 包括至少一个摄像装置1060。摄像装置1060中可设定的视角可大于摄像装置180中可设定的视角。摄像装置1060也可以具有单焦点镜头或鱼眼镜头。The plurality of imaging devices 1060 are sensor cameras that capture images of the surroundings of the UAV 1000 in order to control the flight of the UAV 1000 . The two camera devices 1060 can be installed on the nose of the UAV1000, that is, the front. In addition, the other two camera devices 1060 can be arranged on the bottom surface of the UAV 1000 . The two imaging devices 1060 on the front side may be paired to function as so-called stereo cameras. The two imaging devices 1060 on the bottom side may also be paired to function as stereo cameras. Three-dimensional space data around the UAV 1000 can be generated from images captured by the plurality of cameras 1060 . The number of cameras 1060 included in the UAV 1000 is not limited to four. The UAV 1000 only needs to include at least one camera device 1060 . The UAV1000 may also include at least one camera device 1060 on the nose, tail, side, bottom and top surfaces of the UAV1000, respectively. The angle of view that can be set in the camera device 1060 may be larger than the angle of view that can be set in the camera device 180 . The camera 1060 may also have a single focus lens or a fisheye lens.
远程操作装置1600与UAV1000通信，对UAV1000进行远程操作。远程操作装置1600可以与UAV1000进行无线通信。远程操作装置1600向UAV1000发送表示上升、下降、加速、减速、前进、后退、旋转等与UAV1000的移动有关的各种指令的指示信息。指示信息包括例如使UAV1000的高度上升的指示信息。指示信息可以表示UAV1000应该位于的高度。UAV1000进行移动，以位于从远程操作装置1600接收的指示信息所表示的高度。指示信息可以包括使UAV1000上升的上升指令。UAV1000在接受上升指令的期间上升。在UAV1000的高度已达到上限高度时，即使接受上升指令，也可以限制UAV1000上升。The remote operation device 1600 communicates with the UAV 1000 to remotely operate the UAV 1000 . The remote operation device 1600 can wirelessly communicate with the UAV 1000 . The remote control device 1600 transmits to the UAV 1000 instruction information indicating various commands related to the movement of the UAV 1000, such as ascending, descending, acceleration, deceleration, forward, backward, and rotation. The instruction information includes, for example, instruction information to raise the altitude of UAV 1000 . The indication information may indicate the altitude at which the UAV 1000 should be located. UAV 1000 moves so as to be located at the height indicated by the instruction information received from remote control device 1600 . The instruction information may include an ascending instruction to ascend the UAV 1000 . The UAV1000 rises while receiving the rising command. When the height of the UAV1000 has reached the upper limit, even if the ascending command is accepted, the UAV1000 can be restricted from ascending.
以上使用实施方式对本发明进行了说明，但是本发明的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。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-mentioned embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above-described embodiments. It is apparent from the description of the claims that any form in which such a change or improvement is added can be included in the technical scope of the present invention.
应该注意的是，权利要求书、说明书以及说明书附图中所示的装置、系统、程序以及方法中的动作、过程、步骤以及阶段等各项处理的执行顺序，只要没有特别明示“在…之前”、“事先”等，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及说明书附图中的操作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。It should be noted that the execution order of each process, such as actions, processes, steps, and stages in the devices, systems, programs, and methods shown in the claims, the description, and the accompanying drawings of the description, as long as there is no expressly stated "before ... ", "before", etc., and can be implemented in any order as long as the output of the previous processing is not used in the subsequent processing. The operation flow in the claims, the description, and the drawings in the description is described using "first", "next", etc. for convenience, but it does not mean that it must be carried out in this order.

Claims (14)

  1. 一种对设置于摄像装置的外部的测距装置进行保持的保持部件，其特征在于，A holding member for holding a distance measuring device provided outside an imaging device, characterized in that:
    其与所述摄像装置中安装镜头装置的卡口部件连接。It is connected with the bayonet part of the camera device on which the lens device is installed.
  2. 根据权利要求1所述的保持部件，其特征在于，其包括与所述卡口部件接合的第一部分。2. The retaining member of claim 1, including a first portion that engages the bayonet member.
  3. 根据权利要求2所述的保持部件，其特征在于，The holding member according to claim 2, wherein
    所述卡口部件包括安装所述镜头装置的第一面和与所述第一面平行的第二面，The bayonet component includes a first surface on which the lens device is mounted and a second surface parallel to the first surface,
    所述第一部分与所述第二面接合。The first portion is engaged with the second face.
  4. 根据权利要求3所述的保持部件，其特征在于，The holding member according to claim 3, wherein
    所述第一面是环形的面，所述第二面是位置比所述第一面更靠近外周侧的环形的面，所述第一部分具有环形的面，the first surface is an annular surface, the second surface is an annular surface positioned closer to the outer peripheral side than the first surface, the first portion has an annular surface,
    所述第一部分具有的所述环形的面通过固定部件与所述第二面紧固连接。The annular surface of the first part is fastened to the second surface by a fixing member.
  5. 根据权利要求1所述的保持部件，其特征在于，所述保持部件与所述卡口部件一体地形成。The holding member according to claim 1, wherein the holding member is integrally formed with the bayonet member.
  6. 根据权利要求1或2所述的保持部件，其特征在于，其包括第二部分，所述第二部分沿所述摄像装置的光轴方向延伸，并在所述延伸的位置支撑所述测距装置。The holding member according to claim 1 or 2, characterized in that it includes a second portion extending in the optical axis direction of the imaging device and supporting the distance measurement at the extended position device.
  7. 根据权利要求6所述的保持部件，其特征在于，所述第二部分与所述测距装置的支撑部件连接。6. The holding member of claim 6, wherein the second portion is connected to a support member of the distance measuring device.
  8. 根据权利要求7所述的保持部件，其特征在于，所述第二部分通过固定部件与所述测距装置的支撑部件紧固连接。8. The holding member according to claim 7, wherein the second portion is fastened to the supporting member of the distance measuring device through a fixing member.
  9. 根据权利要求7所述的保持部件，其特征在于，所述第二部分与所述测距装置的支撑部件一体地形成。8. The holding member of claim 7, wherein the second portion is integrally formed with the support member of the distance measuring device.
  10. 根据权利要求1或2所述的保持部件，其特征在于，所述卡口部件相对于所述摄像装置可拆装。The holding member according to claim 1 or 2, wherein the bayonet member is detachable with respect to the imaging device.
  11. 根据权利要求1或2所述的保持部件，其特征在于，所述测距装置包括TOF(Time Of Flight，飞行时间)传感器。The holding member according to claim 1 or 2, wherein the distance measuring device comprises a TOF (Time Of Flight, time of flight) sensor.
  12. 一种摄像装置，其特征在于，其包括根据权利要求1或2所述的保持部件。An imaging device comprising the holding member according to claim 1 or 2.
  13. 根据权利要求12所述的摄像装置，其特征在于，The imaging device according to claim 12, wherein:
    其包括所述测距装置。It includes the distance measuring device.
  14. 一种摄像系统，其特征在于，包括：根据权利要求12所述的摄像装置；以及A camera system, comprising: the camera device according to claim 12; and
    支撑所述摄像装置使其能够绕预设的旋转轴旋转的支撑机构。A support mechanism for supporting the camera device so that it can rotate around a preset rotation axis.
PCT/CN2021/107762 2020-08-06 2021-07-22 Retaining component, camera device, and camera system WO2022028251A1 (en)

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