WO2022141124A1 - Optical system, camera device, gimbal, and movable platform - Google Patents

Abstract

An optical system (100), a camera device (200), a gimbal (400), and a movable platform (300). The optical system (100) comprises a first lens (101) having a negative focal power, a second lens (102) having a negative focal power, a third lens (103) having a negative focal power, a fourth lens (104) having a positive focal power, a fifth lens (105) having a positive focal power, a sixth lens (106) having a negative focal power, and a seventh lens (107) having a positive focal power that are sequentially arranged from an object side to an image side; the third lens (103) serves as a focusing lens of the optical system, and the optical system (100) satisfies the expression: G₁₂/R₁₂ ≤ 1.83 and/or G₂₂/R₂₂ ≤ 1.80, wherein G₁₂ is the effective aperture of an image-side lens surface of the first lens (101), G₂₂ is the effective aperture of an image-side lens surface of the second lens (102), R₁₂ is the radius of curvature of the image-side lens surface of the first lens (101), and R₂₂ is the radius of curvature of the image-side lens surface of the second lens (102).

Description

Optical system, camera device, pan/tilt and movable platform technical field

The present application relates to the field of optical technology, and in particular, to an optical system, a photographing device using the optical system, a pan/tilt head, and a movable platform.

Background technique

With the development of photography technology, photographing devices (such as aerial cameras, action cameras or handheld cameras) also tend to be thinner and smaller. As a result, the optical system used in the photographing device must also be thinned and miniaturized under the market trend, and the optical system is required to be a wide-angle lens. The incident light of a wide-angle lens in a strong light environment will bring stray light, which will affect the imaging clarity of the optical system.

SUMMARY OF THE INVENTION

Based on this, embodiments of the present application provide an optical system, a photographing device, a pan-tilt head, and a movable platform. The optical system has a larger field of view and reduces stray light caused by incident light in a strong light environment. The impact of the optical system can improve the imaging clarity.

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:

a first lens having negative refractive power;

a second lens having negative refractive power;

a third lens having negative refractive power and serving as a focusing lens of the optical system;

the fourth lens, with positive refractive power;

the fifth lens, with positive refractive power;

the sixth lens, with negative refractive power;

the seventh lens, with positive refractive power;

Wherein, the optical system satisfies the following expression:

and / or,

Wherein, G ₁₂ is the effective aperture of the image-side lens surface of the first lens, G ₂₂ is the effective aperture of the image-side lens surface of the second lens, and R ₁₂ is the image-side lens surface of the first lens. The curvature radius, R ₂₂ is the curvature radius of the image-side lens surface of the second lens.

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.

In a third aspect, the present application further provides a pan/tilt head, the pan/tilt head is equipped with a photographing device, and the photographing device includes the optical system and the image sensor according to any one of the embodiments of the present application, and the optical system It is arranged in the optical path between the photographed object and the image sensor, and is used to image the photographed object on the image sensor.

In a fourth aspect, the present application further provides a movable platform, the movable platform includes a platform body and a photographing device, 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.

In the optical system, photographing device, pan-tilt and movable platform provided by the embodiments of the present application, the optical system can be installed on the photographing device, and the photographing device can be mounted on the pan-tilt or on the platform body of the movable platform. The optical system uses a combination of seven lenses to set specific parameters, which can realize the optical system with a large field of view, so as to adapt to large-sized image sensors (such as 1-inch image sensors), and at the same time, it can reduce the incidence in strong light environments. The stray light reflection caused by light, thereby improving the image quality.

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.

Description of drawings

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.

1 is a schematic structural diagram of an optical system provided by an embodiment of the present application;

2 is a schematic structural diagram of another optical system provided by an embodiment of the present application;

3 is a schematic configuration diagram of an optical system provided by an embodiment of the present application;

4 is a schematic diagram of the effect of the field curvature of the optical system provided by the embodiment of the present application at an infinite object distance;

5 is a schematic diagram of the effect of distortion of an optical system provided by an embodiment of the present application at an infinite object distance;

6 is a schematic diagram of the effect of the field curvature of the optical system provided by the embodiment of the present application under the minimum object distance;

7 is a schematic diagram of the distortion effect of the optical system provided by the embodiment of the present application under the minimum object distance;

8 is a schematic structural diagram of a photographing device provided by an embodiment of the present application;

9 is a schematic structural diagram of a movable platform provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

Description of main components and symbols:

100, optical system; 101, first lens; 102, second lens; 103, third lens, 104, fourth lens; 105, fifth lens; 106, sixth lens; 107, seventh lens, 108, filter optical lens;

200, a photographing device; 20, an image sensor; 22, a photographed object; 220, an image of the photographed object; 211, a display screen; 212, a photographing button;

300. Movable platform; 30. Platform body;

400. Hand-held PTZ; 40. Grip part; 41. PTZ body.

Detailed ways

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.

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.

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.

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 .

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 has a larger field of view and can improve imaging quality.

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, a sixth lens 106 and a The seventh lens 107 .

The first lens 101 has negative power, the second lens 102 has negative power, the third lens 103 has negative power, the fourth lens 104 has positive power, the fifth lens 105 has positive power, and the sixth lens 105 has positive power. The lens 106 has negative refractive power, and the seventh lens 107 has positive refractive power.

In the embodiment of the present application, the third lens 103 is used as the focusing lens of the optical system 100, that is, the focusing function can be realized by the third lens 103. Since only one lens is used in the optical system 100 to realize the focusing function, the focusing function can be reduced. The weight of the focusing lens reduces the power consumption of focusing, thereby improving the battery life of the product. Wherein, the product may be, for example, a photographing device using the optical system 100, such as a camera, a handheld gimbal, a mobile phone, a tablet computer, and the like.

Wherein, the optical system 100 satisfies the following expression:

and / or,

In Expression (1), G ₁₂ is the effective aperture of the image-side lens surface of the first lens 101 , G ₂₂ is the effective aperture of the image-side lens surface of the second lens 102 , and R ₁₂ is the image-side lens surface of the first lens 101 The curvature radius of the lens surface, R ₂₂ is the curvature radius of the image-side lens surface of the second lens 102 . The optical system satisfying the expression (1) can effectively reduce the stray light reflection caused by the incident light, thereby improving the imaging clarity of the optical system. At the same time, the coating uniformity of the image-side lens surface of the first lens can be improved, and the stability of the optical system can be further improved.

It should be noted that the effective aperture can also be called "aperture", "maximum aperture", etc., and specifically refers to the ratio of the beam diameter (also called the lens diameter) of the front mirror to the focal length of each lens when the aperture is fully opened. Indicates the light receiving capability of the lens' maximum aperture.

The optical system provided by the above embodiment utilizes a combination of seven lenses to set specific parameters, so that the optical system can have a larger field of view, so as to adapt to a large-sized image sensor (such as a 1-inch image sensor), and at the same time in a strong light environment. It can reduce the stray light reflection caused by the incident light, thereby improving the imaging quality. In addition, the focus function is achieved by using a single lens, which in turn improves the battery life of the product.

In some embodiments, the fifth lens 105 and the sixth lens 106 may be provided as a cemented lens. In this cemented lens, the image-side lens surface of the fifth lens 105 and the object-side lens surface of the sixth lens 106 have the same radius of curvature. Thereby, the miniaturization of the optical system can be further achieved, and the stability of the optical system can be improved.

In some embodiments, in order to improve the imaging quality of the optical system, the optical system 100 may also be defined to satisfy the expression: t ₇ ≥ 9 mm, where t ₇ is the imaging of the image-side lens surface of the seventh lens 107 to the optical system 100 The distance of the plane IMA in the direction of the optical axis. By limiting the distance from the seventh lens 107 to the image plane, not only the interchangeable solution of the optical system 100 can be realized, but also the problem of the influence of dust on imaging can be avoided, thereby improving the imaging quality of the optical system.

It should be noted that, the interchangeable solution means that the optical system 100 can be detachably installed on different photographing devices, so as to realize the interchangeable use.

It should be noted that the aperture stop STO of the optical system 100 is located between the fourth lens 104 and the fifth lens 105 .

In some embodiments, the optical system 100 can also be defined to satisfy the following expressions:

t ₄ +t ₅ ≥3mm (2)

In Expression (2), t ₄ is the distance from the image-side lens surface of the fourth lens 104 to the aperture stop STO in the optical axis direction, and t ₅ is the distance from the aperture stop STO to the object-side lens surface of the fifth lens 105 at The distance in the direction of the optical axis. Satisfying the expression (2), the optical system 100 can satisfy all strokes in the optical, mechanical and motor focusing process.

In some embodiments, the optical system 100 includes a variable aperture and a mechanical shutter, both of which are disposed between the fourth lens 104 and the fifth lens 105 .

It should be noted that the optical system satisfying Expression (2) facilitates the setting of the variable aperture and the mechanical shutter, and at the same time, the use of the mechanical shutter can also avoid the jelly effect of the optical system, thereby improving the imaging quality of the optical system.

The jelly effect is when the exposure time is too long, and the photo can be blurred, or the result of the shot can be any kind of "tilt", "wobbly", or "partially exposed".

In some embodiments, in order to realize the optical system has a larger angle of view and also has a better focusing function. It can also be defined that the optical system 100 satisfies the following expression:

t ₂₁ ≥ 8 mm, t ₃₁ ≥ 1 mm, t ₂₁ +t ₃₁ =t ₂₂ +t ₃₂ (3)

In Expression (3), t ₂₁ is the distance in the optical axis direction from the image-side lens surface of the second lens 102 to the object-side lens surface of the third lens 103 at an infinite object distance (INF object distance), t ₂₂ is the distance from the image-side lens surface of the second lens 102 to the object-side lens surface of the third lens 103 in the direction of the optical axis under the minimum object distance (MOD object distance, for example, 0.3m); t ₃₁ is the infinity The distance from the image-side lens surface of the third lens 103 to the object-side lens surface of the fourth lens 104 in the direction of the optical axis under the far object distance (INF object distance); t ₃₂ is the first object distance at the minimum object distance (MOD object distance). The distance in the optical axis direction from the image-side lens surface of the third lens 103 to the object-side lens surface of the fourth lens 104 .

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:

0.1≤(R ₂₁ -R ₁₂ )/(R ₂₁ +R ₁₂ )≤0.2 (4)

In Expression (4), R ₁₂ is the radius of curvature of the image-side lens surface of the first lens 101 , and R ₂₁ is the radius of curvature of the object-side lens surface of the second lens 102 . The optical system satisfying the expression (4) can effectively reduce the sensitivity of the first lens 101 and the second lens 102 to the optical system, thereby improving the imaging quality of the optical system.

In some embodiments, in order to further improve the imaging quality of the optical system, the optical system 100 may also be limited to satisfy the following expression:

t ₆₇ ≤0.3mm (5)

In Expression (5), t ₆₇ is the distance in the optical axis direction from the image-side lens surface of the sixth lens 106 to the object-side lens surface of the seventh lens 107 . The optical system satisfying the expression (5) can ensure that the sixth lens 106 and the seventh lens 107 are in contact with each other, thereby effectively improving the reflection of light in the regions corresponding to the sixth lens and the seventh lens, thereby improving the optical The imaging quality of the system.

In some embodiments, in order to improve the imaging quality of the optical system and to facilitate the miniaturization of the optical system. It can also be defined that the optical system 100 satisfies the following expression:

f ₃ ≥-30mm (6)

In Expression (6), f ₃ is the effective focal length of the third lens 103 . The optical system satisfying the expression (6) can effectively control the focusing sensitivity of the optical system, and at the same time, it is beneficial to make the focusing lens smaller, thereby facilitating the miniaturization of the optical system.

In some embodiments, some or all of the lenses of the optical system 100 are made of glass.

Exemplarily, the second lens 102 , the third lens 103 and/or the seventh lens 107 of the optical system 100 may be made of glass. Other lenses use non-glass lenses, such as plastic lenses. The combination of glass lens and plastic lens can effectively solve the temperature drift problem of the optical system, thereby improving the imaging quality of the optical system.

In some embodiments, in order to further improve the imaging quality of the optical system, the optical system 100 may also be limited to satisfy the following expression:

1.5≤nd ₁ ≤1.7, 40≤vd ₁ ≤80; and/or,

1.5≤nd ₂ ≤1.8, 40≤vd ₂ ≤80; and/or,

_{1.5≤nd3≤1.8} , _{20≤vd3≤40} ; and/or,

1.6≤nd ₄ ≤2.0, 35≤vd ₄ ≤80; and/or,

1.5≤nd ₅ ≤1.75, 35≤vd ₅ ≤80; and/or,

1.55≤nd ₆ ≤1.8, 35≤vd ₆ ≤80; and/or,

1.5≤nd ₇ ≤2.0, 35≤vd ₇ ≤80; (7)

In Expression (7), nd ₁ , nd ₂ , nd ₃ , nd ₄ , nd ₅ , nd ₆ and nd ₇ are the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the The refractive indices of the fifth lens 105, the sixth lens 106 and the seventh lens 107; vd ₁ , vd ₂ , vd ₃ , vd ₄ , vd ₅ , vd ₆ and vd ₇ are the first lens 101, the second lens 102, The dispersion coefficients of the third lens 103, the fourth lens 104, the fifth lens 105, the sixth lens 106 and the seventh lens 107, the dispersion system is also called Abbe number.

In some embodiments, as shown in FIG. 2 , the optical system 100 further includes a filter lens 108 , and the filter lens 108 is disposed between the seventh lens 107 and the imaging plane IMA of the optical system 100 . Used to filter out some stray light, thereby improving image quality. Exemplarily, for example, the filter lens 108 includes an IR lens, which is used to filter out infrared light to eliminate chromatic aberration caused by infrared light, thereby improving the imaging quality of the optical system.

In some embodiments, in order to improve the imaging quality of the optical system, some or all of the lenses of the optical system 100 may also be defined as aspherical lenses.

Exemplarily, the second lens 102 , the third lens 103 and/or the seventh lens 103 of the optical system 100 may be set as aspherical lenses. For several other lenses can be spherical lenses.

In some embodiments, for further correction, 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:

In expression (8), z is the rotational symmetry axis of the aspheric surface, c is the curvature of the center point; y is the radial coordinate, whose unit is the same as the unit length of the lens; k is the quadratic curve constant, a ₁ to a ₈ respectively represent The coefficients corresponding to each radial coordinate.

In addition, it should be noted that the size of the imaging surface of any optical system 100 provided in the embodiments of the present application is greater than or equal to 1 inch, thereby ensuring that the optical system 100 can be adapted to images of 1 inch and larger than 1 inch sensor.

The specific numerical configuration of the optical system is given below in conjunction with the accompanying drawings and the table. The surface numbers 1, 2, 3, 4, 6, 7, 8, 9... in the table represent the surface numbers in the optical system, respectively. Mirror surfaces and corresponding surfaces of the first lens 101 , the second lens 102 , the third lens 103 , the fourth lens 104 , the fifth lens 105 , the sixth lens 106 , the seventh lens 107 and the filter lens 108 .

Specifically, as shown in FIG. 3 , the surface F1 represents the incident surface of light. Specifically, at different object distances, the two lens surfaces of the first lens 101 are respectively the surface F2 and the surface F3, and the two lens surfaces of the second lens 102 are respectively are the surface F4 and the surface F5, the two lens surfaces of the third lens 103 are respectively the surface F6 and the surface F7, the two lens surfaces of the fourth lens 104 are the surface F8 and the surface F9 respectively, STO represents the diaphragm, and the fifth lens 105 The two lens surfaces of the sixth lens 106 are the surface F11 and the surface F12 respectively, the two lens surfaces of the sixth lens 106 are the surface F12 and the surface F13 respectively, the two lens surfaces of the seventh lens 107 are the surface F14 and the surface F15 respectively, the filter lens The two mirror surfaces of 108 are surface F16 and surface F17, respectively. The serial number of the surface corresponds to the serial number of the surface under Surf in Table 1.

In Table 1, the number of faces indicates the surface of the lens, the type indicates the shape of the surface, "STANDRAD" indicates a plane, and "EVENASPH" indicates an aspheric surface; the radius of curvature indicates the degree of curvature of the lens surface, which can be expressed by R. The smaller the R value, the The more curved the surface of the lens; the interval or thickness (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 central thickness of the lens; ND represents the refractive index of the lens; VD represents the dispersion coefficient of the lens, Also called Abbe coefficient; "Infinity" means plane; STO means stop plane, and IMA means image side.

In Table 2, Surf represents the number of faces, K is a quadratic curve constant, and "4th-order term" to "10th-order term" indicate that a ₂ to a ₇ represent the coefficients corresponding to each radial coordinate, respectively.

In Table 3 and Table 4, the values of CT ₀ , CT ₁ and CT ₂ under different object distances, CT ₀ represents the object distance, specifically INF (infinity object distance) and 0.3m (minimum object distance), CT ₁ represents the distance between the image side lens surface of the second lens 102 and the object side lens surface of the third lens 103 on the optical axis, and CT ₂ represents the image side lens surface of the third lens 103 to the object side of the fourth lens 104 respectively. The lens faces are spaced a distance on the optical axis.

It should be noted that the optical systems corresponding to Tables 1 to 3 are referred to as Example 1.

Table 1 is the surface parameter data of the lens of the optical system of Example 1

It should be noted that the surface 18 in Table 1 is the paraxial light compensation surface of the optical system.

Table 2 is the aspheric coefficient data of the optical system lens-surface of Example 1

Table 3 Relevant parameters of the optical system of Example 1 at infinite object distance (INF)

CT0	INF
CT1	8.51mm
CT2	1.125mm

Table 4 Relevant parameters of the optical system of Example 1 at the minimum object distance (0.3m)

CT0	0.3m
CT1	8.15mm
CT2	1.485mm

Fig. 4 and Fig. 5 are respectively the field curvature parameters and distortion parameters of the optical system of the example of Embodiment 1 under the infinite object distance, the infinite object distance is that the incident light is parallel light; Fig. 6 and Fig. 7 are respectively Embodiment 1 The field curvature parameters and distortion parameters of the example optical system at the minimum object distance (0.3 meters) are shown in Figure 4, Figure 5, Figure 6, and Figure 7. It can be seen that the optical system has a better imaging effect, so it has a higher imaging quality. .

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.

Please refer to FIG. 8 , 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 in this embodiment of the present application, the photographing device 200 can increase the imaging area and use a larger-sized image sensor, such as a 1-inch image sensor, while reducing the stray light reflection caused by incident light, thereby improving the The imaging quality of the photographing device 200 is improved.

Specifically, as shown in FIG. 8 , 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 one of the optical systems provided in the above embodiments, and the image sensor may be, for example, a CMOS sensor or a CCD sensor.

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.

In some embodiments, as shown in FIG. 8 , 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 embodiment uses the optical system provided by the embodiment of the present application, thereby increasing the field of view of the photographing device, improving the imaging quality of the photographing device, and simultaneously realizing the miniaturization of the product.

Please refer to FIG. 9. FIG. 9 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.

As shown in FIG. 9 , 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. 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.

Illustratively, the movable platform 300 includes any one of a drone, a robot, an unmanned vehicle, and a handheld gimbal.

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.

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.

For example, if the optical system is installed on the drone, since the optical system can increase the field of view of the lens, it can shoot a wide 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 lightening. 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.

An embodiment of the present application further provides a pan/tilt head, the pan/tilt head is equipped with a photographing device, and the photographing device includes the optical system and the image sensor according to any one of the embodiments of the present application, and the optical system is configured in The optical path between the photographed object and the image sensor is used to image the photographed object on the image sensor.

Please refer to FIG. 10. FIG. 10 shows the structure of a handheld pan/tilt provided by an embodiment of the present application. The handheld gimbal is equipped with a photographing device to realize photographing.

As shown in FIG. 10 , the handheld gimbal 400 includes a grip portion 40 , a gimbal body 41 and a photographing device 200 . The photographing device 200 is mounted on the gimbal body 41 , and the photographing device 200 is any one of the photographing devices provided in the above embodiments. , that is, it includes any one of the optical systems 100 provided in the above embodiments. 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.

It should be noted that the pan/tilt provided in the embodiments of the present application may be a two-axis pan/tilt or a three-axis pan/tilt, which is used for stabilization of the photographing device mounted on the pan/tilt.

It should also be noted that the photographing device can be integrated with the gimbal body, or can be detachably installed on the gimbal body, that is, the photographing device can be installed on the gimbal body when the user is using it, and the camera can be installed when not in use. The photographing device is detached from the head body for storage or carrying.

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 (57)

1. An optical system, characterized in that, the optical system comprises: sequentially arranged from the object side to the image side:

   a first lens having negative refractive power;

   a second lens having negative refractive power;

   a third lens having negative refractive power and serving as a focusing lens of the optical system;

   the fourth lens, with positive refractive power;

   the fifth lens, with positive refractive power;

   the sixth lens, with negative refractive power;

   the seventh lens, with positive refractive power;

   Wherein, the optical system satisfies the following expression:

   

   and / or,

   

   Wherein, G ₁₂ is the effective aperture of the image-side lens surface of the first lens, G ₂₂ is the effective aperture of the image-side lens surface of the second lens, and R ₁₂ is the image-side lens surface of the first lens. The curvature radius, R ₂₂ is the curvature radius of the image-side lens surface of the second lens.
2. The optical system according to claim 1, wherein the fifth lens and the sixth lens are cemented lenses.
3. The optical system according to claim 1, wherein the optical system satisfies the following expression:

   t ₇ ≥9mm

   Wherein, t ₇ is the distance in the optical axis direction from the image-side lens surface of the seventh lens to the imaging surface of the optical system.
4. The optical system according to claim 1, wherein the optical system satisfies the following expression:

   t ₂₁ ≥ 8 mm, t ₃₁ ≥ 1 mm, t ₂₁ +t ₃₁ =t ₂₂ +t ₃₂

   t ₂₁ and t ₂₂ are the distances in the direction of the optical axis from the image-side lens surface of the second lens to the object-side lens surface of the third lens at infinite object distance and at the minimum object distance, respectively, t ₃₁ and t ₃₂ are the distances in the optical axis direction from the image-side lens surface of the third lens to the object-side lens surface of the fourth lens at infinite object distance and at minimum object distance, respectively.
5. The optical system of claim 1, wherein an aperture stop of the optical system is located between the fourth lens and the fifth lens.
6. The optical system according to claim 5, wherein the optical system satisfies the following expression:

   t ₄ +t ₅ ≥3mm

   Wherein, t ₄ is the distance from the image-side lens surface of the fourth lens to the aperture diaphragm in the optical axis direction, and t ₅ is the optical axis from the aperture diaphragm to the object-side lens surface of the fifth lens distance in the direction.
7. The optical system according to claim 6, wherein the optical system comprises a variable aperture and a mechanical shutter, and the variable aperture and the mechanical shutter are both provided on the fourth lens and the fifth lens between.
8. The optical system according to claim 1, wherein the optical system satisfies the following expression:

   0.1≤(R ₂₁ -R ₁₂ )/(R ₂₁ +R ₁₂ )≤0.2

   Wherein, R ₁₂ is the curvature radius of the image-side lens surface of the first lens, and R ₂₁ is the curvature radius of the object-side lens surface of the second lens.
9. The optical system according to claim 1, wherein the optical system satisfies the following expression:

   t ₆₇ ≤0.3mm

   Wherein, t ₆₇ is the distance in the optical axis direction from the image-side lens surface of the sixth lens to the object-side lens surface of the seventh lens.
10. The optical system according to claim 1, wherein the optical system satisfies the following expression:

    f3≥ _- 30mm

    Wherein, f ₃ is the effective focal length of the third lens.
11. The optical system according to claim 1, wherein some or all of the lenses of the optical system are made of glass.
12. The optical system according to claim 11, wherein the second lens, the third lens and/or the seventh lens are made of glass.
13. The optical system according to claim 1, wherein some or all of the lenses of the optical system are aspherical lenses.
14. The optical system according to claim 13, wherein the second lens, the third lens and/or the seventh lens are aspherical lenses.
15. The optical system according to any one of claims 1 to 14, wherein the optical system satisfies the following expression:

    1.5≤nd ₁ ≤1.7, 40≤vd ₁ ≤80; and/or,

    1.5≤nd ₂ ≤1.8, 40≤vd ₂ ≤80; and/or,

    _{1.5≤nd3≤1.8} , _{20≤vd3≤40} ; and/or,

    1.6≤nd ₄ ≤2.0, 35≤vd ₄ ≤80; and/or,

    1.5≤nd ₅ ≤1.75, 35≤vd ₅ ≤80; and/or,

    1.55≤nd ₆ ≤1.8, 35≤vd ₆ ≤80; and/or,

    1.5≤nd ₇ ≤2.0, 35≤vd ₇ ≤80;

    Wherein, nd ₁ , nd ₂ , nd ₃ , nd ₄ , nd ₅ , nd ₆ and nd ₇ are the first lens, second lens, third lens, fourth lens, fifth lens, sixth lens and The refractive index of the seventh lens; vd ₁ , vd ₂ , vd ₃ , vd ₄ , vd ₅ , vd ₆ and vd ₇ are the first lens, the second lens, the third lens, the fourth lens, and the fifth lens, respectively , the dispersion coefficients of the sixth lens and the seventh lens.
16. The optical system according to any one of claims 1 to 14, wherein the imaging surface size of the optical system is greater than or equal to 1 inch, and the optical system can be adapted to image sensors of 1 inch and greater than 1 inch .
17. The optical system according to any one of claims 1 to 14, wherein the optical system further comprises a filter sheet, the filter sheet is arranged between the seventh lens and the imaging surface of the optical system between.
18. 18. The optical system of claim 17, wherein the filter lens comprises an IR lens.
19. A photographing device, characterized in that the photographing device comprises an optical system and an image sensor, the optical system is configured in the 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 includes: sequentially arranged from the object side to the image side:

    a first lens having negative refractive power;

    a second lens having negative refractive power;

    a third lens having negative refractive power and serving as a focusing lens of the optical system;

    the fourth lens, with positive refractive power;

    the fifth lens, with positive refractive power;

    the sixth lens, with negative refractive power;

    the seventh lens, with positive refractive power;

    The optical system satisfies the following expression:

    

    and / or,

    

    Wherein, G ₁₂ is the effective aperture of the image-side lens surface of the first lens, G ₂₂ is the effective aperture of the image-side lens surface of the second lens, and R ₁₂ is the image-side lens surface of the first lens. The curvature radius, R ₂₂ is the curvature radius of the image-side lens surface of the second lens.
20. The photographing device according to claim 19, wherein the fifth lens and the sixth lens are cemented lenses.
21. The photographing device according to claim 19, wherein the optical system satisfies the following expression:

    t ₇ ≥9mm

    Wherein, t ₇ is the distance in the optical axis direction from the image-side lens surface of the seventh lens to the imaging surface of the optical system.
22. The photographing device according to claim 19, wherein the optical system satisfies the following expression:

    t ₂₁ ≥ 8 mm, t ₃₁ ≥ 1 mm, t ₂₁ +t ₃₁ =t ₂₂ +t ₃₂

    t ₂₁ and t ₂₂ are the distances in the direction of the optical axis from the image-side lens surface of the second lens to the object-side lens surface of the third lens at infinite object distance and at the minimum object distance, respectively, t ₃₁ and t ₃₂ are the distances in the optical axis direction from the image-side lens surface of the third lens to the object-side lens surface of the fourth lens at infinite object distance and at minimum object distance, respectively.
23. The photographing device according to claim 19, wherein the aperture stop of the optical system is located between the fourth lens and the fifth lens.
24. The photographing device according to claim 23, wherein the optical system satisfies the following expression:

    t ₄ +t ₅ ≥3mm

    Wherein, t ₄ is the distance from the image-side lens surface of the fourth lens to the aperture diaphragm in the optical axis direction, and t ₅ is the optical axis from the aperture diaphragm to the object-side lens surface of the fifth lens distance in the direction.
25. The photographing device according to claim 24, wherein the optical system comprises a variable aperture and a mechanical shutter, and the variable aperture and the mechanical shutter are both arranged on the fourth lens and the fifth lens between.
26. The photographing device according to claim 19, wherein the optical system satisfies the following expression:

    0.1≤(R ₂₁ -R ₁₂ )/(R ₂₁ +R ₁₂ )≤0.2

    Wherein, R ₁₂ is the curvature radius of the image-side lens surface of the first lens, and R ₂₁ is the curvature radius of the object-side lens surface of the second lens.
27. The photographing device according to claim 19, wherein the optical system satisfies the following expression:

    t ₆₇ ≤0.3mm

    Wherein, t ₆₇ is the distance in the optical axis direction from the image-side lens surface of the sixth lens to the object-side lens surface of the seventh lens.
28. The photographing device according to claim 19, wherein the optical system satisfies the following expression:

    f3≥ _- 30mm

    Wherein, f ₃ is the effective focal length of the third lens.
29. The photographing device according to claim 19, wherein some or all of the lenses of the optical system are made of glass.
30. The photographing device according to claim 29, wherein the second lens, the third lens and/or the seventh lens are made of glass.
31. The photographing device according to claim 19, wherein some or all of the lenses of the optical system are aspherical lenses.
32. The photographing device according to claim 31, wherein the second lens, the third lens and/or the seventh lens are aspherical lenses.
33. The photographing device according to any one of claims 19 to 32, wherein the optical system satisfies the following expression:

    1.5≤nd ₁ ≤1.7, 40≤vd ₁ ≤80; and/or,

    1.5≤nd ₂ ≤1.8, 40≤vd ₂ ≤80; and/or,

    _{1.5≤nd3≤1.8} , _{20≤vd3≤40} ; and/or,

    1.6≤nd ₄ ≤2.0, 35≤vd ₄ ≤80; and/or,

    1.5≤nd ₅ ≤1.75, 35≤vd ₅ ≤80; and/or,

    1.55≤nd ₆ ≤1.8, 35≤vd ₆ ≤80; and/or,

    1.5≤nd ₇ ≤2.0, 35≤vd ₇ ≤80;

    Wherein, nd ₁ , nd ₂ , nd ₃ , nd ₄ , nd ₅ , nd ₆ and nd ₇ are the first lens, second lens, third lens, fourth lens, fifth lens, sixth lens and The refractive index of the seventh lens; vd ₁ , vd ₂ , vd ₃ , vd ₄ , vd ₅ , vd ₆ and vd ₇ are the first lens, the second lens, the third lens, the fourth lens, and the fifth lens, respectively , the dispersion coefficients of the sixth lens and the seventh lens.
34. The photographing device according to any one of claims 19 to 32, wherein the size of the imaging surface of the optical system is greater than or equal to 1 inch, and the optical system can be adapted to image sensors of 1 inch and greater than 1 inch .
35. The photographing device according to any one of claims 19 to 32, wherein the optical system further comprises a filter sheet, and the filter sheet is arranged between the seventh lens and the imaging surface of the optical system between.
36. The photographing device of claim 35, wherein the filter lens comprises an IR lens.
37. 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;

    The optical system includes: sequentially arranged from the object side to the image side:

    a first lens having negative refractive power;

    a second lens having negative refractive power;

    a third lens having negative refractive power and serving as a focusing lens of the optical system;

    the fourth lens, with positive refractive power;

    the fifth lens, with positive refractive power;

    the sixth lens, with negative refractive power;

    the seventh lens, with positive refractive power;

    The optical system satisfies the following expression:

    

    and / or,

    

    Wherein, G ₁₂ is the effective aperture of the image-side lens surface of the first lens, G ₂₂ is the effective aperture of the image-side lens surface of the second lens, and R ₁₂ is the image-side lens surface of the first lens. The curvature radius, R ₂₂ is the curvature radius of the image-side lens surface of the second lens.
38. The movable platform of claim 37, wherein the fifth lens and the sixth lens are cemented lenses.
39. The movable platform of claim 37, wherein the optical system satisfies the following expression:

    t ₇ ≥9mm

    Wherein, t ₇ is the distance in the optical axis direction from the image-side lens surface of the seventh lens to the imaging surface of the optical system.
40. The movable platform of claim 37, wherein the optical system satisfies the following expression:

    t ₂₁ ≥ 8 mm, t ₃₁ ≥ 1 mm, t ₂₁ +t ₃₁ =t ₂₂ +t ₃₂

    t ₂₁ and t ₂₂ are the distances in the direction of the optical axis from the image-side lens surface of the second lens to the object-side lens surface of the third lens at infinite object distance and at the minimum object distance, respectively, t ₃₁ and t ₃₂ are the distances in the optical axis direction from the image-side lens surface of the third lens to the object-side lens surface of the fourth lens at infinite object distance and at minimum object distance, respectively.
41. 38. The movable platform of claim 37, wherein the aperture stop of the optical system is located between the fourth and fifth lenses.
42. The movable platform of claim 41, wherein the optical system satisfies the following expression:

    t ₄ +t ₅ ≥3mm

    Wherein, t ₄ is the distance from the image-side lens surface of the fourth lens to the aperture diaphragm in the optical axis direction, and t ₅ is the optical axis from the aperture diaphragm to the object-side lens surface of the fifth lens distance in the direction.
43. The movable platform according to claim 42, wherein the optical system comprises a variable aperture and a mechanical shutter, and the variable aperture and the mechanical shutter are both arranged on the fourth lens and the fifth lens between the lenses.
44. The movable platform of claim 37, wherein the optical system satisfies the following expression:

    0.1≤(R ₂₁ -R ₁₂ )/(R ₂₁ +R ₁₂ )≤0.2

    Wherein, R ₁₂ is the curvature radius of the image-side lens surface of the first lens, and R ₂₁ is the curvature radius of the object-side lens surface of the second lens.
45. The movable platform of claim 37, wherein the optical system satisfies the following expression:

    t ₆₇ ≤0.3mm

    Wherein, t ₆₇ is the distance in the optical axis direction from the image-side lens surface of the sixth lens to the object-side lens surface of the seventh lens.
46. The movable platform of claim 37, wherein the optical system satisfies the following expression:

    f3≥ _- 30mm

    Wherein, f ₃ is the effective focal length of the third lens.
47. The movable platform according to claim 37, wherein some or all of the lenses of the optical system are made of glass.
48. The movable platform according to claim 47, wherein the second lens, the third lens and/or the seventh lens are made of glass.
49. The movable platform according to claim 37, wherein some or all of the lenses of the optical system are aspherical lenses.
50. The movable platform according to claim 49, wherein the second lens, the third lens and/or the seventh lens are aspherical lenses.
51. The movable platform according to any one of claims 37 to 50, wherein the optical system satisfies the following expression:

    1.5≤nd ₁ ≤1.7, 40≤vd ₁ ≤80; and/or,

    1.5≤nd ₂ ≤1.8, 40≤vd ₂ ≤80; and/or,

    1.5≤nd ₃ ≤1.8, 20≤vd ₃ ≤40; and/or,

    1.6≤nd ₄ ≤2.0, 35≤vd ₄ ≤80; and/or,

    1.5≤nd ₅ ≤1.75, 35≤vd ₅ ≤80; and/or,

    1.55≤nd ₆ ≤1.8, 35≤vd ₆ ≤80; and/or,

    1.5≤nd ₇ ≤2.0, 35≤vd ₇ ≤80;

    Wherein, nd ₁ , nd ₂ , nd ₃ , nd ₄ , nd ₅ , nd ₆ and nd ₇ are the first lens, second lens, third lens, fourth lens, fifth lens, sixth lens and The refractive index of the seventh lens; vd ₁ , vd ₂ , vd ₃ , vd ₄ , vd ₅ , vd ₆ and vd ₇ are the first lens, the second lens, the third lens, the fourth lens, and the fifth lens, respectively , the dispersion coefficients of the sixth lens and the seventh lens.
52. The movable platform according to any one of claims 37 to 50, wherein the size of the imaging surface of the optical system is greater than or equal to 1 inch, and the optical system can be adapted to images of 1 inch and greater than 1 inch sensor.
53. The movable platform according to any one of claims 37 to 50, wherein the optical system further comprises a filter sheet, and the filter sheet is arranged on the seventh lens and the imaging plane of the optical system between.
54. The movable platform of claim 53, wherein the filter lens comprises an IR lens.
55. The movable platform of claim 37, wherein the movable platform comprises an unmanned aerial vehicle, a robot, or a handheld gimbal.
56. A pan/tilt head, characterized in that the pan/tilt head is equipped with a photographing device, and the photographing device includes the optical system and the image sensor described in any one of 1 to 18, and the optical system is arranged on the photographed object and the image. The optical path of the sensor is used to image the photographed object on the image sensor.
57. The pan/tilt according to claim 56, wherein the pan/tilt comprises a hand-held pan/tilt, the hand-held pan/tilt comprises a holding part and a pan/tilt body disposed on the holding part, the pan/tilt The imaging device is mounted on the main body.

Images