WO2022036607A1 - Optical system, photographing device, and mobile platform - Google Patents

Optical system, photographing device, and mobile platform Download PDF

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Publication number
WO2022036607A1
WO2022036607A1 PCT/CN2020/110099 CN2020110099W WO2022036607A1 WO 2022036607 A1 WO2022036607 A1 WO 2022036607A1 CN 2020110099 W CN2020110099 W CN 2020110099W WO 2022036607 A1 WO2022036607 A1 WO 2022036607A1
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WIPO (PCT)
Prior art keywords
lens
optical system
image
focal length
photographing device
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Application number
PCT/CN2020/110099
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French (fr)
Chinese (zh)
Inventor
毛庆
牛一凡
Original Assignee
深圳市大疆创新科技有限公司
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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
Priority to PCT/CN2020/110099 priority Critical patent/WO2022036607A1/en
Priority to CN202080017511.8A priority patent/CN113508326A/en
Publication of WO2022036607A1 publication Critical patent/WO2022036607A1/en

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    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00Optical objectives specially designed for the purposes specified below
    • G02B13/001Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
    • G02B13/0015Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
    • G02B13/002Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface
    • G02B13/0045Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface having five or more lenses
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00Optical objectives specially designed for the purposes specified below
    • G02B13/001Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
    • G02B13/0055Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras employing a special optical element
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00Optical objectives specially designed for the purposes specified below
    • G02B13/001Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
    • G02B13/008Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras designed for infrared light
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00Optical objectives specially designed for the purposes specified below
    • G02B13/18Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS 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
    • G03B30/00Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles

Definitions

  • the present application relates to the field of optical technology, and in particular, to an optical system, a photographing device using the optical system, and a movable platform.
  • the embodiments of the present application provide an optical system, a photographing device, and a movable platform, and the optical system can be miniaturized, while having a larger image surface and better imaging quality.
  • an embodiment of the present application provides an optical system, the optical system comprising: sequentially arranged from the object side to the image side:
  • the third lens has a negative refractive power, and the image-side lens surface is an aspherical shape with at least one inflection point;
  • the fourth lens with positive refractive power
  • the fifth lens has a positive refractive power, and both the object-side lens surface and the image-side lens surface are aspherical shapes with at least one inflection point;
  • the sixth lens has negative refractive power, and both the object-side lens surface and the image-side lens surface are aspherical shapes with at least one inflection point;
  • optical system satisfies the following expression:
  • Tr 6 is the minimum value of the distance in the optical axis direction from the image-side lens surface of the sixth lens to the imaging surface.
  • an embodiment of the present application further provides a photographing device, where the photographing device includes the optical system and the image sensor according to any one of the embodiments of the present application, wherein the optical system is configured between the photographed object and the image sensor.
  • the optical path of the image sensor is used to image the photographed object on the image sensor.
  • the present application further provides a movable platform, the movable platform includes a platform body and a photographing device, and the photographing device is mounted on the platform body; the photographing device includes the The optical system and the image sensor according to any one of the above, wherein the optical system is arranged in an optical path between a photographed object and the image sensor, and is used for imaging the photographed object on the image sensor.
  • the optical system, the photographing device and the movable platform provided by the embodiments of the present application, wherein the optical system is installed on the photographing device, the photographing device can be installed on the main body of the movable platform, and the optical system uses six lenses and specific parameter settings,
  • the product volume can be reduced, and at the same time, it has a larger image surface, is suitable for a larger size image sensor, and can also improve the imaging quality of the optical system.
  • FIG. 1 is a schematic structural diagram of an optical system provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of another optical system provided by an embodiment of the present application.
  • FIG. 3 is a schematic configuration diagram of an optical system provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the effect of field curvature of an optical system provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of the effect of distortion of the optical system provided by the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a photographing device provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
  • 100 optical system; 101, first lens; 102, second lens; 103, third lens; 104, fourth lens; 105, fifth lens; 106, sixth lens; 107, filter lens;
  • a photographing device 22, photographing an object; 220, photographing an image of the object; 211, a display screen; 212, a photographing button;
  • 300 a movable platform; 30, the platform body.
  • FIG. 1 is a schematic structural diagram of an optical system provided by an embodiment of the present application.
  • the optical system is used to image the photographed object on the image sensor, which can reduce the volume of the product (optical system, photographing device or movable platform), and at the same time has telephotography and large zoom ratio.
  • the optical system 100 includes a first lens 101 , a second lens 102 , a third lens 103 , a fourth lens 104 , a fifth lens 105 and a sixth lens 106 which are arranged in order from the object side to the image side.
  • the first lens 101, the second lens 102, the third lens 103, the fourth lens 104, the fifth lens 105 and the sixth lens 106 are arranged in order from the object side to the image side.
  • the first lens 101, the second lens 102, the third lens 103, the fourth lens 104, the fifth lens 105 and the sixth lens 106 are arranged in order from the object side to the image side.
  • the first lens 101 has negative refractive power; the second lens 102 has positive refractive power; the third lens 103 has negative refractive power, and the third lens 103 is an aspherical shape with at least one inflection point; the fourth lens 104 has positive light power; the fifth lens 105 has positive refractive power, and the object-side lens surface and the image-side lens surface of the fifth lens 105 are aspherical shapes with at least one inflection point; the sixth lens 106 has negative refractive power, and the first lens The object-side lens surface and the image-side lens surface of the six-lens lens 106 are both aspherical shapes having at least one inflection point.
  • the image-side lens surface of the third lens 103 is an aspherical shape with at least one inflection point
  • the object-side lens surface and the image-side lens surface of the fifth lens 105 and the sixth lens 106 are all aspherical surfaces with at least one inflection point
  • the shape of the optical system 100 can increase the field of view angle of the optical system 100 and reduce the volume of the optical system, thereby realizing that even when the volume of the optical system 100 is small, the image surface of the optical system 100 can be increased, and at the same time, the optical system 100 can be improved.
  • the imaging quality is improved, thereby improving the imaging quality of the optical system 100 .
  • optical system 100 satisfies the following expression:
  • Tr 6 is the minimum value of the separation distance in the optical axis direction from the image-side lens surface of the sixth lens 106 to the imaging surface IMA, where the imaging surface IMA is the surface used by the image sensor to receive light, That is, the image sensor faces the surface of the sixth lens in the figure, and the separation distance is in millimeters.
  • Tr 6 will change with the focusing process, so that the minimum value of Tr 6 is greater than or equal to 5.5 mm, which is beneficial to reduce the influence of dust on the imaging effect, thereby improving the imaging quality of the optical system.
  • the diaphragm of the optical system 100 is located between the second lens 102 and the third lens 103 , and the diaphragm refers to an aperture diaphragm.
  • the optical system 100 includes a variable aperture and/or a mechanical shutter, wherein the variable aperture and/or mechanical shutter are configured between the second lens 102 and the third lens 103 . It is beneficial to increase the field of view of the lens of the optical system, and can better balance the exit angle of the optical system, which is beneficial to match the corresponding image sensor.
  • the iris can be configured at the position of the aperture stop STO of the optical system 100, and at the same time, the use of a mechanical shutter can solve the "jelly effect" existing in the optical system, thereby further improving the imaging quality of the optical system.
  • the "jelly effect” refers to the obvious deformation of the photographed object when the photographed object quickly passes through the picture formed by the optical system.
  • the optical system provided by the above-mentioned embodiments utilizes six lens combinations and specific parameter settings. While realizing the miniaturization of the optical system, it can also have a larger image surface to adapt to an image sensor with a larger size.
  • the above-mentioned embodiments provide The optical system can be adapted to a 4/3-inch image sensor, and can also improve the imaging quality of the optical system.
  • the optical system 100 may also be defined to satisfy the following expression:
  • d 12 is the separation distance from the image-side lens surface of the first lens 101 to the object-side lens surface of the second lens 102 in the optical axis direction, that is, the vertex of the image-side lens surface of the first lens 101
  • the optical system that satisfies Expression (2) is beneficial to reduce the size of the second lens 102, and can also optimize the “ghost image” generated between the first lens 101 and the second lens 102, thereby improving the imaging of the optical system quality.
  • the imaging quality of the optical system can be improved at the same time. It can also be defined that the optical system 100 satisfies the following expression:
  • Tr 1 is the separation distance in the optical axis direction from the image-side lens surface of the first lens 101 to the diaphragm surface STO
  • Tf 2 is the diaphragm surface STO to the object-side lens of the second lens 102
  • the optical system 100 may also be defined to satisfy the following expression:
  • Tf 1 is the separation distance from the object-side lens surface of the first lens 101 to the diaphragm surface STO in the optical axis direction
  • Tr 2 is the diaphragm surface STO to the image-side lens of the second lens 102
  • the optical system 100 may also be defined to satisfy the following expression:
  • R 11 is the radius of curvature of the lens surface on the object side of the first lens 101
  • R 12 is the radius of curvature of the lens surface on the image side of the first lens 101
  • R 21 is the radius of curvature of the lens surface on the object side of the second lens 102 The radius of curvature of the lens surface.
  • the optical system satisfying Expression (5) is beneficial to reduce the assembly sensitivity of the first lens 101 and the second lens 102, thereby improving the imaging quality of the optical system.
  • the optical system in order to increase the field of view of the optical system, thereby increasing the image plane of the optical system, the optical system can also be limited to satisfy the following expression:
  • T tl is the separation distance from the object-side lens surface of the first lens 101 to the imaging surface in the optical axis direction
  • E ffl is the effective focal length of the optical system 100, in millimeters.
  • the image-side lens surface of the second lens is an aspherical shape with at least one inflection point, which is beneficial to reduce the size of the optical system.
  • the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens of the optical system 100 may be defined
  • the lens 106 includes at least one aspherical lens.
  • the first lens 101 is an aspheric lens, or the first lens 101 is an aspheric lens, or the second lens 102 is an aspheric lens, or the third lens 103 is an aspheric lens, or the fourth lens 104 is an aspherical lens, or, the fifth lens 105 is an aspherical lens, or, the sixth lens 106 is an aspherical lens.
  • the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 to the sixth lens 106 are all aspherical lenses.
  • the aspherical lens may specifically have one lens surface (object-side lens surface or image-side lens surface) that is an aspherical surface, or two lens surfaces (object-side lens surface and image-side lens surface) are both Aspherical.
  • the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 of the optical system 100 may also be defined At least one glass lens is included, and/or, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 of the optical system 100 include at least one plastic lens . Furthermore, it is realized that the optical system adopts the combination of the glass lens and the plastic lens, which can reduce the influence on the temperature drift of the optical system caused by the design of the all-plastic lens, thereby improving the imaging quality of the optical system.
  • the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 that can define the optical system 100 include a glass lens, such as the first lens 101 is a glass lens, and the other lenses are plastic lenses.
  • the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 that can define the optical system 100 include two glass lenses, such as the first lens
  • the lens 101 and the fourth lens 104 are glass lenses, and the other lenses are plastic lenses.
  • the fourth lens 104 of the optical system 100 is a glass lens; alternatively, the fourth lens 104 is a glass lens, the first lens 101 , the second lens 102 , the third lens 103 , the fifth lens 105 and the sixth lens
  • the lens 106 is a plastic lens.
  • the fourth lens 104 adopts a glass lens, which can further improve the temperature drift of the optical system, thereby improving the imaging quality of the optical system.
  • the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 , and the sixth lens 106 to the sixth lens of the optical system 100 are configured as focus lenses, and the Group focus.
  • the six lenses of the optical system 100 are designed with glass lenses and plastic lenses, specifically, the lenses of the optical system are driven by glass lenses and plastic lenses to perform group focusing, which not only has light focusing weight and low power consumption, but also improves the use of the optical system. It also improves the imaging quality of the optical system through cluster focusing.
  • the optical system in order to further improve the imaging quality of the optical system, can also be defined to satisfy the following expression:
  • nd 4 is the refractive index of the fourth lens 104
  • vd 4 is the dispersion coefficient of the fourth lens 104 , that is, the Abbe number.
  • the optical system satisfying the expression (7) is beneficial for the lens of the optical system to maintain the performance consistency under different high and low temperature environments, thereby improving the imaging quality of the optical system.
  • the optical system in order to further improve the imaging quality of the optical system, can also be defined to satisfy the following expression:
  • nd 1 is the refractive index of the first lens 101
  • nd 2 is the refractive index of the second lens 102
  • nd 3 is the refractive index of the third lens 103
  • nd 5 is the refractive index of the fifth lens 105 ratio
  • nd 6 is the refractive index of the sixth lens 106
  • vd 1 is the dispersion coefficient of the first lens 101
  • vd 2 is the dispersion coefficient of the second lens 102
  • vd 3 is the dispersion coefficient of the third lens 103
  • vd 5 is the The dispersion coefficient of the penta lens 105
  • vd 6 is the dispersion coefficient of the sixth lens 106 .
  • the size of the imaging plane of the optical system 100 provided by the above embodiments is greater than or equal to 1 inch, so a large image plane is realized.
  • a 4/3-inch image sensor can be adapted.
  • the filter lens 107 can be, for example, an infrared filter lens.
  • the optical system 100 in order to realize the miniaturization of the optical system and the optical system with a large image plane, the optical system 100 can also be defined to satisfy the following expressions:
  • f is the focal length of the optical system 100
  • f1 is the focal length of the first lens 101
  • f2 is the focal length of the second lens 102
  • f3 is the focal length of the third lens 103
  • f4 is the fourth
  • f5 is the focal length of the fifth lens 105
  • f6 is the focal length of the sixth lens 106
  • the focal length is in millimeters.
  • one mirror surface or all aspherical lens surfaces of the above-mentioned aspherical lens may be a high-order aspherical surface, and the high-order aspherical surface satisfies the following expression:
  • z is the rotational symmetry axis of the aspheric surface, c is the vertex curvature; y is the radial coordinate, and its unit is the same as the lens unit length; k is the quadratic curve constant, and a 1 to a 8 represent each The coefficients corresponding to the radial coordinates.
  • the surface numbers S1, S2, S3, S4, S6, S7, S8, S9, S10, S11, S12, S13, and S14 represent the surface labels in the optical system. , respectively represent the mirror surface of the first lens 101 , the mirror surface of the second lens 102 , the mirror surface of the third lens 103 , the fourth lens 104 , the fifth lens 105 , the sixth lens 106 and the filter sheet 107 .
  • the two lens surfaces of the first lens 101 are the surface S1 and the surface S2 respectively
  • the two lens surfaces of the second lens 102 are the surface S3 and the surface S4 respectively
  • the STO represents the diaphragm
  • the third The two lens surfaces of the lens 103 are the surface S6 and the surface S7 respectively
  • the two lens surfaces of the fourth lens 104 are the surface S8 and the surface S9 respectively
  • the two lens surfaces of the fifth lens 105 are the surface S10 and the surface S11 respectively
  • the two lens surfaces of the six lenses 106 are the surface S12 and the surface S13 respectively
  • the mirror surface of the filter lens 107 is the surface S14.
  • Surf number of faces
  • Type represents the shape of the surface
  • STANDRAD represents a plane
  • EVENASPH represents an aspherical surface
  • Radius radius of curvature
  • the degree can be expressed by R, the smaller the R value, the more curved the lens surface; Thickness (interval or thickness), the interval is expressed as the separation distance between the lenses of the optical system on the optical axis, and the thickness is the center thickness of the lens; ND means The refractive index of the lens; VD represents the dispersion coefficient of the lens, also known as the Abbe coefficient; "Infinity" represents the plane; OBJ represents the object side, STO represents the diaphragm surface, and IMA represents the image side.
  • Surf represents the number of faces
  • K is a quadratic curve constant
  • 4th-order term" to "16th-order term” indicate that a 2 to a 8 represent the coefficients corresponding to each radial coordinate, respectively.
  • Example 1 the optical systems corresponding to Table 1 and Table 2 are referred to as Example 1.
  • Table 1 is the surface parameter data of the lens of the optical system of Example 1
  • Table 2 is the optical system lens-surface aspheric coefficient data of Example 1
  • Figures 4 and 5 are the field curvature parameters and distortion parameters of the optical system of the example of Example 1 at the INF object distance, respectively. It can be seen from Figures 4 and 5 that the optical system has a better imaging effect, so it has higher imaging quality.
  • FIG. 6 is a schematic structural diagram of a photographing apparatus provided by an embodiment of the present application.
  • the photographing device 200 can realize the miniaturization of the product, and at the same time have a larger image area and better imaging quality.
  • the photographing device 200 includes an optical system 100 and an image sensor (not shown), and the optical system 100 is arranged in the optical path between the photographed object 22 and the image sensor.
  • the optical system 100 adopts any of the optical systems provided in the above embodiments, and the image sensor may be, for example, a CMOS sensor or a CCD sensor, wherein the imaging surface of the optical system is the surface of the image sensor facing the sixth lens.
  • the photographing apparatus 200 may also be an electronic device for photographing, including a mobile phone, a digital camera, a motion camera, a wearable device, or a handheld PTZ camera.
  • the photographing device 200 may be a motion camera, including a display screen 211 and a photographing button 212 .
  • the optical system 100 is used to image the photographed object 22 (such as a scene) on the image sensor of the photographing device 200; the display screen 211 is used to display the imaging, such as displaying the image 220 of the object to be photographed, and the display screen 211 may specifically be a touch display screen;
  • the shooting button 212 is used to trigger shooting.
  • the photographing device in the above-mentioned embodiment because of using the optical system provided by the embodiment of the present application, can still maintain a large image surface when realizing the miniaturization of the product, so a larger-sized image sensor, such as 4/3 inch, can be used.
  • the image sensor can improve the imaging quality of the camera at the same time.
  • FIG. 7 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
  • the movable platform is equipped with a photographing device to realize photographing.
  • the movable platform 300 includes a platform body 30 and a photographing device 200.
  • the photographing device 200 is mounted on the platform body 30. Any one of the optical systems 100, the optical system 100 is configured in the optical path between the photographed object and the image sensor, and is used to image the photographed object on the image sensor.
  • the movable platform 300 includes any one of a drone, a robot, an unmanned vehicle, and a handheld gimbal.
  • the aircraft includes an unmanned aerial vehicle
  • the unmanned aerial vehicle includes a rotary-wing unmanned aerial vehicle, such as a quad-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotored unmanned aerial vehicle, or a fixed-wing unmanned aerial vehicle. It is a combination of rotary-wing and fixed-wing drones, which is not limited here.
  • the robot can also be called an educational robot. It uses a Mecanum wheel omnidirectional chassis, and is equipped with multiple pieces of intelligent armor. Each intelligent armor has a built-in strike detection module, which can quickly detect physical strikes. At the same time, it also includes a two-axis gimbal, which can be rotated flexibly. With the launcher, it can accurately, steadily and continuously launch crystal bullets or infrared beams, and with ballistic light effects, it gives users a more realistic shooting experience.
  • the optical system when the optical system is installed on the drone, when the optical system is miniaturized, it can also increase the field of view of the lens, and then can shoot a wider range of scenes, and at the same time can improve the imaging quality of the shooting device, and
  • the combination of multiple lenses makes the relative distance smaller, thereby reducing the volume of the optical system, realizing miniaturization and portability, and improving the endurance of the UAV. Therefore, when the drone is used for aerial photography, better images can be captured by using the optical system, thereby improving the user's experience.

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  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
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Abstract

An optical system, a photographing device, and a mobile platform. The optical system (100) comprises, from the object side to the image side in sequence, a first lens (101) having negative refractive power, a second lens (102) having positive refractive power, a third lens (103) having negative refractive power, a fourth lens (104) having positive refractive power, a fifth lens (105) having positive refractive power, and a sixth lens (106) having negative refractive power. The image side lens surface of the third lens (103) is of an aspheric shape having at least one inflection point; both the object side lens surface and the image side lens surface of the fifth lens (105) are of an aspherical shape having at least one inflection point; both the object side lens surface and the image side lens surface of the sixth lens (106) are of an aspheric shape having at least one inflection point; and the optical system satisfies the following expression: Tr6≥5.5 mm, Tr6 being the minimum distance from the image side lens surface of the sixth lens (106) to an imaging surface in the optical axis direction.

Description

光学系统、拍摄装置及可移动平台Optical system, photographing device and movable platform 技术领域technical field
本申请涉及光学技术领域,尤其涉及一种光学系统、使用光学系统的拍摄装置以及可移动平台。The present application relates to the field of optical technology, and in particular, to an optical system, a photographing device using the optical system, and a movable platform.
背景技术Background technique
随着摄影技术的发展,小型化、高像质、大视角的镜头越来越受到人们的青睐。现有的无人机的拍摄装置及运动相机等体积紧凑的相机大都需要超高光学素质的镜头,由此对光学系统的镜头设计提出了极高的要求,即要求光学系统小型化且具有较大像面,以及还要具有较高成像质量。With the development of photographic technology, lenses with miniaturization, high image quality and large angle of view are more and more favored by people. Most of the existing UAV shooting devices and motion cameras and other compact cameras require lenses with ultra-high optical quality, which puts forward extremely high requirements for the lens design of the optical system, that is, the optical system is required to be miniaturized and have relatively high optical quality. Large image area and high image quality.
发明内容SUMMARY OF THE INVENTION
基于此,本申请实施例提供了一种光学系统、拍摄装置以及可移动平台,该光学系统可以实现小型化,同时具有较大像面和较好的成像质量。Based on this, the embodiments of the present application provide an optical system, a photographing device, and a movable platform, and the optical system can be miniaturized, while having a larger image surface and better imaging quality.
第一方面,本申请的实施例提供了一种光学系统,所述光学系统包括从物侧至像侧依次设置的:In a first aspect, an embodiment of the present application provides an optical system, the optical system comprising: sequentially arranged from the object side to the image side:
第一透镜,具有负光焦度;a first lens having negative refractive power;
第二透镜,具有正光焦度;a second lens having positive refractive power;
第三透镜,具有负光焦度,且像侧透镜面为具有至少一个拐点的非球面形状;The third lens has a negative refractive power, and the image-side lens surface is an aspherical shape with at least one inflection point;
第四透镜,具有正光焦度;the fourth lens, with positive refractive power;
第五透镜,具有正光焦度,且物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状;The fifth lens has a positive refractive power, and both the object-side lens surface and the image-side lens surface are aspherical shapes with at least one inflection point;
第六透镜,具有负光焦度,且物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状;The sixth lens has negative refractive power, and both the object-side lens surface and the image-side lens surface are aspherical shapes with at least one inflection point;
所述光学系统满足以下表达式:The optical system satisfies the following expression:
Tr 6≥5.5毫米 Tr 6 ≥5.5mm
其中,Tr 6为所述第六透镜的像侧透镜面到成像面在光轴方向上间隔距离的最小值。 Wherein, Tr 6 is the minimum value of the distance in the optical axis direction from the image-side lens surface of the sixth lens to the imaging surface.
第二方面,本申请的实施例还提供了一种拍摄装置,所述拍摄装置包括本申请实施例提供的任一项所述的光学系统和图像传感器,所述光学系统配置在拍摄物体与所述图像传感器的光路中,用于将所述拍摄物体成像于所述图像传感器。In a second aspect, an embodiment of the present application further provides a photographing device, where the photographing device includes the optical system and the image sensor according to any one of the embodiments of the present application, wherein the optical system is configured between the photographed object and the image sensor. The optical path of the image sensor is used to image the photographed object on the image sensor.
第三方面,本申请还提供了一种可移动平台,所述可移动平台包括平台本体和拍摄装置,所述拍摄装置搭载在所述平台本体上;所述拍摄装置包括本申请实施例提供的任一项所述的光学系统和图像传感器,所述光学系统配置在拍摄物体与所述图像传感器的光路中,用于将所述拍摄物体成像于所述图像传感器。In a third aspect, the present application further provides a movable platform, the movable platform includes a platform body and a photographing device, and the photographing device is mounted on the platform body; the photographing device includes the The optical system and the image sensor according to any one of the above, wherein the optical system is arranged in an optical path between a photographed object and the image sensor, and is used for imaging the photographed object on the image sensor.
本申请实施例提供的光学系统、拍摄装置及可移动平台,其中光学系统安装在拍摄装置上,该拍摄装置能够安装在可移动平台的主体上,该光学系统利用六个透镜和特定参数设置,可以减小产品体积,同时又具有较大的像面,适用于较大尺寸的图像传感器,并且还可以提高光学系统的成像质量。The optical system, the photographing device and the movable platform provided by the embodiments of the present application, wherein the optical system is installed on the photographing device, the photographing device can be installed on the main body of the movable platform, and the optical system uses six lenses and specific parameter settings, The product volume can be reduced, and at the same time, it has a larger image surface, is suitable for a larger size image sensor, and can also improve the imaging quality of the optical system.
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请。It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.
附图说明Description of drawings
为了更清楚地说明本申请实施例技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.
图1是本申请实施例提供的一种光学系统的结构示意图;1 is a schematic structural diagram of an optical system provided by an embodiment of the present application;
图2是本申请实施例提供的另一种光学系统的结构示意图;2 is a schematic structural diagram of another optical system provided by an embodiment of the present application;
图3是本申请实施例提供的一种光学系统的配置示意图;3 is a schematic configuration diagram of an optical system provided by an embodiment of the present application;
图4本申请实施例提供的光学系统的场曲的效果示意图;4 is a schematic diagram of the effect of field curvature of an optical system provided by an embodiment of the present application;
图5本申请实施例提供的光学系统的畸变的效果示意图;5 is a schematic diagram of the effect of distortion of the optical system provided by the embodiment of the present application;
图6是本申请实施例提供的一种拍摄装置的结构示意图;6 is a schematic structural diagram of a photographing device provided by an embodiment of the present application;
图7是本申请实施例提供的一种可移动平台的结构示意图。FIG. 7 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
主要元件及符号说明:Description of main components and symbols:
100、光学系统;101、第一透镜;102、第二透镜;103、第三透镜;104、第四透镜;105、第五透镜;106、第六透镜;107、滤光镜片;100, optical system; 101, first lens; 102, second lens; 103, third lens; 104, fourth lens; 105, fifth lens; 106, sixth lens; 107, filter lens;
200、拍摄装置;22、拍摄物体;220、拍摄物体的图像;211、显示屏;212、拍摄按键;200, a photographing device; 22, photographing an object; 220, photographing an image of the object; 211, a display screen; 212, a photographing button;
300、可移动平台;30、平台本体。300, a movable platform; 30, the platform body.
具体实施方式detailed description
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.
还应当理解,在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样,除非上下文清楚地指明其它情况,否则单数形式的“一”、“一个”及“该”意在包括复数形式。It should also be understood that the terminology used in the specification of the application herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.
还应当进一步理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。It should also be further understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items .
请参阅图1,图1是本申请实施例提供的一种光学系统的结构示意图。该光学系统用于将拍摄物体成像于图像传感器,可以减小产品(光学系统、拍摄装置或可移动平台)体积,同时又具有远距离摄影以及较大的变焦倍率。Please refer to FIG. 1 , which is a schematic structural diagram of an optical system provided by an embodiment of the present application. The optical system is used to image the photographed object on the image sensor, which can reduce the volume of the product (optical system, photographing device or movable platform), and at the same time has telephotography and large zoom ratio.
如图1所示,该光学系统100包括从物侧至像侧依次设置的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106。其中,第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜 105和第六透镜106。As shown in FIG. 1 , the optical system 100 includes a first lens 101 , a second lens 102 , a third lens 103 , a fourth lens 104 , a fifth lens 105 and a sixth lens 106 which are arranged in order from the object side to the image side. Among them, the first lens 101, the second lens 102, the third lens 103, the fourth lens 104, the fifth lens 105 and the sixth lens 106.
第一透镜101具有负光焦度;第二透镜102具有正光焦度;第三透镜103具有负光焦度,且第三透镜103为具有至少一个拐点的非球面形状;第四透镜104具有正光焦度;第五透镜105具有正光焦度,且第五透镜105其物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状;第六透镜106具有负光焦度,且第六透镜106其物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状。The first lens 101 has negative refractive power; the second lens 102 has positive refractive power; the third lens 103 has negative refractive power, and the third lens 103 is an aspherical shape with at least one inflection point; the fourth lens 104 has positive light power; the fifth lens 105 has positive refractive power, and the object-side lens surface and the image-side lens surface of the fifth lens 105 are aspherical shapes with at least one inflection point; the sixth lens 106 has negative refractive power, and the first lens The object-side lens surface and the image-side lens surface of the six-lens lens 106 are both aspherical shapes having at least one inflection point.
通过在第三透镜103的像侧透镜面为具有至少一个拐点的非球面形状,以及第五透镜105、第六透镜106的物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状,可以增加光学系统100的视场角,并减小光学系统的体积,由此实现了在该光学系统100的体积较小时也可以增加光学系统100的像面,同时还可以提高光学系统100成像的均衡性,进而提高了该光学系统100的成像质量。The image-side lens surface of the third lens 103 is an aspherical shape with at least one inflection point, and the object-side lens surface and the image-side lens surface of the fifth lens 105 and the sixth lens 106 are all aspherical surfaces with at least one inflection point The shape of the optical system 100 can increase the field of view angle of the optical system 100 and reduce the volume of the optical system, thereby realizing that even when the volume of the optical system 100 is small, the image surface of the optical system 100 can be increased, and at the same time, the optical system 100 can be improved. The imaging quality is improved, thereby improving the imaging quality of the optical system 100 .
其中,光学系统100满足以下表达式:Wherein, the optical system 100 satisfies the following expression:
Tr 6≥5.5毫米   (1) Tr 6 ≥5.5mm (1)
在表达式(1)中,Tr 6为第六透镜106的像侧透镜面到成像面IMA在光轴方向上间隔距离的最小值,其中,成像面IMA为图像传感器用来接收光线的面,即图像传感器在图中面对第六透镜的表面,该间隔距离单位为毫米。由于光学系统进行对焦时,Tr 6会随着对焦的过程而变化,令Tr 6的最小值大于等于5.5毫米,有利于减小灰尘对于成像效果的影响,进而提高了该光学系统的成像质量。 In Expression (1), Tr 6 is the minimum value of the separation distance in the optical axis direction from the image-side lens surface of the sixth lens 106 to the imaging surface IMA, where the imaging surface IMA is the surface used by the image sensor to receive light, That is, the image sensor faces the surface of the sixth lens in the figure, and the separation distance is in millimeters. When the optical system is focusing, Tr 6 will change with the focusing process, so that the minimum value of Tr 6 is greater than or equal to 5.5 mm, which is beneficial to reduce the influence of dust on the imaging effect, thereby improving the imaging quality of the optical system.
需要说明的是,该光学系统100的光阑位于第二透镜102和第三透镜103之间,该光阑是指孔径光阑。It should be noted that the diaphragm of the optical system 100 is located between the second lens 102 and the third lens 103 , and the diaphragm refers to an aperture diaphragm.
需要说明的是,在本申请一些实施例中,光学系统100包括可变光圈和/或机械快门,其中,该可变光圈和/或机械快门配置在第二透镜102和第三透镜103之间。有利于增大光学系统的镜头的视场角,可以更好地平衡光学系统的出射角,进而有利于匹配对应的图像传感器。It should be noted that, in some embodiments of the present application, the optical system 100 includes a variable aperture and/or a mechanical shutter, wherein the variable aperture and/or mechanical shutter are configured between the second lens 102 and the third lens 103 . It is beneficial to increase the field of view of the lens of the optical system, and can better balance the exit angle of the optical system, which is beneficial to match the corresponding image sensor.
具体地,可变光圈可以配置在光学系统100的孔径光阑STO位置处,同时采用机械快门可以解决光学系统存在的“果冻效应”,由此可以进一步地提高了光学系统的成像质量。Specifically, the iris can be configured at the position of the aperture stop STO of the optical system 100, and at the same time, the use of a mechanical shutter can solve the "jelly effect" existing in the optical system, thereby further improving the imaging quality of the optical system.
其中,所述“果冻效应”是指当被拍摄物体从光学系统所成的画面中快速 经过时,该拍摄物体发生了明显的变形。Wherein, the "jelly effect" refers to the obvious deformation of the photographed object when the photographed object quickly passes through the picture formed by the optical system.
上述实施例提供的光学系统利用六个透镜组合以及特定参数设置,在实现光学系统的小型化的同时,还可以具有较大像面以适配具有较大尺寸的图像传感器,比如上述实施例提供的光学系统可以适配4/3英寸的图像传感器,并且还可以提高光学系统的成像质量。The optical system provided by the above-mentioned embodiments utilizes six lens combinations and specific parameter settings. While realizing the miniaturization of the optical system, it can also have a larger image surface to adapt to an image sensor with a larger size. For example, the above-mentioned embodiments provide The optical system can be adapted to a 4/3-inch image sensor, and can also improve the imaging quality of the optical system.
在一些实施例中,为了进一步地提高光学系统的成像质量,还可以限定光学系统100满足以下表达式:In some embodiments, in order to further improve the imaging quality of the optical system, the optical system 100 may also be defined to satisfy the following expression:
d 12>1.2毫米   (2) d 12 >1.2mm (2)
在表达式(2)中,d 12为第一透镜101的像侧透镜面到第二透镜102的物侧透镜面在光轴方向上的间隔距离,即第一透镜101的像侧透镜面顶点到第二透镜102的物侧透镜面顶点之间的间隔距离,单位为毫米。满足表达式(2)的光学系统,有利于较小第二透镜102的尺寸,并且还可以优化第一透镜101和第二透镜102之间产生的“鬼影”,进而提高了光学系统的成像质量。 In Expression (2), d 12 is the separation distance from the image-side lens surface of the first lens 101 to the object-side lens surface of the second lens 102 in the optical axis direction, that is, the vertex of the image-side lens surface of the first lens 101 The separation distance from the apex of the lens surface on the object side of the second lens 102, in millimeters. The optical system that satisfies Expression (2) is beneficial to reduce the size of the second lens 102, and can also optimize the “ghost image” generated between the first lens 101 and the second lens 102, thereby improving the imaging of the optical system quality.
在一些实施例中,为了便于放置可变光圈和机械开门,同时又可以提高该光学系统的成像质量。还可以限定光学系统100满足以下表达式:In some embodiments, in order to facilitate the placement of the variable aperture and the mechanical door opening, the imaging quality of the optical system can be improved at the same time. It can also be defined that the optical system 100 satisfies the following expression:
Tr 1+Tf 2≥3毫米   (3) Tr 1 +Tf 2 ≥ 3 mm (3)
在表达式(3)中,Tr 1为第一透镜101的像侧透镜面到光阑面STO在光轴方向上的间隔距离,Tf 2为光阑面STO到第二透镜102的物侧透镜面在光轴方向上的间隔距离,单位为毫米。满足表达式(3)的光学系统,使得该光学系统的镜头结构方便应用可变光圈与机械快门,并且方便可变光圈与机械快门的安装,由此可以避免“果冻效应”,进而提高了光学系统的成像质量。 In Expression (3), Tr 1 is the separation distance in the optical axis direction from the image-side lens surface of the first lens 101 to the diaphragm surface STO, and Tf 2 is the diaphragm surface STO to the object-side lens of the second lens 102 The distance between faces in the direction of the optical axis, in millimeters. The optical system that satisfies the expression (3) makes the lens structure of the optical system easy to apply the variable aperture and the mechanical shutter, and facilitates the installation of the variable aperture and the mechanical shutter, thereby avoiding the "jelly effect" and improving the optical The imaging quality of the system.
在一些实施例中,为了进一步地提高光学系统的成像质量,还可以限定光学系统100满足以下表达式:In some embodiments, in order to further improve the imaging quality of the optical system, the optical system 100 may also be defined to satisfy the following expression:
Figure PCTCN2020110099-appb-000001
Figure PCTCN2020110099-appb-000001
在表达式(4)中,Tf 1为第一透镜101的物侧透镜面到光阑面STO在光轴方向上的间隔距离,Tr 2为光阑面STO到第二透镜102的像侧透镜面在光轴方向上的间隔距离,单位为毫米。满足表达式(4)中,有利于修正出射光线的角 度,可以更好地与匹配图像传感器的要求并且满足大视场角的要求。 In Expression (4), Tf 1 is the separation distance from the object-side lens surface of the first lens 101 to the diaphragm surface STO in the optical axis direction, and Tr 2 is the diaphragm surface STO to the image-side lens of the second lens 102 The distance between faces in the direction of the optical axis, in millimeters. Satisfying expression (4) is beneficial to correct the angle of the outgoing light, which can better match the requirements of the image sensor and meet the requirements of a large field of view.
在一些实施例中,为了进一步地提高光学系统的成像质量,还可以限定光学系统100满足以下表达式:In some embodiments, in order to further improve the imaging quality of the optical system, the optical system 100 may also be defined to satisfy the following expression:
0<|(R 11-R 12)/(R 11+R 12)|≤0.1,0<|(R 21-R 12)/(R 21+R 12)|≤0.3   (5) 0<|(R 11 -R 12 )/(R 11 +R 12 )|≤0.1, 0<|(R 21 -R 12 )/(R 21 +R 12 )|≤0.3 (5)
在表达式(5)中,R 11为第一透镜101的物侧透镜面的曲率半径,R 12为第一透镜101的像侧透镜面的曲率半径,R 21为第二透镜102的物侧透镜面的曲率半径。满足表达式(5)的光学系统,有利于减小第一透镜101及第二透镜102的组装敏感度,进而提高了光学系统的成像质量。 In Expression (5), R 11 is the radius of curvature of the lens surface on the object side of the first lens 101 , R 12 is the radius of curvature of the lens surface on the image side of the first lens 101 , and R 21 is the radius of curvature of the lens surface on the object side of the second lens 102 The radius of curvature of the lens surface. The optical system satisfying Expression (5) is beneficial to reduce the assembly sensitivity of the first lens 101 and the second lens 102, thereby improving the imaging quality of the optical system.
在一些实施例中,为了提高光学系统的视场角,进而增加光学系统的像面,还可以限定光学系统满足以下表达式:In some embodiments, in order to increase the field of view of the optical system, thereby increasing the image plane of the optical system, the optical system can also be limited to satisfy the following expression:
Figure PCTCN2020110099-appb-000002
Figure PCTCN2020110099-appb-000002
在表达式(6)中,T tl为第一透镜101的物侧透镜面到成像面在光轴方向的间隔距离,E ffl为光学系统100的有效焦距,单位为毫米。 In Expression (6), T tl is the separation distance from the object-side lens surface of the first lens 101 to the imaging surface in the optical axis direction, and E ffl is the effective focal length of the optical system 100, in millimeters.
在一些实施例中,第二透镜像侧透镜面为具有至少一个拐点的非球面形状,这样有利于减小光学系统的尺寸。In some embodiments, the image-side lens surface of the second lens is an aspherical shape with at least one inflection point, which is beneficial to reduce the size of the optical system.
在一些实施例中,为了进一步地提高了光学系统的成像质量,可以限定光学系统100的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106中至少包括一个非球面透镜。In some embodiments, in order to further improve the imaging quality of the optical system, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens of the optical system 100 may be defined The lens 106 includes at least one aspherical lens.
比如,第一透镜101为非球面透镜,或,第一透镜101为非球面透镜,或,第二透镜102为非球面透镜,或,第三透镜103为非球面透镜,或,第四透镜104为非球面透镜,或,第五透镜105为非球面透镜,或,第六透镜106为非球面透镜。For example, the first lens 101 is an aspheric lens, or the first lens 101 is an aspheric lens, or the second lens 102 is an aspheric lens, or the third lens 103 is an aspheric lens, or the fourth lens 104 is an aspherical lens, or, the fifth lens 105 is an aspherical lens, or, the sixth lens 106 is an aspherical lens.
再比如,第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105至第六透镜106均为非球面透镜。For another example, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 to the sixth lens 106 are all aspherical lenses.
需要说明的是,该非球面透镜具体可以是一个透镜面(物侧透镜面或像侧透镜面)为非球面,也可以为两个透镜面(物侧透镜面和像侧透镜面)均为非球面。It should be noted that, the aspherical lens may specifically have one lens surface (object-side lens surface or image-side lens surface) that is an aspherical surface, or two lens surfaces (object-side lens surface and image-side lens surface) are both Aspherical.
在一些实施例中,为了提高光学系统的成像质量,还可以限定光学系统100 的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106中至少包括一个玻璃透镜,和/或,光学系统100的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106中至少包括一个塑胶透镜。进而实现光学系统采用玻璃透镜和塑胶透镜组合,可以减小采用全塑胶透镜进行设计对于光学系统的温飘会产生的影响,进而提高了光学系统的成像质量。In some embodiments, in order to improve the imaging quality of the optical system, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 of the optical system 100 may also be defined At least one glass lens is included, and/or, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 of the optical system 100 include at least one plastic lens . Furthermore, it is realized that the optical system adopts the combination of the glass lens and the plastic lens, which can reduce the influence on the temperature drift of the optical system caused by the design of the all-plastic lens, thereby improving the imaging quality of the optical system.
示例性的,可以限定光学系统100的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106中包括一个玻璃透镜,具体比如第一透镜101为玻璃透镜,其他透镜为塑胶透镜。Exemplarily, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 that can define the optical system 100 include a glass lens, such as the first lens 101 is a glass lens, and the other lenses are plastic lenses.
示例性的,可以限定光学系统100的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106中包括两个玻璃透镜,具体比如第一透镜101和第四透镜104为玻璃透镜,其他透镜为塑胶透镜。Exemplarily, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 and the sixth lens 106 that can define the optical system 100 include two glass lenses, such as the first lens The lens 101 and the fourth lens 104 are glass lenses, and the other lenses are plastic lenses.
在一些实施例中,光学系统100的第四透镜104为玻璃透镜;或者,第四透镜104为玻璃透镜,第一透镜101、第二透镜102、第三透镜103、第五透镜105和第六透镜106为塑胶透镜。第四透镜104采用玻璃透镜,可以进一步地改善光学系统的温漂,进而提高光学系统的成像质量。In some embodiments, the fourth lens 104 of the optical system 100 is a glass lens; alternatively, the fourth lens 104 is a glass lens, the first lens 101 , the second lens 102 , the third lens 103 , the fifth lens 105 and the sixth lens The lens 106 is a plastic lens. The fourth lens 104 adopts a glass lens, which can further improve the temperature drift of the optical system, thereby improving the imaging quality of the optical system.
在一些实施例中,光学系统100的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105和第六透镜106至第六透镜配置为对焦透镜,进行整群对焦。并且由于光学系统100的六个透镜采用玻璃透镜和塑胶透镜混合设计,具体地光学系统的镜头采用驱动玻璃透镜与塑胶透镜进行整群对焦,不仅对焦重量轻,功耗小,提高使用该光学系统的产品的续航能力,还通过整群对焦提高光学系统的成像质量。In some embodiments, the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 , and the sixth lens 106 to the sixth lens of the optical system 100 are configured as focus lenses, and the Group focus. And because the six lenses of the optical system 100 are designed with glass lenses and plastic lenses, specifically, the lenses of the optical system are driven by glass lenses and plastic lenses to perform group focusing, which not only has light focusing weight and low power consumption, but also improves the use of the optical system. It also improves the imaging quality of the optical system through cluster focusing.
在一些实施例中,为了进一步地提高光学系统的成像质量,还可以限定光学系统满足以下表达式:In some embodiments, in order to further improve the imaging quality of the optical system, the optical system can also be defined to satisfy the following expression:
1.75≤nd 4≤1.81,45≤vd 4≤50   (7) 1.75≤nd 4 ≤1.81, 45≤vd 4 ≤50 (7)
在表达式(7)中,nd 4为第四透镜104的折射率,vd 4为第四透镜104的色散系数,即阿贝数。满足表达式(7)的光学系统,有利于该光学系统的镜头在不同高低温环境下均可保持性能的一致性,进而提高光学系统的成像质量。 In Expression (7), nd 4 is the refractive index of the fourth lens 104 , and vd 4 is the dispersion coefficient of the fourth lens 104 , that is, the Abbe number. The optical system satisfying the expression (7) is beneficial for the lens of the optical system to maintain the performance consistency under different high and low temperature environments, thereby improving the imaging quality of the optical system.
在一些实施例中,为了进一步地提高光学系统的成像质量,还可以限定光学系统满足以下表达式:In some embodiments, in order to further improve the imaging quality of the optical system, the optical system can also be defined to satisfy the following expression:
1.6≤nd 1≤1.66,20≤vd 1≤24;和/或, 1.6≤nd 1 ≤1.66, 20≤vd 1 ≤24; and/or,
1.5≤nd 2≤1.6,50≤vd 2≤60;和/或, 1.5≤nd 2 ≤1.6, 50≤vd 2 ≤60; and/or,
1.6≤nd 3≤1.66,20≤vd 3≤24;和/或, 1.6≤nd 3 ≤1.66, 20≤vd 3 ≤24; and/or,
1.6≤nd 5≤1.66,20≤vd 5≤24;和/或, 1.6≤nd 5 ≤1.66, 20≤vd 5 ≤24; and/or,
1.5≤nd 6≤1.6,50≤vd 6≤60    (8) 1.5≤nd 6 ≤1.6, 50≤vd 6 ≤60 (8)
在表达式(8)中,nd 1为第一透镜101的折射率,nd 2为第二透镜102的折射率,nd 3为第三透镜103的折射率,nd 5为第五透镜105的折射率,nd 6为第六透镜106的折射率,vd 1为第一透镜101的色散系数,vd 2为第二透镜102的色散系数,vd 3为第三透镜103的色散系数,vd 5为第五透镜105的色散系数,vd 6为第六透镜106的色散系数。 In Expression (8), nd 1 is the refractive index of the first lens 101 , nd 2 is the refractive index of the second lens 102 , nd 3 is the refractive index of the third lens 103 , and nd 5 is the refractive index of the fifth lens 105 ratio, nd 6 is the refractive index of the sixth lens 106, vd 1 is the dispersion coefficient of the first lens 101, vd 2 is the dispersion coefficient of the second lens 102, vd 3 is the dispersion coefficient of the third lens 103, and vd 5 is the The dispersion coefficient of the penta lens 105 , vd 6 is the dispersion coefficient of the sixth lens 106 .
需要说明的是,上述实施例提供的光学系统100的成像面尺寸大于或等于1英寸,因此实现了大像面。具体地,比如可以适配4/3英寸的图像传感器。It should be noted that the size of the imaging plane of the optical system 100 provided by the above embodiments is greater than or equal to 1 inch, so a large image plane is realized. Specifically, for example, a 4/3-inch image sensor can be adapted.
在一些实施例中,为了滤除一些杂光干扰,进而提高光学系统的成像质量,如图2所示,该光学系统100还可以包括滤光镜片107,滤光镜片107配置在第六透镜106和光学系统100的成像面IMA之间。其中,滤光镜片107可例如为红外滤光镜片。In some embodiments, in order to filter out some stray light interference and further improve the imaging quality of the optical system, as shown in FIG. and between the imaging plane IMA of the optical system 100 . The filter lens 107 can be, for example, an infrared filter lens.
在一些实施例中,为了实现光学系统的小型化以及光学系统具有大像面,还可以限定光学系统100满足以下表达式:In some embodiments, in order to realize the miniaturization of the optical system and the optical system with a large image plane, the optical system 100 can also be defined to satisfy the following expressions:
-150<f 1<-90,9.0<f 2<13.0,-11.2<f 3<-8.3,5.0<f 4<7.0,19.5<f 5<21.5,-13.5<f 6<-10.5;   (9) -150<f 1 <-90, 9.0<f 2 <13.0, -11.2<f 3 <-8.3, 5.0<f 4 <7.0, 19.5<f 5 <21.5, -13.5<f 6 <-10.5; (9 )
在表达式(9),f是光学系统100的焦距,f 1是第一透镜101的焦距、f 2是第二透镜102的焦距,f 3是第三透镜103的焦距,f 4是第四透镜104的焦距,f 5是第五透镜105的焦距,f 6是第六透镜106的焦距,焦距单位为毫米。 In Expression (9), f is the focal length of the optical system 100, f1 is the focal length of the first lens 101, f2 is the focal length of the second lens 102, f3 is the focal length of the third lens 103, and f4 is the fourth The focal length of the lens 104, f5 is the focal length of the fifth lens 105, f6 is the focal length of the sixth lens 106, and the focal length is in millimeters.
在一些实施例中,为了进一步地矫正像差,上述的非球面透镜的一个镜面或者所有的非球面的透镜面均可以是高次非球面,所述高次非球面满足以下表达式:In some embodiments, in order to further correct aberrations, one mirror surface or all aspherical lens surfaces of the above-mentioned aspherical lens may be a high-order aspherical surface, and the high-order aspherical surface satisfies the following expression:
Figure PCTCN2020110099-appb-000003
Figure PCTCN2020110099-appb-000003
在表达式(10)中,z为非球面旋转对称轴,c为顶点曲率;y为径向坐标, 其单位和透镜单位长度相同;k为二次曲线常数,a 1至a 8分别表示各径向坐标所对应的系数。 In expression (10), z is the rotational symmetry axis of the aspheric surface, c is the vertex curvature; y is the radial coordinate, and its unit is the same as the lens unit length; k is the quadratic curve constant, and a 1 to a 8 represent each The coefficients corresponding to the radial coordinates.
以下结合附图以及表,给出光学系统的具体数值配置,面数S1、S2、S3、S4、S6、S7、S8、S9、S10、S11、S12、S13、S14表示光学系统中的表面标号,分别表示第一透镜101的镜面、第二透镜102的镜面、第三透镜103、第四透镜104、第五透镜105、第六透镜106和滤光镜片107的镜面。The specific numerical configuration of the optical system is given below in conjunction with the accompanying drawings and tables. The surface numbers S1, S2, S3, S4, S6, S7, S8, S9, S10, S11, S12, S13, and S14 represent the surface labels in the optical system. , respectively represent the mirror surface of the first lens 101 , the mirror surface of the second lens 102 , the mirror surface of the third lens 103 , the fourth lens 104 , the fifth lens 105 , the sixth lens 106 and the filter sheet 107 .
具体地,如图3所示,第一透镜101的两个透镜面分别为表面S1和表面S2、第二透镜102的两个透镜面分别为表面S3和表面S4、STO表示光阑,第三透镜103的两个透镜面分别为表面S6和表面S7,第四透镜104的两个透镜面分别为表面S8和表面S9,第五透镜105的两个透镜面分别为表面S10和表面S11,第六透镜106的两个透镜面分别为表面S12和表面S13,滤光镜片107的镜面为表面S14。Specifically, as shown in FIG. 3 , the two lens surfaces of the first lens 101 are the surface S1 and the surface S2 respectively, the two lens surfaces of the second lens 102 are the surface S3 and the surface S4 respectively, the STO represents the diaphragm, the third The two lens surfaces of the lens 103 are the surface S6 and the surface S7 respectively, the two lens surfaces of the fourth lens 104 are the surface S8 and the surface S9 respectively, the two lens surfaces of the fifth lens 105 are the surface S10 and the surface S11 respectively, The two lens surfaces of the six lenses 106 are the surface S12 and the surface S13 respectively, and the mirror surface of the filter lens 107 is the surface S14.
具体地,在表1中,Surf(面数)表示透镜的表面,Type(类型)表示表面的形状,“STANDRAD”表示平面,“EVENASPH”表示非球面;Radius(曲率半径)表示透镜表面弯曲的程度,可以用R表示,R值越小,镜片表面越弯;Thickness(间隔或厚度),间隔表示为光学系统的透镜之间在光轴上的间隔距离,厚度为透镜的中心厚度;ND表示透镜的折射率;VD表示透镜的色散系数,也称为阿贝系数;“Infinity”表示平面;OBJ表示物侧,STO表示光阑面,IMA表示像侧。Specifically, in Table 1, Surf (number of faces) represents the surface of the lens, Type (type) represents the shape of the surface, "STANDRAD" represents a plane, "EVENASPH" represents an aspherical surface; Radius (radius of curvature) represents the curved surface of the lens. The degree can be expressed by R, the smaller the R value, the more curved the lens surface; Thickness (interval or thickness), the interval is expressed as the separation distance between the lenses of the optical system on the optical axis, and the thickness is the center thickness of the lens; ND means The refractive index of the lens; VD represents the dispersion coefficient of the lens, also known as the Abbe coefficient; "Infinity" represents the plane; OBJ represents the object side, STO represents the diaphragm surface, and IMA represents the image side.
具体地,在表2中,Surf表示面数,K为二次曲线常数,“4次项”至“16次项”表示a 2至a 8分别表示各径向坐标所对应的系数。 Specifically, in Table 2, Surf represents the number of faces, K is a quadratic curve constant, and "4th-order term" to "16th-order term" indicate that a 2 to a 8 represent the coefficients corresponding to each radial coordinate, respectively.
需要说明的是,表1和表2对应的光学系统,称为实施例1。It should be noted that the optical systems corresponding to Table 1 and Table 2 are referred to as Example 1.
表1 为实施例1的光学系统的透镜各个表面参数数据Table 1 is the surface parameter data of the lens of the optical system of Example 1
SurfSurf TypeType RadiusRadius ThicknessThickness NDND VDVD
OBJOBJ STANDARD STANDARD InfinityInfinity InfinityInfinity      
11 EVENASPHEVENASPH 5.7675.767 0.59270.5927 1.661.66 20.3720.37
22 EVENASPHEVENASPH 5.0885.088 1.37291.3729      
33 EVENASPHEVENASPH 7.4817.481 0.86300.8630 1.541.54 5656
44 EVENASPHEVENASPH 39.64439.644 0.81200.8120      
STOSTO STANDARDSTANDARD InfinityInfinity 2.24562.2456      
66 EVENASPHEVENASPH -41.783-41.783 0.94470.9447 1.6351.635 23.923.9
77 EVENASPHEVENASPH 14.67414.674 0.44740.4474      
88 EVENASPHEVENASPH -23.580-23.580 3.85023.8502 1.7741.774 47.1747.17
99 EVENASPHEVENASPH -5.541-5.541 0.17420.1742      
1010 EVENASPHEVENASPH -8.086-8.086 1.52321.5232 1.541.54 5656
1111 EVENASPHEVENASPH -6.173-6.173 0.99690.9969      
1212 EVENASPHEVENASPH 6.3186.318 1.60011.6001 1.661.66 20.3720.37
1313 EVENASPHEVENASPH 3.5053.505 4.47284.4728      
1414    Infinity Infinity 11 1.521.52 64.264.2
IMAIMA    InfinityInfinity 0.9340.934      
表2 为实施例1的光学系统透镜一表面非球面系数数据Table 2 is the optical system lens-surface aspheric coefficient data of Example 1
surfsurf KK 4次项4th term 6次项6th term 8次项8th term 10次项10 times 12次项12th term 14次项14th term 16次项16th term
22 -1.5221-1.5221 -5.59788E-04-5.59788E-04 2.06823E-052.06823E-05 -4.37611E-05-4.37611E-05 4.06191E-064.06191E-06 -6.99622E-08-6.99622E-08 8.75055E-108.75055E-10 -5.22419E-11-5.22419E-11
33 -5.0107-5.0107 2.56793E-032.56793E-03 -2.85126E-04-2.85126E-04 1.83215E-041.83215E-04 -5.28288E-07-5.28288E-07 -2.17746E-07-2.17746E-07 7.33775E-097.33775E-09 1.50232E-091.50232E-09
44 -12.0695-12.0695 2.78492E-032.78492E-03 -3.47749E-04-3.47749E-04 2.35496E-042.35496E-04 -6.68853E-06-6.68853E-06 3.24665E-073.24665E-07 2.36949E-082.36949E-08 -4.1341E-10-4.1341E-10
55 -63.6165-63.6165 -9.02452E-04-9.02452E-04 -1.05393E-04-1.05393E-04 4.46173E-054.46173E-05 2.07142E-062.07142E-06 4.39613E-084.39613E-08 -2.67494E-09-2.67494E-09 0.00000E+000.00000E+00
77 -69.6689-69.6689 -6.59502E-03-6.59502E-03 -6.51789E-05-6.51789E-05 6.52331E-056.52331E-05 -1.25665E-05-1.25665E-05 -6.08249E-08-6.08249E-08 -2.24397E-07-2.24397E-07 2.19349E-082.19349E-08
88 -9.6006-9.6006 -4.04366E-03-4.04366E-03 1.12896E-041.12896E-04 -2.72490E-05-2.72490E-05 2.74485E-072.74485E-07 1.15535E-081.15535E-08 1.19296E-091.19296E-09 -1.98907E-11-1.98907E-11
99 14.294214.2942 -5.25800E-04-5.25800E-04 2.01484E-052.01484E-05 6.20170E-066.20170E-06 -7.34207E-08-7.34207E-08 -3.51062E-10-3.51062E-10 0.00000E+000.00000E+00 0.00000E+000.00000E+00
1010 -0.2982-0.2982 1.87692E-041.87692E-04 -1.03024E-05-1.03024E-05 7.52673E-077.52673E-07 4.31140E-084.31140E-08 1.86805E-091.86805E-09 0.00000E+000.00000E+00 0.00000E+000.00000E+00
1111 -0.2949-0.2949 5.10200E-035.10200E-03 -1.73398E-04-1.73398E-04 2.80486E-052.80486E-05 -1.62305E-07-1.62305E-07 -1.08264E-10-1.08264E-10 -1.85092E-12-1.85092E-12 -1.51075E-14-1.51075E-14
1212 -1.1879-1.1879 5.69060E-035.69060E-03 -2.04643E-04-2.04643E-04 3.26476E-053.26476E-05 -2.03718E-07-2.03718E-07 -9.65514E-11-9.65514E-11 1.90990E-121.90990E-12 -1.49428E-14-1.49428E-14
1313 -0.4485-0.4485 -1.83232E-03-1.83232E-03 -5.28373E-06-5.28373E-06 8.39501E-068.39501E-06 -2.39068E-07-2.39068E-07 3.07706E-093.07706E-09 -1.56730E-11-1.56730E-11 1.44174E-141.44174E-14
1414 -2.7557-2.7557 -8.78896E-04-8.78896E-04 3.20607E-063.20607E-06 2.05424E-062.05424E-06 -4.66169E-08-4.66169E-08 3.89490E-103.89490E-10 -9.61997E-13-9.61997E-13 -1.02262E-15-1.02262E-15
图4和图5分别为实施例1示例的光学系统在INF物距下的场曲参数和畸变参数,由图4和图5可知,该光学系统具有较好的成像效果,因此具有较高成像质量。Figures 4 and 5 are the field curvature parameters and distortion parameters of the optical system of the example of Example 1 at the INF object distance, respectively. It can be seen from Figures 4 and 5 that the optical system has a better imaging effect, so it has higher imaging quality.
需要说明的是,可以根据上述给出实施例1,改变其中一个参数后再进行光学设计,得到更多个不同的光学系统。It should be noted that, according to Example 1 given above, one of the parameters can be changed and then optical design can be performed to obtain more different optical systems.
请参阅图6,图6是本申请的实施例提供的一种拍摄装置的结构示意图。该拍摄装置200通过使用本申请实施例提供的光学系统100,可以实现产品小型化,同时又具有较大像面和较好的成像质量。Please refer to FIG. 6 , which is a schematic structural diagram of a photographing apparatus provided by an embodiment of the present application. By using the optical system 100 provided by the embodiment of the present application, the photographing device 200 can realize the miniaturization of the product, and at the same time have a larger image area and better imaging quality.
具体地,如图6所示,拍摄装置200包括光学系统100和图像传感器(图未示),光学系统100配置在拍摄物体22与该图像传感器的光路中。其中,光学系统100采用上述实施例提供的任意一种光学系统,该图像传感器可例如为COMS传感器或CCD传感器,其中,上述光学系统的成像面为图像传感器面对第六透镜的表面。Specifically, as shown in FIG. 6 , the photographing device 200 includes an optical system 100 and an image sensor (not shown), and the optical system 100 is arranged in the optical path between the photographed object 22 and the image sensor. The optical system 100 adopts any of the optical systems provided in the above embodiments, and the image sensor may be, for example, a CMOS sensor or a CCD sensor, wherein the imaging surface of the optical system is the surface of the image sensor facing the sixth lens.
具体地,拍摄装置200还可以进行拍摄的电子设备,包括手机、数码相机、运动相机、可穿戴设备或手持云台相机等。Specifically, the photographing apparatus 200 may also be an electronic device for photographing, including a mobile phone, a digital camera, a motion camera, a wearable device, or a handheld PTZ camera.
在一些实施例中,如图6所示,该拍摄装置200可以为运动相机,包括显示屏211和拍摄按键212。光学系统100用于将拍摄物体22(比如景物)成像于拍摄装置200的图像传感器;显示屏211用于显示成像,比如显示待拍摄物体的图像220,显示屏211具体可以为触控显示屏;拍摄按键212用于触发拍摄。In some embodiments, as shown in FIG. 6 , the photographing device 200 may be a motion camera, including a display screen 211 and a photographing button 212 . The optical system 100 is used to image the photographed object 22 (such as a scene) on the image sensor of the photographing device 200; the display screen 211 is used to display the imaging, such as displaying the image 220 of the object to be photographed, and the display screen 211 may specifically be a touch display screen; The shooting button 212 is used to trigger shooting.
上述实施例中的拍摄装置,由于使用了本申请实施例提供的光学系统,在实现产品的小型化时,依然可以保持大像面,因此可以采用较大尺寸的图像传感器,比如4/3英寸的图像传感器,同时又可以提高拍摄装置的成像质量。The photographing device in the above-mentioned embodiment, because of using the optical system provided by the embodiment of the present application, can still maintain a large image surface when realizing the miniaturization of the product, so a larger-sized image sensor, such as 4/3 inch, can be used. The image sensor can improve the imaging quality of the camera at the same time.
请参阅图7,图7是本申请的实施例提供的一种可移动平台的结构示意图。该可移动平台搭载有拍摄装置,以实现拍摄。Please refer to FIG. 7 , which is a schematic structural diagram of a movable platform provided by an embodiment of the present application. The movable platform is equipped with a photographing device to realize photographing.
如图7所示,可移动平台300包括平台本体30和拍摄装置200,拍摄装置200搭载在平台本体30上,拍摄装置200为上述实施例提供的任意一种拍摄装置,即包括上述实施例提供的任意一种光学系统100,光学系统100配置在拍摄物体与所述图像传感器的光路中,用于将拍摄物体成像于图像传感器。As shown in FIG. 7 , the movable platform 300 includes a platform body 30 and a photographing device 200. The photographing device 200 is mounted on the platform body 30. Any one of the optical systems 100, the optical system 100 is configured in the optical path between the photographed object and the image sensor, and is used to image the photographed object on the image sensor.
示例性的,可移动平台300包括无人机、机器人、无人驾驶车辆和手持云台中的任一种。Illustratively, the movable platform 300 includes any one of a drone, a robot, an unmanned vehicle, and a handheld gimbal.
其中,该飞行器包括无人机,该无人机包括旋翼型无人机,例如四旋翼无人机、六旋翼无人机、八旋翼无人机,也可以是固定翼无人机,还可以是旋翼型与固定翼无人机的组合,在此不作限定。Wherein, the aircraft includes an unmanned aerial vehicle, and the unmanned aerial vehicle includes a rotary-wing unmanned aerial vehicle, such as a quad-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotored unmanned aerial vehicle, or a fixed-wing unmanned aerial vehicle. It is a combination of rotary-wing and fixed-wing drones, which is not limited here.
其中,机器人也可以称为教育机器人,使用了麦克纳姆轮全向底盘,且全身设有多块智能装甲,每个智能装甲内置击打检测模块,可迅速检测物理打击。同时还包括两轴云台,可以灵活转动,配合发射器准确、稳定、连续地发射水晶弹或红外光束,配合弹道光效,给用户更为真实的射击体验。Among them, the robot can also be called an educational robot. It uses a Mecanum wheel omnidirectional chassis, and is equipped with multiple pieces of intelligent armor. Each intelligent armor has a built-in strike detection module, which can quickly detect physical strikes. At the same time, it also includes a two-axis gimbal, which can be rotated flexibly. With the launcher, it can accurately, steadily and continuously launch crystal bullets or infrared beams, and with ballistic light effects, it gives users a more realistic shooting experience.
比如,将光学系统安装在无人机上,由于光学系统在具备小型化时,还可可以增加镜头的视场角,进而可拍摄较大范围的景物,同时又可以提高拍摄装置的成像质量,而且多个透镜的组合使得相对距离较小,进而减小了光学系统的体积,实现了小型化和轻便化,提高了无人机的续航能力。由此,在无人机用于航拍时,通过使用该光学系统可以拍摄出更好的图像,进而提高了用户的体验感。For example, when the optical system is installed on the drone, when the optical system is miniaturized, it can also increase the field of view of the lens, and then can shoot a wider range of scenes, and at the same time can improve the imaging quality of the shooting device, and The combination of multiple lenses makes the relative distance smaller, thereby reducing the volume of the optical system, realizing miniaturization and portability, and improving the endurance of the UAV. Therefore, when the drone is used for aerial photography, better images can be captured by using the optical system, thereby improving the user's experience.
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于 此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (67)

  1. 一种光学系统,其特征在于,所述光学系统包括从物侧至像侧依次设置的:An optical system, characterized in that, the optical system comprises: sequentially arranged from the object side to the image side:
    第一透镜,具有负光焦度;a first lens having negative refractive power;
    第二透镜,具有正光焦度;a second lens having positive refractive power;
    第三透镜,具有负光焦度,且像侧透镜面为具有至少一个拐点的非球面形状;The third lens has a negative refractive power, and the image-side lens surface is an aspherical shape with at least one inflection point;
    第四透镜,具有正光焦度;the fourth lens, with positive refractive power;
    第五透镜,具有正光焦度,且物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状;The fifth lens has a positive refractive power, and both the object-side lens surface and the image-side lens surface are aspherical shapes with at least one inflection point;
    第六透镜,具有负光焦度,且物侧透镜面和像侧透镜面均为具有至少一个拐点的非球面形状;The sixth lens has negative refractive power, and both the object-side lens surface and the image-side lens surface are aspherical shapes with at least one inflection point;
    所述光学系统满足以下表达式:The optical system satisfies the following expression:
    Tr 6≥5.5毫米 Tr 6 ≥5.5mm
    其中,Tr 6为所述第六透镜的像侧透镜面到成像面在光轴方向上间隔距离的最小值。 Wherein, Tr 6 is the minimum value of the distance in the optical axis direction from the image-side lens surface of the sixth lens to the imaging surface.
  2. 根据权利要求1所述的光学系统,其特征在于,所述光学系统的光阑位于所述第二透镜和第三透镜之间。The optical system according to claim 1, wherein a diaphragm of the optical system is located between the second lens and the third lens.
  3. 根据权利要求1所述的光学系统,其特征在于,所述第五透镜的物侧透镜面具有凹入的物侧表面,所述第五透镜的像侧透镜面具有凸出的像侧表面。The optical system according to claim 1, wherein the object-side lens surface of the fifth lens has a concave object-side surface, and the image-side lens surface of the fifth lens has a convex image-side surface.
  4. 根据权利要求1所述的光学系统,其特征在于,所述第五透镜的物侧透镜面具有凸出的物侧表面,所述第五透镜的像侧透镜面具有凹入的像侧表面。The optical system according to claim 1, wherein the object-side lens surface of the fifth lens has a convex object-side surface, and the image-side lens surface of the fifth lens has a concave image-side surface.
  5. 根据权利要求1所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to claim 1, wherein the optical system satisfies the following expression:
    d 12>1.2毫米 d 12 >1.2mm
    其中,d 12为所述第一透镜的像侧透镜面到所述第二透镜的物侧透镜面在光轴方向上的间隔距离。 Wherein, d 12 is the separation distance in the optical axis direction from the image-side lens surface of the first lens to the object-side lens surface of the second lens.
  6. 根据权利要求1所述的光学系统,其特征在于,所述光学系统满足以下 表达式:The optical system according to claim 1, wherein the optical system satisfies the following expression:
    Tr 1+Tf 2≥3毫米 Tr 1 +Tf 2 ≥3mm
    其中,Tr 1为所述第一透镜的像侧透镜面到光阑面在光轴方向上的间隔距离Tf 2为所述光阑面到所述第二透镜的物侧透镜面在光轴方向上的间隔距离。 Wherein, Tr 1 is the separation distance from the image-side lens surface of the first lens to the diaphragm surface in the optical axis direction Tf 2 is the optical axis direction from the diaphragm surface to the object-side lens surface of the second lens on the separation distance.
  7. 根据权利要求1所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to claim 1, wherein the optical system satisfies the following expression:
    Figure PCTCN2020110099-appb-100001
    Figure PCTCN2020110099-appb-100001
    其中,Tf 1为所述第一透镜的物侧透镜面到光阑面在光轴方向上的间隔距离,Tr 2为所述光阑面到所述第二透镜的像侧透镜面在光轴方向上的间隔距离。 Wherein, Tf 1 is the distance between the object-side lens surface of the first lens and the diaphragm surface in the optical axis direction, and Tr 2 is the optical axis from the diaphragm surface to the image-side lens surface of the second lens. The separation distance in the direction.
  8. 根据权利要求1所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to claim 1, wherein the optical system satisfies the following expression:
    0<|(R 11-R 12)/(R 11+R 12)|≤0.1 0<|(R 11 -R 12 )/(R 11 +R 12 )|≤0.1
    0<|(R 21-R 12)/(R 21+R 12)|≤0.3 0<|(R 21 -R 12 )/(R 21 +R 12 )|≤0.3
    其中,R 11为所述第一透镜的物侧透镜面的曲率半径,R 12为所述第一透镜的像侧透镜面的曲率半径,R 21为所述第二透镜的物侧透镜面的曲率半径。 Wherein, R 11 is the radius of curvature of the object-side lens surface of the first lens, R 12 is the curvature radius of the image-side lens surface of the first lens, and R 21 is the radius of curvature of the object-side lens surface of the second lens Radius of curvature.
  9. 根据权利要求1所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to claim 1, wherein the optical system satisfies the following expression:
    Figure PCTCN2020110099-appb-100002
    Figure PCTCN2020110099-appb-100002
    其中,T tl为所述第一透镜的物侧透镜面到成像面在光轴方向的间隔距离,E ffl为所述光学系统的有效焦距。 Wherein, T tl is the separation distance from the object-side lens surface of the first lens to the imaging surface in the direction of the optical axis, and E ffl is the effective focal length of the optical system.
  10. 根据权利要求1所述的光学系统,其特征在于,所述第二透镜像侧透镜面为具有至少一个拐点的非球面形状。The optical system according to claim 1, wherein the image-side lens surface of the second lens is an aspherical shape having at least one inflection point.
  11. 根据权利要求10所述的光学系统,其特征在于,所述第一透镜、第二透镜、第三透镜、第四透镜、第五透镜至第六透镜均为非球面透镜。The optical system according to claim 10, wherein the first lens, the second lens, the third lens, the fourth lens, the fifth lens to the sixth lens are all aspherical lenses.
  12. 根据权利要求1所述的光学系统,其特征在于,所述第一透镜至所述第六透镜中至少包括一个玻璃透镜,和/或,所述第一透镜至所述第六透镜中至 少包括一个塑胶透镜。The optical system according to claim 1, wherein at least one glass lens is included among the first lens to the sixth lens, and/or at least one of the first lens to the sixth lens includes at least one glass lens A plastic lens.
  13. 根据权利要求12所述的光学系统,其特征在于,所述第四透镜为玻璃透镜。The optical system according to claim 12, wherein the fourth lens is a glass lens.
  14. 根据权利要求12所述的光学系统,其特征在于,所述第四透镜为玻璃透镜,所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜为塑胶透镜。The optical system according to claim 12, wherein the fourth lens is a glass lens, and the first lens, the second lens, the third lens, the fifth lens and the sixth lens are plastic lenses.
  15. 根据权利要求12所述的光学系统,其特征在于,所述光学系统的第一透镜至第六透镜配置为对焦透镜,进行整群对焦。The optical system according to claim 12, wherein the first lens to the sixth lens of the optical system are configured as focusing lenses to perform group focusing.
  16. 根据权利要求1所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to claim 1, wherein the optical system satisfies the following expression:
    1.75≤nd 4≤1.81,45≤vd 4≤50 1.75≤nd 4 ≤1.81, 45≤vd 4 ≤50
    其中,nd 4为所述第四透镜的折射率,vd 4为所述第四透镜的色散系数。 Wherein, nd 4 is the refractive index of the fourth lens, and vd 4 is the dispersion coefficient of the fourth lens.
  17. 根据权利要求1至16任一项所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to any one of claims 1 to 16, wherein the optical system satisfies the following expression:
    1.6≤nd 1≤1.66,20≤vd 1≤24;和/或, 1.6≤nd 1 ≤1.66, 20≤vd 1 ≤24; and/or,
    1.5≤nd 2≤1.6,50≤vd 2≤60;和/或, 1.5≤nd 2 ≤1.6, 50≤vd 2 ≤60; and/or,
    1.6≤nd 3≤1.66,20≤vd 3≤24;和/或, 1.6≤nd 3 ≤1.66, 20≤vd 3 ≤24; and/or,
    1.6≤nd 5≤1.66,20≤vd 5≤24;和/或, 1.6≤nd 5 ≤1.66, 20≤vd 5 ≤24; and/or,
    1.5≤nd 6≤1.6,50≤vd 6≤60 1.5≤nd 6 ≤1.6, 50≤vd 6 ≤60
    其中,nd 1为所述第一透镜的折射率,nd 2为所述第二透镜的折射率,nd 3为所述第三透镜的折射率,nd 5为所述第五透镜的折射率,nd 6为所述第六透镜的折射率,vd 1为所述第一透镜的色散系数,vd 2为所述第二透镜的色散系数,vd 3为所述第三透镜的色散系数,vd 5为所述第五透镜的色散系数,vd 6为所述第六透镜的色散系数。 Wherein, nd 1 is the refractive index of the first lens, nd 2 is the refractive index of the second lens, nd 3 is the refractive index of the third lens, and nd 5 is the refractive index of the fifth lens, nd 6 is the refractive index of the sixth lens, vd 1 is the dispersion coefficient of the first lens, vd 2 is the dispersion coefficient of the second lens, vd 3 is the dispersion coefficient of the third lens, vd 5 is the dispersion coefficient of the fifth lens, and vd 6 is the dispersion coefficient of the sixth lens.
  18. 根据权利要求1至16任一项所述的光学系统,其特征在于,所述光学系统包括可变光圈和/或机械快门,所述可变光圈和/或机械快门配置在所述第二透镜和第三透镜之间。The optical system according to any one of claims 1 to 16, wherein the optical system comprises a variable aperture and/or a mechanical shutter, and the variable aperture and/or the mechanical shutter are arranged on the second lens and the third lens.
  19. 根据权利要求1至16任一项所述的光学系统,其特征在于,所述光学系统的成像面尺寸大于或等于1英寸。The optical system according to any one of claims 1 to 16, wherein the size of the imaging surface of the optical system is greater than or equal to 1 inch.
  20. 根据权利要求1至16任一项所述的光学系统,其特征在于,所述光学系统还包括滤光镜片,所述滤光镜片配置在所述第六透镜和所述光学系统的成 像面之间。The optical system according to any one of claims 1 to 16, wherein the optical system further comprises a filter sheet, the filter sheet is arranged between the sixth lens and the imaging surface of the optical system between.
  21. 根据权利要求20所述的光学系统,其特征在于,所述滤光镜片包括红外滤光镜片。The optical system according to claim 20, wherein the filter lens comprises an infrared filter lens.
  22. 根据权利要求1至16任一项所述的光学系统,其特征在于,所述光学系统满足以下表达式:The optical system according to any one of claims 1 to 16, wherein the optical system satisfies the following expression:
    -150<f 1<-90,9.0<f 2<13.0,-11.2<f 3<-8.3,5.0<f 4<7.0,19.5<f 5<21.5,-13.5<f 6<-10.5; -150<f 1 <-90, 9.0<f 2 <13.0, -11.2<f 3 <-8.3, 5.0<f 4 <7.0, 19.5<f 5 <21.5, -13.5<f 6 <-10.5;
    其中,f是所述光学系统的焦距,f 1是所述第一透镜的焦距、f 2是所述第二透镜的焦距,f 3是所述第三透镜的焦距,f 4是所述第四透镜的焦距,f 5是所述第五透镜的焦距,f 6是所述第六透镜的焦距,焦距单位为毫米。 where f is the focal length of the optical system, f1 is the focal length of the first lens, f2 is the focal length of the second lens, f3 is the focal length of the third lens, and f4 is the focal length of the first lens The focal length of the four lenses, f5 is the focal length of the fifth lens, f6 is the focal length of the sixth lens, and the focal length is in millimeters.
  23. 一种拍摄装置,其特征在于,所述拍摄装置包括光学系统和图像传感器,所述光学系统配置在拍摄物体与所述图像传感器的光路中,用于将所述拍摄物体成像于所述图像传感器;A photographing device, characterized in that the photographing device includes an optical system and an image sensor, the optical system is configured in an optical path between a photographed object and the image sensor, and is used to image the photographed object on the image sensor ;
    所述光学系统包括从物侧至像侧依次设置的:The optical system includes: sequentially arranged from the object side to the image side:
    第一透镜,具有负光焦度;a first lens having negative refractive power;
    第二透镜,具有正光焦度;a second lens having positive refractive power;
    第三透镜,具有负光焦度为具有至少一个拐点的非球面形状;a third lens having a negative refractive power and an aspherical shape having at least one point of inflection;
    第四透镜,具有正光焦度;the fourth lens, with positive refractive power;
    第五透镜,具有正光焦度,且物侧透镜面和像侧透镜面的拐点均为具有至少一个拐点的非球面形状;The fifth lens has a positive refractive power, and the inflection points of the object-side lens surface and the image-side lens surface are both aspherical shapes with at least one inflection point;
    第六透镜,具有负光焦度,且物侧透镜面和像侧透镜面的拐点均为具有至少一个拐点的非球面形状;The sixth lens has a negative refractive power, and the inflection points of the object-side lens surface and the image-side lens surface are both aspherical shapes with at least one inflection point;
    所述光学系统满足以下表达式:The optical system satisfies the following expression:
    Tr 6≥5.5毫米 Tr 6 ≥5.5mm
    其中,Tr 6为所述第六透镜的像侧透镜面到成像面在光轴方向上间隔距离的最小值,所述成像面为所述图像传感器面对所述第六透镜的表面。 Wherein, Tr 6 is the minimum value of the distance in the optical axis direction from the image-side lens surface of the sixth lens to the imaging surface, and the imaging surface is the surface of the image sensor facing the sixth lens.
  24. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统的光阑位于所述第二透镜和第三透镜之间。The photographing device according to claim 23, wherein a diaphragm of the optical system is located between the second lens and the third lens.
  25. 根据权利要求23所述的拍摄装置,其特征在于,所述第五透镜的物侧透镜面具有凹入的物侧表面,所述第五透镜的像侧透镜面具有凸出的像侧表面。The photographing device according to claim 23, wherein the object-side lens surface of the fifth lens has a concave object-side surface, and the image-side lens surface of the fifth lens has a convex image-side surface.
  26. 根据权利要求23所述的拍摄装置,其特征在于,所述第五透镜的物侧透镜面具有凸出的物侧表面,所述第五透镜的像侧透镜面具有凹入的像侧表面。The photographing device of claim 23, wherein the object-side lens surface of the fifth lens has a convex object-side surface, and the image-side lens surface of the fifth lens has a concave image-side surface.
  27. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to claim 23, wherein the optical system satisfies the following expression:
    d 12>1.2毫米 d 12 >1.2mm
    其中,d 12为所述第一透镜的像侧透镜面到所述第二透镜的物侧透镜面在光轴方向上的间隔距离。 Wherein, d 12 is the separation distance in the optical axis direction from the image-side lens surface of the first lens to the object-side lens surface of the second lens.
  28. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to claim 23, wherein the optical system satisfies the following expression:
    Tr 1+Tf 2≥3毫米 Tr 1 +Tf 2 ≥3mm
    其中,Tr 1为所述第一透镜的像侧透镜面到光阑面在光轴方向上的间隔距离, Wherein, Tr 1 is the separation distance from the image-side lens surface of the first lens to the diaphragm surface in the direction of the optical axis,
    Tf 2为所述光阑面到所述第二透镜的物侧透镜面在光轴方向上的间隔距离。 Tf 2 is the distance from the diaphragm surface to the object-side lens surface of the second lens in the optical axis direction.
  29. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to claim 23, wherein the optical system satisfies the following expression:
    Figure PCTCN2020110099-appb-100003
    Figure PCTCN2020110099-appb-100003
    其中,Tf 1为所述第一透镜的物侧透镜面到光阑面在光轴方向上的间隔距离,Tr 2为所述光阑面到所述第二透镜的像侧透镜面在光轴方向上的间隔距离。 Wherein, Tf 1 is the distance between the object-side lens surface of the first lens and the diaphragm surface in the optical axis direction, and Tr 2 is the optical axis from the diaphragm surface to the image-side lens surface of the second lens. The separation distance in the direction.
  30. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to claim 23, wherein the optical system satisfies the following expression:
    0<|(R 11-R 12)/(R 11+R 12)|≤0.1 0<|(R 11 -R 12 )/(R 11 +R 12 )|≤0.1
    0<|(R 21-R 12)/(R 21+R 12)|≤0.3 0<|(R 21 -R 12 )/(R 21 +R 12 )|≤0.3
    其中,R 11为所述第一透镜的物侧透镜面的曲率半径,R 12为所述第一透镜的像侧透镜面的曲率半径,R 21为所述第二透镜的物侧透镜面的曲率半径。 Wherein, R 11 is the radius of curvature of the object-side lens surface of the first lens, R 12 is the curvature radius of the image-side lens surface of the first lens, and R 21 is the radius of curvature of the object-side lens surface of the second lens Radius of curvature.
  31. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to claim 23, wherein the optical system satisfies the following expression:
    Figure PCTCN2020110099-appb-100004
    Figure PCTCN2020110099-appb-100004
    其中,T tl为所述第一透镜的物侧透镜面到成像面在光轴方向的间隔距离,E ffl为所述光学系统的有效焦距。 Wherein, T tl is the separation distance from the object-side lens surface of the first lens to the imaging surface in the direction of the optical axis, and E ffl is the effective focal length of the optical system.
  32. 根据权利要求23所述的拍摄装置,其特征在于,所述第二透镜像侧透镜面为具有至少一个拐点的非球面形状。The photographing device according to claim 23, wherein the image-side lens surface of the second lens is an aspherical shape with at least one inflection point.
  33. 根据权利要求32所述的拍摄装置,其特征在于,所述第一透镜、第二透镜、第三透镜、第四透镜、第五透镜至第六透镜均为非球面透镜。The photographing device according to claim 32, wherein the first lens, the second lens, the third lens, the fourth lens, the fifth lens to the sixth lens are all aspherical lenses.
  34. 根据权利要求23所述的拍摄装置,其特征在于,所述第一透镜至所述第六透镜中至少包括一个玻璃透镜,和/或,所述第一透镜至所述第六透镜中至少包括一个塑胶透镜。The photographing device according to claim 23, wherein at least one glass lens is included among the first lens to the sixth lens, and/or at least one of the first lens to the sixth lens includes at least one glass lens A plastic lens.
  35. 根据权利要求34所述的拍摄装置,其特征在于,所述第四透镜为玻璃透镜。The photographing device according to claim 34, wherein the fourth lens is a glass lens.
  36. 根据权利要求34所述的拍摄装置,其特征在于,所述第四透镜为玻璃透镜,所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜为塑胶透镜。The photographing device according to claim 34, wherein the fourth lens is a glass lens, and the first lens, the second lens, the third lens, the fifth lens and the sixth lens are plastic lenses.
  37. 根据权利要求34所述的拍摄装置,其特征在于,所述光学系统的第一透镜至第六透镜配置为对焦透镜,进行整群对焦。The photographing device according to claim 34, wherein the first lens to the sixth lens of the optical system are configured as focus lenses to perform group focusing.
  38. 根据权利要求23所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to claim 23, wherein the optical system satisfies the following expression:
    1.75≤nd 4≤1.81,45≤vd 4≤50 1.75≤nd 4 ≤1.81, 45≤vd 4 ≤50
    其中,nd 4为所述第四透镜的折射率,vd 4为所述第四透镜的色散系数。 Wherein, nd 4 is the refractive index of the fourth lens, and vd 4 is the dispersion coefficient of the fourth lens.
  39. 根据权利要求23至38任一项所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to any one of claims 23 to 38, wherein the optical system satisfies the following expression:
    1.6≤nd 1≤1.66,20≤vd 1≤24;和/或, 1.6≤nd 1 ≤1.66, 20≤vd 1 ≤24; and/or,
    1.5≤nd 2≤1.6,50≤vd 2≤60;和/或, 1.5≤nd 2 ≤1.6, 50≤vd 2 ≤60; and/or,
    1.6≤nd 3≤1.66,20≤vd 3≤24;和/或, 1.6≤nd 3 ≤1.66, 20≤vd 3 ≤24; and/or,
    1.6≤nd 5≤1.66,20≤vd 5≤24;和/或, 1.6≤nd 5 ≤1.66, 20≤vd 5 ≤24; and/or,
    1.5≤nd 6≤1.6,50≤vd 6≤60 1.5≤nd 6 ≤1.6, 50≤vd 6 ≤60
    其中,nd 1为所述第一透镜的折射率,nd 2为所述第二透镜的折射率,nd 3为所述第三透镜的折射率,nd 5为所述第五透镜的折射率,nd 6为所述第六透镜的折射率,vd 1为所述第一透镜的色散系数,vd 2为所述第二透镜的色散系数,vd 3为 所述第三透镜的色散系数,vd 5为所述第五透镜的色散系数,vd 6为所述第六透镜的色散系数。 Wherein, nd 1 is the refractive index of the first lens, nd 2 is the refractive index of the second lens, nd 3 is the refractive index of the third lens, and nd 5 is the refractive index of the fifth lens, nd 6 is the refractive index of the sixth lens, vd 1 is the dispersion coefficient of the first lens, vd 2 is the dispersion coefficient of the second lens, vd 3 is the dispersion coefficient of the third lens, vd 5 is the dispersion coefficient of the fifth lens, and vd 6 is the dispersion coefficient of the sixth lens.
  40. 根据权利要求23至38任一项所述的拍摄装置,其特征在于,所述光学系统包括可变光圈和/或机械快门,所述可变光圈和/或机械快门配置在所述第二透镜和第三透镜之间。The photographing device according to any one of claims 23 to 38, wherein the optical system comprises a variable aperture and/or a mechanical shutter, and the variable aperture and/or the mechanical shutter are arranged on the second lens and the third lens.
  41. 根据权利要求23至38任一项所述的拍摄装置,其特征在于,所述光学系统的成像面尺寸大于或等于1英寸。The photographing device according to any one of claims 23 to 38, wherein the size of the imaging surface of the optical system is greater than or equal to 1 inch.
  42. 根据权利要求23至38任一项所述的拍摄装置,其特征在于,所述光学系统还包括滤光镜片,所述滤光镜片配置在所述第六透镜和所述光学系统的成像面之间。The photographing device according to any one of claims 23 to 38, wherein the optical system further comprises a filter sheet, and the filter sheet is arranged between the sixth lens and the imaging surface of the optical system between.
  43. 根据权利要求42所述的拍摄装置,其特征在于,所述滤光镜片包括红外滤光镜片。The photographing device according to claim 42, wherein the filter lens comprises an infrared filter lens.
  44. 根据权利要求23至38任一项所述的拍摄装置,其特征在于,所述光学系统满足以下表达式:The photographing device according to any one of claims 23 to 38, wherein the optical system satisfies the following expression:
    -150<f 1<-90,9.0<f 2<13.0,-11.2<f 3<-8.3,5.0<f 4<7.0,19.5<f 5<21.5,-13.5<f 6<-10.5; -150<f 1 <-90, 9.0<f 2 <13.0, -11.2<f 3 <-8.3, 5.0<f 4 <7.0, 19.5<f 5 <21.5, -13.5<f 6 <-10.5;
    其中,f是所述光学系统的焦距,f 1是所述第一透镜的焦距、f 2是所述第二透镜的焦距,f 3是所述第三透镜的焦距,f 4是所述第四透镜的焦距,f 5是所述第五透镜的焦距,f 6是所述第六透镜的焦距,焦距单位为毫米。 where f is the focal length of the optical system, f1 is the focal length of the first lens, f2 is the focal length of the second lens, f3 is the focal length of the third lens, and f4 is the focal length of the first lens The focal length of the four lenses, f5 is the focal length of the fifth lens, f6 is the focal length of the sixth lens, and the focal length is in millimeters.
  45. 一种可移动平台,其特征在于,所述可移动平台包括平台本体和拍摄装置,所述拍摄装置搭载在所述平台本体上;所述拍摄装置包括光学系统和图像传感器,所述光学系统配置在拍摄物体与所述图像传感器的光路中,用于将所述拍摄物体成像于所述图像传感器;A movable platform, characterized in that the movable platform includes a platform body and a photographing device, the photographing device is mounted on the platform body; the photographing device includes an optical system and an image sensor, and the optical system is configured in the optical path between the photographed object and the image sensor, for imaging the photographed object on the image sensor;
    所述光学系统包括从物侧至像侧依次设置的:The optical system includes: sequentially arranged from the object side to the image side:
    第一透镜,具有负光焦度;a first lens having negative refractive power;
    第二透镜,具有正光焦度;a second lens having positive refractive power;
    第三透镜,具有负光焦度为具有至少一个拐点的非球面形状;a third lens having a negative refractive power and an aspherical shape having at least one point of inflection;
    第四透镜,具有正光焦度;the fourth lens, with positive refractive power;
    第五透镜,具有正光焦度,且物侧透镜面和像侧透镜面的拐点均为具有至少一个拐点的非球面形状;The fifth lens has positive refractive power, and the inflection points of the object-side lens surface and the image-side lens surface are both aspherical shapes with at least one inflection point;
    第六透镜,具有负光焦度,且物侧透镜面和像侧透镜面的拐点均为具有至少一个拐点的非球面形状;The sixth lens has a negative refractive power, and the inflection points of the object-side lens surface and the image-side lens surface are both aspherical shapes with at least one inflection point;
    所述光学系统满足以下表达式:The optical system satisfies the following expression:
    Tr 6≥5.5毫米 Tr 6 ≥5.5mm
    其中,Tr 6为所述第六透镜的像侧透镜面到成像面在光轴方向上间隔距离的最小值,所述成像面为所述图像传感器面对所述第六透镜的表面。 Wherein, Tr 6 is the minimum value of the distance in the optical axis direction from the image-side lens surface of the sixth lens to the imaging surface, and the imaging surface is the surface of the image sensor facing the sixth lens.
  46. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统的光阑位于所述第二透镜和第三透镜之间。The movable platform of claim 45, wherein the stop of the optical system is located between the second lens and the third lens.
  47. 根据权利要求45所述的可移动平台,其特征在于,所述第五透镜的物侧透镜面具有凹入的物侧表面,所述第五透镜的像侧透镜面具有凸出的像侧表面。The movable platform of claim 45, wherein the object-side lens surface of the fifth lens has a concave object-side surface, and the image-side lens surface of the fifth lens has a convex image-side surface .
  48. 根据权利要求45所述的可移动平台,其特征在于,所述第五透镜的物侧透镜面具有凸出的物侧表面,所述第五透镜的像侧透镜面具有凹入的像侧表面。The movable platform of claim 45, wherein the object-side lens surface of the fifth lens has a convex object-side surface, and the image-side lens surface of the fifth lens has a concave image-side surface .
  49. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform of claim 45, wherein the optical system satisfies the following expression:
    d 12>1.2毫米 d 12 >1.2mm
    其中,d 12为所述第一透镜的像侧透镜面到所述第二透镜的物侧透镜面在光轴方向上的间隔距离。 Wherein, d 12 is the separation distance in the optical axis direction from the image-side lens surface of the first lens to the object-side lens surface of the second lens.
  50. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform of claim 45, wherein the optical system satisfies the following expression:
    Tr 1+Tf 2≥3毫米 Tr 1 +Tf 2 ≥3mm
    其中,Tr 1为所述第一透镜的像侧透镜面到光阑面在光轴方向上的间隔距离, Wherein, Tr 1 is the separation distance from the image-side lens surface of the first lens to the diaphragm surface in the direction of the optical axis,
    Tf 2为所述光阑面到所述第二透镜的物侧透镜面在光轴方向上的间隔距离。 Tf 2 is the distance from the diaphragm surface to the object-side lens surface of the second lens in the optical axis direction.
  51. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform of claim 45, wherein the optical system satisfies the following expression:
    Figure PCTCN2020110099-appb-100005
    Figure PCTCN2020110099-appb-100005
    其中,Tf 1为所述第一透镜的物侧透镜面到光阑面在光轴方向上的间隔距离, Tr 2为所述光阑面到所述第二透镜的像侧透镜面在光轴方向上的间隔距离。 Wherein, Tf 1 is the distance between the object-side lens surface of the first lens and the diaphragm surface in the optical axis direction, and Tr 2 is the distance between the diaphragm surface and the image-side lens surface of the second lens in the optical axis direction The separation distance in the direction.
  52. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform of claim 45, wherein the optical system satisfies the following expression:
    0<|(R 11-R 12)/(R 11+R 12)|≤0.1 0<|(R 11 -R 12 )/(R 11 +R 12 )|≤0.1
    0<|(R 21-R 12)/(R 21+R 12)|≤0.3 0<|(R 21 -R 12 )/(R 21 +R 12 )|≤0.3
    其中,R 11为所述第一透镜的物侧透镜面的曲率半径,R 12为所述第一透镜的像侧透镜面的曲率半径,R 21为所述第二透镜的物侧透镜面的曲率半径。 Wherein, R 11 is the radius of curvature of the object-side lens surface of the first lens, R 12 is the curvature radius of the image-side lens surface of the first lens, and R 21 is the radius of curvature of the object-side lens surface of the second lens Radius of curvature.
  53. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform of claim 45, wherein the optical system satisfies the following expression:
    Figure PCTCN2020110099-appb-100006
    Figure PCTCN2020110099-appb-100006
    其中,T tl为所述第一透镜的物侧透镜面到成像面在光轴方向的间隔距离,E ffl为所述光学系统的有效焦距。 Wherein, T tl is the separation distance from the object-side lens surface of the first lens to the imaging surface in the direction of the optical axis, and E ffl is the effective focal length of the optical system.
  54. 根据权利要求45所述的可移动平台,其特征在于,所述第二透镜像侧透镜面为具有至少一个拐点的非球面形状。The movable platform according to claim 45, wherein the image-side lens surface of the second lens is an aspherical shape with at least one inflection point.
  55. 根据权利要求54所述的可移动平台,其特征在于,所述第一透镜、第二透镜、第三透镜、第四透镜、第五透镜至第六透镜均为非球面透镜。The movable platform according to claim 54, wherein the first lens, the second lens, the third lens, the fourth lens, the fifth lens to the sixth lens are all aspherical lenses.
  56. 根据权利要求55所述的可移动平台,其特征在于,所述第一透镜至所述第六透镜中至少包括一个玻璃透镜,和/或,所述第一透镜至所述第六透镜中至少包括一个塑胶透镜。The movable platform according to claim 55, wherein at least one glass lens is included among the first lens to the sixth lens, and/or, at least one of the first lens to the sixth lens is at least one glass lens. Includes a plastic lens.
  57. 根据权利要求56所述的可移动平台,其特征在于,所述第四透镜为玻璃透镜。The movable platform of claim 56, wherein the fourth lens is a glass lens.
  58. 根据权利要求56所述的可移动平台,其特征在于,所述第四透镜为玻璃透镜,所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜为塑胶透镜。The movable platform according to claim 56, wherein the fourth lens is a glass lens, and the first lens, the second lens, the third lens, the fifth lens and the sixth lens are plastic lenses.
  59. 根据权利要求56所述的可移动平台,其特征在于,所述光学系统的第一透镜至第六透镜配置为对焦透镜,进行整群对焦。The movable platform according to claim 56, wherein the first lens to the sixth lens of the optical system are configured as focusing lenses to perform group focusing.
  60. 根据权利要求45所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform of claim 45, wherein the optical system satisfies the following expression:
    1.75≤nd 4≤1.81,45≤vd 4≤50 1.75≤nd 4 ≤1.81, 45≤vd 4 ≤50
    其中,nd 4为所述第四透镜的折射率,vd 4为所述第四透镜的色散系数。 Wherein, nd 4 is the refractive index of the fourth lens, and vd 4 is the dispersion coefficient of the fourth lens.
  61. 根据权利要求45至60任一项所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform according to any one of claims 45 to 60, wherein the optical system satisfies the following expression:
    1.6≤nd 1≤1.66,20≤vd 1≤24;和/或, 1.6≤nd 1 ≤1.66, 20≤vd 1 ≤24; and/or,
    1.5≤nd 2≤1.6,50≤vd 2≤60;和/或, 1.5≤nd 2 ≤1.6, 50≤vd 2 ≤60; and/or,
    1.6≤nd 3≤1.66,20≤vd 3≤24;和/或, 1.6≤nd 3 ≤1.66, 20≤vd 3 ≤24; and/or,
    1.6≤nd 5≤1.66,20≤vd 5≤24;和/或, 1.6≤nd 5 ≤1.66, 20≤vd 5 ≤24; and/or,
    1.5≤nd 6≤1.6,50≤vd 6≤60 1.5≤nd 6 ≤1.6, 50≤vd 6 ≤60
    其中,nd 1为所述第一透镜的折射率,nd 2为所述第二透镜的折射率,nd 3为所述第三透镜的折射率,nd 5为所述第五透镜的折射率,nd 6为所述第六透镜的折射率,vd 1为所述第一透镜的色散系数,vd 2为所述第二透镜的色散系数,vd 3为所述第三透镜的色散系数,vd 5为所述第五透镜的色散系数,vd 6为所述第六透镜的色散系数。 Wherein, nd 1 is the refractive index of the first lens, nd 2 is the refractive index of the second lens, nd 3 is the refractive index of the third lens, and nd 5 is the refractive index of the fifth lens, nd 6 is the refractive index of the sixth lens, vd 1 is the dispersion coefficient of the first lens, vd 2 is the dispersion coefficient of the second lens, vd 3 is the dispersion coefficient of the third lens, vd 5 is the dispersion coefficient of the fifth lens, and vd 6 is the dispersion coefficient of the sixth lens.
  62. 根据权利要求45至60任一项所述的可移动平台,其特征在于,所述光学系统包括可变光圈和/或机械快门,所述可变光圈和/或机械快门配置在所述第二透镜和第三透镜之间。The movable platform according to any one of claims 45 to 60, wherein the optical system comprises a variable aperture and/or a mechanical shutter, and the variable aperture and/or mechanical shutter are arranged on the second between the lens and the third lens.
  63. 根据权利要求45至60任一项所述的可移动平台,其特征在于,所述光学系统的成像面尺寸大于或等于1英寸。The movable platform according to any one of claims 45 to 60, wherein the size of the imaging surface of the optical system is greater than or equal to 1 inch.
  64. 根据权利要求45至60任一项所述的可移动平台,其特征在于,所述光学系统还包括滤光镜片,所述滤光镜片配置在所述第六透镜和所述光学系统的成像面之间。The movable platform according to any one of claims 45 to 60, wherein the optical system further comprises a filter sheet, and the filter sheet is arranged on the sixth lens and the imaging plane of the optical system between.
  65. 根据权利要求64所述的可移动平台,其特征在于,所述滤光镜片包括红外滤光镜片。The movable platform of claim 64, wherein the filter lens comprises an infrared filter lens.
  66. 根据权利要求45至60任一项所述的可移动平台,其特征在于,所述光学系统满足以下表达式:The movable platform according to any one of claims 45 to 60, wherein the optical system satisfies the following expression:
    -150<f 1<-90,9.0<f 2<13.0,-11.2<f 3<-8.3,5.0<f 4<7.0,19.5<f 5<21.5,-13.5<f 6<-10.5; -150<f 1 <-90, 9.0<f 2 <13.0, -11.2<f 3 <-8.3, 5.0<f 4 <7.0, 19.5<f 5 <21.5, -13.5<f 6 <-10.5;
    其中,f是所述光学系统的焦距,f 1是所述第一透镜的焦距、f 2是所述第二透镜的焦距,f 3是所述第三透镜的焦距,f 4是所述第四透镜的焦距,f 5是所 述第五透镜的焦距,f 6是所述第六透镜的焦距,焦距单位为毫米。 where f is the focal length of the optical system, f1 is the focal length of the first lens, f2 is the focal length of the second lens, f3 is the focal length of the third lens, and f4 is the focal length of the first lens The focal length of the four lenses, f5 is the focal length of the fifth lens, f6 is the focal length of the sixth lens, and the focal length is in millimeters.
  67. 根据权利要求45所述的可移动平台,其特征在于,所述可移动平台包括无人机、机器人或手持云台。The movable platform of claim 45, wherein the movable platform comprises an unmanned aerial vehicle, a robot, or a handheld gimbal.
PCT/CN2020/110099 2020-08-19 2020-08-19 Optical system, photographing device, and mobile platform WO2022036607A1 (en)

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