WO2022141315A1 - Optical system, photographing device, and mobile platform - Google Patents

Optical system, photographing device, and mobile platform Download PDF

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Publication number
WO2022141315A1
WO2022141315A1 PCT/CN2020/141840 CN2020141840W WO2022141315A1 WO 2022141315 A1 WO2022141315 A1 WO 2022141315A1 CN 2020141840 W CN2020141840 W CN 2020141840W WO 2022141315 A1 WO2022141315 A1 WO 2022141315A1
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WIPO (PCT)
Prior art keywords
lens
optical system
following expression
center point
image sensor
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PCT/CN2020/141840
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French (fr)
Chinese (zh)
Inventor
游旭
毛庆
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/141840 priority Critical patent/WO2022141315A1/en
Publication of WO2022141315A1 publication Critical patent/WO2022141315A1/en

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B9/00—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or -
    • G02B9/12—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or - having three components only
    • G02B9/14—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or - having three components only arranged + - +

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.
  • photographing devices such as aerial cameras, action cameras or handheld cameras
  • the size of the optical system used by the photographing device must also be reduced in size and miniaturization under the market trend.
  • the lens structure of the existing optical system cannot be realized. Therefore, it is necessary to provide an optical system that can satisfy the miniaturization.
  • the embodiments of the present application provide an optical system, a photographing device, and a movable platform.
  • the optical system is beneficial to the miniaturization of the product, and at the same time, it can realize long-distance photography and have a large zoom ratio.
  • an embodiment of the present application provides an optical system, which is used to image a photographed object on an image sensor, and the optical system includes:
  • the third lens has positive refractive power
  • a reflector for changing the propagation direction of light passing through the first lens, the second lens and the third lens and reflecting the light to the image sensor
  • optical system satisfies the following expression:
  • T t1 is the light on the optical axis reflected from the center point of the object side lens surface of the first lens to the image sensor through the first lens, the second lens, the third lens and the reflector
  • the propagation distance, Effl is the effective focal length of the optical system.
  • 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 utilizes three lenses and a reflecting mirror. Combination and specific parameter settings can reduce the volume of the product, and at the same time have long-distance photography and a large zoom ratio.
  • FIG. 1 is a schematic structural diagram of an optical system provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an effective pixel area of an optical system provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a field of view of an image sensor provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of another optical system provided by an embodiment of the present application.
  • FIG. 5 is a schematic configuration diagram of an optical system provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the effect of field curvature of an optical system provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the distortion effect of the optical system provided by the embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a photographing device provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
  • 100 an optical system; 101, a first lens; 102, a second lens; 103, a third lens, 104, a reflector;
  • 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 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 can reduce the volume of the product (optical system, photographing device or movable platform), at the same time, it has telephotography and large zoom magnification.
  • the optical system 100 includes a first lens 101 , a second lens 102 , a third lens 103 and a reflecting mirror 104 arranged in sequence from the object side to the image side, and is used to image the photographed object on the image sensor 20 Imaging.
  • the first lens 101 has positive refractive power
  • the second lens 102 has negative refractive power
  • the third lens 103 has positive refractive power
  • the reflector 104 changes the light passing through the first lens 101 , the second lens 102 and the third lens 102 and reflect the light to the image sensor 20 .
  • the propagation direction of the light reflected by the mirror 104 and the propagation direction of the light passing through the first lens 101 , the second lens 102 and the third lens 102 form a preset angle, and the size of the preset angle is not here. Make restrictions and set according to actual needs.
  • the propagation direction of the light reflected by the mirror 104 is perpendicular to the propagation direction of the light passing through the first lens 101 , the second lens 102 and the third lens 102 , that is, a preset angle. is 90°. In some other embodiments, it can also be other angles, such as 60° or 120°.
  • optical system 100 satisfies the following expression:
  • T tl is the distance from the center point of the object-side lens surface of the first lens 101 to the image sensor 20, specifically, the light on the optical axis passes through the first lens 101 from the center point of the object-side lens surface of the first lens 101.
  • the propagation distance of a lens 101, a second lens 102, a third lens 103 and a mirror 104 reflected to the image sensor 20, Effl is the effective focal length of the optical system 100.
  • the propagation distance of the light ray from the center point of the object side lens surface of the first lens 101 through the second lens 102 and the third lens 103 to the mirror 104 , d 12 The propagation distance of the light ray reflected by the mirror 104 to the image sensor 20 .
  • the optical system provided by the above embodiment utilizes the combination of three lenses and one mirror and the setting of specific parameters to realize the optical path folding design, thereby realizing the miniaturization of the length, width and height of the optical system, thereby reducing the size of the optical system. It also has the advantages of long-distance photography and large zoom magnification, which improves the imaging quality of the optical system.
  • the parameter settings of the three lenses can also enable the optical system to image in a wider spectral range, which is beneficial to increase the color richness of the image, thereby improving the user experience.
  • the diaphragm (aperture diaphragm) of the optical system 100 is located between the second lens 102 and the third lens 103 .
  • the optical system 100 in order to further reduce the volume of the optical system and increase the field of view of the optical system. It can also be defined that the optical system 100 satisfies the following expression:
  • T t1 is the distance from the center point of the object-side lens surface of the first lens 101 to the image sensor 20, and I mgh is half the diagonal length of the effective pixel area of the optical system.
  • FIG. 2 shows the effective pixel area of the optical system 100 provided by the embodiment of the present application, and I mgh is half of the diagonal length of the effective pixel area of the optical system 100.
  • the shape of the effective pixel area can be a circle, a square or a rectangle, etc.
  • the optical system 100 satisfies the following expression:
  • H FOV is half the angle of view in the diagonal direction of the image sensor 20 , specifically, as shown in FIG. 3 .
  • optical system in order to further reduce the volume of the optical system and increase the field of view of the optical system.
  • the optical system satisfies the following expression:
  • T tl is the distance from the center point of the object-side lens surface of the first lens 101 to the image sensor 20
  • B f1 is the distance from the center point of the image-side lens surface of the third lens 103 to the image sensor 20 .
  • optical system 100 in order to further realize the telephoto function of the optical system and improve the imaging quality of the optical system.
  • the optical system 100 can be defined to satisfy the following expression:
  • c 21 is the radius of curvature of the object-side lens surface of the second lens 102
  • c 22 is the radius of curvature of the image-side lens surface of the second lens 102 .
  • the optical system can also be defined to satisfy: This is beneficial to the balance of the optical power of the optical system, and at the same time, the sensitivity of the lens of the optical system can be alleviated, 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:
  • CT 12 is the separation distance between the center point of the image-side lens surface of the first lens 101 and the center point of the object-side lens surface of the second lens 102 , that is, the image-side lens of the first lens 101 The distance in the optical axis direction between the surface and the object-side lens surface of the second lens 102 .
  • the optical system satisfying Expression (6) can effectively suppress the "ghost image" of the optical system, especially the partial "ghost image” generated by the edge of the first lens, thereby improving the imaging quality of the optical system.
  • the miniaturization of the optical system is further realized. It can also be defined that the optical system 100 satisfies the following expression:
  • CT 12 is the separation distance from the center point of the lens surface on the image side of the first lens 101 to the center point of the lens surface on the object side of the second lens 102
  • CT 23 is the image side of the second lens 102
  • Satisfying the expression (7) can help to balance the sensitivity of the optical system, thereby realizing the miniaturization of the optical system.
  • the optical system 100 in order to further realize the miniaturization of the optical system and improve the imaging quality of the optical system. It can also be defined that the optical system 100 satisfies the following expression:
  • c 11 is the radius of curvature of the object-side lens surface of the first lens 101
  • c 12 is the radius of curvature of the image-side lens surface of the first lens 101 .
  • Satisfying expression (8) is conducive to the balance of the optical power of the optical system, and can also compress the aperture size of multiple transverse lenses, thereby realizing the miniaturization of the optical system, and at the same time, it can reduce the sensitivity of the lens of the optical system, thereby improving imaging. quality.
  • the optical system 100 in order to further realize the miniaturization of the optical system, can also be defined to satisfy the following expressions:
  • f2 is the effective focal length of the second lens 102
  • Effl is the effective focal length of the optical system 100.
  • the optical system in order to improve the imaging quality of the optical system, can also be defined to satisfy the following expression:
  • VD 1 is the dispersion coefficient of the first lens 101 , that is, the Abbe number.
  • the optical system in order to further improve the imaging quality of the optical system, can be defined to satisfy the following expression:
  • VD 1 is the dispersion coefficient of the first lens 101
  • ND 1 is the refractive index of the first lens 101
  • VD 2 is the dispersion coefficient of the second lens 102
  • ND 2 is the refractive index of the second lens 102 ratio
  • VD 3 is the dispersion coefficient of the third lens 103
  • ND 3 is the refractive index of the third lens 103 .
  • the optical system 100 is limited to satisfy the following expressions 18 ⁇ VD 2 ⁇ 35, 1.5 ⁇ ND 2 ⁇ 1.7.
  • the imaging quality of the optical system can be further improved.
  • the length units involved in the embodiments of the present application are all millimeters, that is, mm, such as focal length, curvature radius, separation distance, aperture size, and the like.
  • At least one aspheric lens may be included in the first lens 101 , the second lens 102 and the third lens 102 .
  • the second lens 102 is an aspherical lens
  • the first lens 101 , the second lens 102 and the third lens 103 are all aspherical lenses.
  • At least one plastic lens may be included in the first lens 101 , the second lens 102 and the third lens 103 .
  • the first lens 101 is a glass lens
  • the second lens 102 and the third lens 103 are plastic lenses.
  • the first lens 101 is a glass lens, which can prevent the optical system from being damaged by scratches. Meanwhile, the combination of the glass lens and the plastic lens can reduce the weight of the optical system, thereby realizing the lightness of the optical system. If the movable platform uses the optical system, the battery life of the movable platform can be increased.
  • the second lens 102 is a plastic lens, or the second lens 102 is a plastic lens and an aspherical lens.
  • the second lens 102 can also be used as a focusing lens.
  • the plastic lens is conducive to the light weight of the focus and reduces the power consumption of the focus motor, thereby increasing the battery life of the product.
  • the mirror 104 may be at least one of a flat mirror and a total reflection prism.
  • the reflector 104 is a flat reflector, or as shown in FIG. 4 , the reflector 104 is a total reflection prism.
  • the first lens 101 , the second lens 102 , and the third lens 103 may have one lens surface that is aspherical, or both lens surfaces may be aspherical.
  • one mirror surface of the aspherical lens or all aspherical lens surfaces may be high-order aspherical surfaces, and the high-order aspherical surfaces satisfy the following expression:
  • 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 represent respectively The coefficients corresponding to each radial coordinate.
  • the surface numbers 1, 2, 3, 4, 6, 7, 8, and 9 represent the surface numbers in the optical system, which 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 and the mirror 101 .
  • 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 S5 and the surface S7 respectively
  • the two mirror surfaces of the reflecting mirror 104 are the surface S8 and the surface S9 respectively, wherein the reflecting mirror 104 is a plane mirror.
  • the number of faces indicates the surface of the lens
  • the type indicates the shape of the surface
  • "STANDRAD” indicates a plane
  • "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 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
  • Obj means object side
  • STO means stop plane
  • Ima means image side.
  • T t1 is the distance from the center point of the object-side lens surface of the first lens of the optical system to the image sensor
  • 1 mgh is half of the diagonal length of the effective pixel area of the optical system
  • H FOV is the diagonal angle of the image sensor Half of the field of view in the line direction.
  • Example 1 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
  • Table 2 is the aspheric coefficient data of the optical system lens-surface of Example 1
  • FIG. 6 and FIG. 7 are the field curvature parameters and distortion parameters of the optical system of Example 1, respectively. It can be seen from FIG. 6 and FIG. 7 that the optical system has a better imaging effect and therefore has a higher imaging quality.
  • FIG. 8 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 has a long-distance photography and a larger zoom ratio, thereby improving the imaging quality of the photographing device 200 .
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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, stably, and continuously launch crystal bullets or infrared beams. With ballistic light effects, it gives users a more realistic shooting experience.
  • the optical system is installed on the drone, because 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.

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Abstract

An optical system (100), a photographing device (200), and a movable platform (300). The optical system (100) comprises a first lens (101), a second lens (102), a third lens (103) and a reflector (104) which are sequentially arranged from an object side to an image side. The first lens (101) and the third lens (103) have positive focal power, and the second lens (102) has negative focal power; the reflector (104) is used for changing the propagation direction of light and reflecting the light to an image sensor (20). The optical system (100) satisfies the following expression: 1.0 ≤ Ttl/Effl ≤ 1.5, Ttl being the distance from the object-side lens surface center point of the first lens (101) to the image sensor (20), the distance being the propagation distance of light on the optical axis passing through the second lens (102), the third lens (103) and the reflector (104) from the object-side lens surface center point of the first lens (101) to the image sensor (20), and Effl is an effective focal length of the optical system.

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，拍摄装置(比如航拍相机、运动相机或手持相机)也趋向轻薄化、小型化。由此使得拍摄装置使用的光学系统的尺寸也在市场趋势下必须实现轻薄化和小型化，然而现有的光学系统的透镜结构无法实现，因此需要提供一种可以满足小型化的光学系统。With the development of photography technology, photographing devices (such as aerial cameras, action cameras or handheld cameras) also tend to be thinner and smaller. Therefore, the size of the optical system used by the photographing device must also be reduced in size and miniaturization under the market trend. However, the lens structure of the existing optical system cannot be realized. Therefore, it is necessary to provide an optical system that can satisfy the miniaturization.
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，该光学系统有利于产品的小型化，同时又可以实现远距离摄影以及具有较大的变焦倍率。Based on this, the embodiments of the present application provide an optical system, a photographing device, and a movable platform. The optical system is beneficial to the miniaturization of the product, and at the same time, it can realize long-distance photography and have a large zoom ratio.
第一方面，本申请的实施例提供了一种光学系统，所述光学系统用于将拍摄物体成像于图像传感器，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, which is used to image a photographed object on an image sensor, and the optical system includes:
第一透镜，具有正光焦度；a first lens having positive refractive power;
第二透镜，具有负光焦度；a second lens having negative refractive power;
第三透镜，具有正光焦度；The third lens has positive refractive power;
反射镜，用于改变经过所述第一透镜、第二透镜和第三透镜光线的传播方向并将所述光线反射至所述图像传感器；a reflector for changing the propagation direction of light passing through the first lens, the second lens and the third lens and reflecting the light to the image sensor;
所述光学系统满足以下表达式：The optical system satisfies the following expression:
1.0≤T tl/E ffl≤1.5 1.0≤T tl /E ffl ≤1.5
其中，T tl为为光轴上的光线从所述第一透镜的物侧透镜面中心点经过所述第一透镜、第二透镜、第三透镜以及所述反射镜反射到所述图像传感器的传播 距离，E ffl为所述光学系统的有效焦距。 Wherein, T t1 is the light on the optical axis reflected from the center point of the object side lens surface of the first lens to the image sensor through the first lens, the second lens, the third lens and the reflector The propagation distance, Effl is the effective focal length of the optical system.
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，该光学系统利用三个透镜和一个反射镜的组合及特定参数设置，可以减小产品体积，同时又具有远距离摄影以及较大的变焦倍率。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 utilizes three lenses and a reflecting mirror. Combination and specific parameter settings can reduce the volume of the product, and at the same time have long-distance photography and a large zoom ratio.
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光学系统的有效像素区域的示意图；2 is a schematic diagram of an effective pixel area of an optical system provided by an embodiment of the present application;
图3是本申请实施例提供的图像传感器的视场角的示意图；3 is a schematic diagram of a field of view of an image sensor provided by an embodiment of the present application;
图4是本申请实施例提供的另一种光学系统的结构示意图；4 is a schematic structural diagram of another optical system provided by an embodiment of the present application;
图5是本申请实施例提供的一种光学系统的配置示意图；5 is a schematic configuration diagram of an optical system provided by an embodiment of the present application;
图6本申请实施例提供的光学系统的场曲的效果示意图；6 is a schematic diagram of the effect of field curvature of an optical system provided by an embodiment of the present application;
图7本申请实施例提供的光学系统的畸变的效果示意图；7 is a schematic diagram of the distortion effect of the optical system provided by the embodiment of the present application;
图8是本申请实施例提供的一种拍摄装置的结构示意图；8 is a schematic structural diagram of a photographing device provided by an embodiment of the present application;
图9是本申请实施例提供的一种可移动平台的结构示意图。FIG. 9 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、反射镜；100, an optical system; 101, a first lens; 102, a second lens; 103, a third lens, 104, a reflector;
200、拍摄装置；20、图像传感器；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; 20, an image sensor; 22, a photographed object; 220, an image of the photographed 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 ways
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 can reduce the volume of the product (optical system, photographing device or movable platform), at the same time, it has telephotography and large zoom magnification.
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和反射镜104，用于将拍摄物体成像于图像传感器20上进行成像。As shown in FIG. 1 , the optical system 100 includes a first lens 101 , a second lens 102 , a third lens 103 and a reflecting mirror 104 arranged in sequence from the object side to the image side, and is used to image the photographed object on the image sensor 20 Imaging.
其中，第一透镜101具有正光焦度，第二透镜102具有负光焦度，第三透镜103具有正光焦度，反射镜104改变经过第一透镜101、第二透镜102和第三透镜102光线的传播方向并将该光线反射至图像传感器20。The first lens 101 has positive refractive power, the second lens 102 has negative refractive power, the third lens 103 has positive refractive power, and the reflector 104 changes the light passing through the first lens 101 , the second lens 102 and the third lens 102 and reflect the light to the image sensor 20 .
具体地，被反射镜104反射后的光线的传播方向与经过第一透镜101、第二透镜102和第三透镜102光线的传播方向呈预设夹角，在预设夹角的大小在此不做限定，根据实际需要进行设定。Specifically, the propagation direction of the light reflected by the mirror 104 and the propagation direction of the light passing through the first lens 101 , the second lens 102 and the third lens 102 form a preset angle, and the size of the preset angle is not here. Make restrictions and set according to actual needs.
示例性的，比如，如图1所示，被反射镜104反射后的光线的传播方向与经过第一透镜101、第二透镜102和第三透镜102光线的传播方向垂直，即预设夹角为90°。在其他一些实施例中，也可以为其他角度，比如为60°或者120°。Exemplarily, for example, as shown in FIG. 1 , the propagation direction of the light reflected by the mirror 104 is perpendicular to the propagation direction of the light passing through the first lens 101 , the second lens 102 and the third lens 102 , that is, a preset angle. is 90°. In some other embodiments, it can also be other angles, such as 60° or 120°.
其中，光学系统100满足以下表达式：Wherein, the optical system 100 satisfies the following expression:
1.0≤T tl/E ffl≤1.5    (1) 1.0≤T tl /E ffl ≤1.5 (1)
在表达式(1)中，T tl为第一透镜101的物侧透镜面中心点至图像传感器20的距离，具体为光轴上的光线从第一透镜101的物侧透镜面中心点经过第一透镜101、第二透镜102、第三透镜103以及反射镜104反射到图像传感器20的传播距离，E ffl为光学系统100的有效焦距。 In Expression (1), T tl is the distance from the center point of the object-side lens surface of the first lens 101 to the image sensor 20, specifically, the light on the optical axis passes through the first lens 101 from the center point of the object-side lens surface of the first lens 101. The propagation distance of a lens 101, a second lens 102, a third lens 103 and a mirror 104 reflected to the image sensor 20, Effl is the effective focal length of the optical system 100.
示例性的，如图1所示，T tl为第一透镜101的物侧透镜面中心点至图像传感器20的距离d，其中，d＝d 11+d 12，d 11具体为经过光轴上光线从第一透镜101的物侧透镜面中心点开始通过第二透镜102、第三透镜103传播至反射镜104的传播距离，d 12该光线被反射镜104反射至图像传感器20的传播距离。 Exemplarily, as shown in FIG. 1 , T tl is the distance d from the center point of the lens surface on the object side of the first lens 101 to the image sensor 20 , wherein d=d 11 +d 12 , and d 11 is the distance passing through the optical axis. The propagation distance of the light ray from the center point of the object side lens surface of the first lens 101 through the second lens 102 and the third lens 103 to the mirror 104 , d 12 The propagation distance of the light ray reflected by the mirror 104 to the image sensor 20 .
上述实施例提供的光学系统利用三个透镜和一个反射镜的组合以及特定参数设置，实现了光路折叠设计，由此实现了光学系统的长度、宽度和高度口径的小型化，进而减小光学系统的体积，同时又具有远距离摄影以及较大的变焦倍率，提高了光学系统的成像质量。The optical system provided by the above embodiment utilizes the combination of three lenses and one mirror and the setting of specific parameters to realize the optical path folding design, thereby realizing the miniaturization of the length, width and height of the optical system, thereby reducing the size of the optical system. It also has the advantages of long-distance photography and large zoom magnification, which improves the imaging quality of the optical system.
此外，该三个透镜的参数设置，还可以使得光学系统对较宽光谱范围内成像，有利于增加图像色彩丰富度，进而提高了用户体验。In addition, the parameter settings of the three lenses can also enable the optical system to image in a wider spectral range, which is beneficial to increase the color richness of the image, thereby improving the user experience.
需要说明的是，光学系统100的光阑(孔径光阑)位于第二透镜102和第三透镜103之间。It should be noted that the diaphragm (aperture diaphragm) of the optical system 100 is located between the second lens 102 and the third lens 103 .
在一些实施例中，为了进一步地缩小光学系统的体积以及增加光学系统的视场角。还可以限定光学系统100满足以下表达式：In some embodiments, in order to further reduce the volume of the optical system and increase the field of view of the optical system. It can also be defined that the optical system 100 satisfies the following expression:
3.9≤T tl/(I mgh*2)≤4.35     (2) 3.9≤T tl /(I mgh *2)≤4.35 (2)
在表达式(2)中，T tl为第一透镜101的物侧透镜面中心点至图像传感器20的距离，I mgh为光学系统的有效像素区域对角线长度的一半。 In Expression (2), T t1 is the distance from the center point of the object-side lens surface of the first lens 101 to the image sensor 20, and I mgh is half the diagonal length of the effective pixel area of the optical system.
如图2所示，图2示出了本申请实施例提供的光学系统100的有效像素区域，I mgh为光学系统100的有效像素区域对角线长度的一半，需要说明的是，光学系统100的有效像素区域的形状可以是圆形、正方形或长方形等。 As shown in FIG. 2 , FIG. 2 shows the effective pixel area of the optical system 100 provided by the embodiment of the present application, and I mgh is half of the diagonal length of the effective pixel area of the optical system 100. It should be noted that the optical system 100 The shape of the effective pixel area can be a circle, a square or a rectangle, etc.
在一些实施例中，光学系统100满足以下表达式：In some embodiments, the optical system 100 satisfies the following expression:
6.2°≤H FOV≤9.2°    (3) 6.2°≤H FOV ≤9.2° (3)
在表达式(3)中，H FOV为图像传感器20对角线方向的视场角的一半，具体地，如图3所示。 In Expression (3), H FOV is half the angle of view in the diagonal direction of the image sensor 20 , specifically, as shown in FIG. 3 .
在一些实施例中，为了更进一步地缩小光学系统的体积以及增加光学系统的视场角。所述光学系统满足以下表达式：In some embodiments, in order to further reduce the volume of the optical system and increase the field of view of the optical system. The optical system satisfies the following expression:
0.5≤B fl/T tl≤0.8    (4) 0.5≤B fl /T tl ≤0.8 (4)
在表达式(4)中，T tl为第一透镜101的物侧透镜面中心点至图像传感器20的距离，B fl为第三透镜103的像侧透镜面中心点至图像传感器20的距离。 In Expression (4), T tl is the distance from the center point of the object-side lens surface of the first lens 101 to the image sensor 20 , and B f1 is the distance from the center point of the image-side lens surface of the third lens 103 to the image sensor 20 .
在一些实施例中，为了进一步地实现光学系统的远距离摄影功能以及提高光学系统的成像质量。可以限定光学系统100满足以下表达式：In some embodiments, in order to further realize the telephoto function of the optical system and improve the imaging quality of the optical system. The optical system 100 can be defined to satisfy the following expression:
Figure PCTCN2020141840-appb-000001
Figure PCTCN2020141840-appb-000001
在表达式(5)中，c 21为第二透镜102的物侧透镜面的曲率半径，c 22为第二透镜102的像侧透镜面的曲率半径。满足表达式(5)的光学系统，有利于光焦度的平衡，进而方便实现远距离摄像，同时又可以缓解光学系统的镜头的敏感度，进而提高光学系统的成像质量。 In Expression (5), c 21 is the radius of curvature of the object-side lens surface of the second lens 102 , and c 22 is the radius of curvature of the image-side lens surface of the second lens 102 . An optical system that satisfies expression (5) is beneficial to the balance of optical power, thereby facilitating the realization of long-distance imaging, and at the same time, it can alleviate the sensitivity of the lens of the optical system, thereby improving the imaging quality of the optical system.
具体地，还可以限定光学系统满足：
Figure PCTCN2020141840-appb-000002
进而有利于光学系统的光焦度的平衡，同时又可以缓解光学系统的镜头的敏感度，进而提高光学系统的成像质量。 Specifically, the optical system can also be defined to satisfy:
Figure PCTCN2020141840-appb-000002
This is beneficial to the balance of the optical power of the optical system, and at the same time, the sensitivity of the lens of the optical system can be alleviated, 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:
0.1毫米≤CT 12≤2毫米     (6) 0.1mm≤CT 12≤2mm (6)
在表达式(6)中，CT 12为第一透镜101的像侧透镜面中心点至第二透镜102的物侧透镜面中心点之间的间隔距离，即为第一透镜101的像侧透镜面至第二透镜102的物侧透镜面之间在光轴方向的间隔距离。满足表达式(6)的光学系统，可以有效抑制光学系统的“鬼影”，尤其是可以抑制第一透镜边缘产生的部分“鬼影”，进而提高了光学系统的成像质量。 In Expression (6), CT 12 is the separation distance between the center point of the image-side lens surface of the first lens 101 and the center point of the object-side lens surface of the second lens 102 , that is, the image-side lens of the first lens 101 The distance in the optical axis direction between the surface and the object-side lens surface of the second lens 102 . The optical system satisfying Expression (6) can effectively suppress the "ghost image" of the optical system, especially the partial "ghost image" generated by the edge of the first lens, thereby improving the imaging quality of the optical system.
在一些实施例中，为了进一步地缩小光学系统的体积，进而实现该光学系统的小型化。还可以限定光学系统100满足以下表达式：In some embodiments, in order to further reduce the volume of the optical system, the miniaturization of the optical system is further realized. It can also be defined that the optical system 100 satisfies the following expression:
CT 23＞CT 12     (7) CT 23 > CT 12 (7)
在表达式(7)中，CT 12为第一透镜101的像侧透镜面中心点至第二透镜102的物侧透镜面中心点之间的间隔距离，CT 23为第二透镜102的像侧透镜面中心点至第三透镜103的物侧透镜面中心点之间的间隔距离。满足表达式(7)，可以有利于平衡光学系统的敏感度，进而实现光学系统的小型化。 In Expression (7), CT 12 is the separation distance from the center point of the lens surface on the image side of the first lens 101 to the center point of the lens surface on the object side of the second lens 102 , and CT 23 is the image side of the second lens 102 The separation distance from the center point of the lens surface to the center point of the lens surface on the object side of the third lens 103 . Satisfying the expression (7) can help to balance the sensitivity of the optical system, thereby realizing the miniaturization of the optical system.
在一些实施例中，为了进一步地实现光学系统的小型化以及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 realize the miniaturization of the optical system and improve the imaging quality of the optical system. It can also be defined that the optical system 100 satisfies the following expression:
Figure PCTCN2020141840-appb-000003
Figure PCTCN2020141840-appb-000003
在表达式(8)中，c 11为第一透镜101的物侧透镜面的曲率半径，c 12为第一透镜101的像侧透镜面的曲率半径。满足表达式(8)，有利于光学系统的光焦度平衡，还可以压缩多个横向透镜的口径尺寸，进而实现光学系统的小型化，同时又可以减缓光学系统镜头的敏感度，进而提高成像质量。 In Expression (8), c 11 is the radius of curvature of the object-side lens surface of the first lens 101 , and c 12 is the radius of curvature of the image-side lens surface of the first lens 101 . Satisfying expression (8) is conducive to the balance of the optical power of the optical system, and can also compress the aperture size of multiple transverse lenses, thereby realizing the miniaturization of the optical system, and at the same time, it can reduce the sensitivity of the lens of the optical system, thereby improving imaging. quality.
在一些实施例中，为了进一步地实现光学系统的小型化，还可以限定光学系统100满足以下表达式：In some embodiments, in order to further realize the miniaturization of the optical system, the optical system 100 can also be defined to satisfy the following expressions:
0.2≤|f 2/E ffl|≤2      (9) 0.2≤|f 2 /E ffl |≤2 (9)
在表达式(9)中，f 2为第二透镜102的有效焦距，E ffl为光学系统100的有效焦距。 In Expression (9), f2 is the effective focal length of the second lens 102, and Effl is the effective focal length of the optical system 100.
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满足以下表达式：In some embodiments, in order to improve the imaging quality of the optical system, the optical system can also be defined to satisfy the following expression:
VD 1≥65      (10) VD 1 ≥65 (10)
在表达式(10)中，VD 1为第一透镜101的色散系数，即阿贝数。 In Expression (10), VD 1 is the dispersion coefficient of the first lens 101 , that is, the Abbe number.
在一些实施例中，为了进一步地提高光学系统的成像质量，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 be defined to satisfy the following expression:
70≤VD 1≤90，1.45≤ND 1≤1.55；和/或， 70≤VD1≤90 , 1.45≤ND1≤1.55 ; and/or,
18≤VD 2≤35，1.5≤ND 2≤1.7；和/或， 18≤VD2≤35 , 1.5≤ND2≤1.7 ; and/or,
50≤VD 3≤75，1.5≤ND 2≤1.7     (11) 50≤VD 3 ≤75, 1.5≤ND 2 ≤1.7 (11)
在表达式(11)中，VD 1为第一透镜101的色散系数，ND 1为第一透镜101的折射率，VD 2为第二透镜102的色散系数，ND 2为第二透镜102的折射率，VD 3为第三透镜103的色散系数，ND 3为第三透镜103的折射率。 In Expression (11), VD 1 is the dispersion coefficient of the first lens 101 , ND 1 is the refractive index of the first lens 101 , VD 2 is the dispersion coefficient of the second lens 102 , and ND 2 is the refractive index of the second lens 102 ratio, VD 3 is the dispersion coefficient of the third lens 103 , and ND 3 is the refractive index of the third lens 103 .
需要说明的是，尤其是限定光学系统100满足以下表达式18≤VD 2≤35，1.5≤ND 2≤1.7。可以进一步地提高光系统的成像质量。 It should be noted that, in particular, the optical system 100 is limited to satisfy the following expressions 18≦VD 2 ≦35, 1.5≦ND 2 ≦1.7. The imaging quality of the optical system can be further improved.
需要说明的是，本申请的实施例涉及的长度单位均为毫米，即mm，比如焦距、曲率半径、间隔距离、口径尺寸等等。It should be noted that the length units involved in the embodiments of the present application are all millimeters, that is, mm, such as focal length, curvature radius, separation distance, aperture size, and the like.
在一些实施例中，为了提高光学系统的成像质量，可以设置第一透镜101、第二透镜102和第三透镜102中至少包括一个非球面透镜。示例性的，比如第二透镜102为非球面透镜，或者第一透镜101、第二透镜102和第三透镜103均为非球面透镜。In some embodiments, in order to improve the imaging quality of the optical system, at least one aspheric lens may be included in the first lens 101 , the second lens 102 and the third lens 102 . Exemplarily, for example, the second lens 102 is an aspherical lens, or the first lens 101 , the second lens 102 and the third lens 103 are all aspherical lenses.
在一些实施例中，为了实现光学系统的小型化和轻便化，可以设置第一透镜101、第二透镜102和第三透镜103中至少包括一个塑胶透镜。In some embodiments, in order to realize the miniaturization and lightness of the optical system, at least one plastic lens may be included in the first lens 101 , the second lens 102 and the third lens 103 .
示例性的，比如，第一透镜101为玻璃透镜、第二透镜102和第三透镜103为塑胶透镜。第一透镜101为玻璃透镜可以防止光学系统被刮痕而损坏镜头，同时采用玻璃透镜和塑胶透镜的结合又可以降低光学系统的重量，进而实现光学系统的轻便化。若可移动平台使用该光学系统，可以增加可移动平台电池的续航能力。Exemplarily, for example, the first lens 101 is a glass lens, and the second lens 102 and the third lens 103 are plastic lenses. The first lens 101 is a glass lens, which can prevent the optical system from being damaged by scratches. Meanwhile, the combination of the glass lens and the plastic lens can reduce the weight of the optical system, thereby realizing the lightness of the optical system. If the movable platform uses the optical system, the battery life of the movable platform can be increased.
示例性的，比如，第二透镜102为塑胶透镜，或者，第二透镜102为塑胶透镜且为非球面透镜。此外，该第二透镜102还可以作为对焦透镜。塑胶透镜有利于对焦重量轻便化，减小对焦电机的功耗问题，由此增加了产品的续航能 力。Exemplarily, for example, the second lens 102 is a plastic lens, or the second lens 102 is a plastic lens and an aspherical lens. In addition, the second lens 102 can also be used as a focusing lens. The plastic lens is conducive to the light weight of the focus and reduces the power consumption of the focus motor, thereby increasing the battery life of the product.
在一些实施例中，反射镜104可以为平面反射镜、全反射棱镜中的至少一种。示例性的，如图1所示，反射镜104为平面反射镜，或者，如图4所示，反射镜104为全反射棱镜。In some embodiments, the mirror 104 may be at least one of a flat mirror and a total reflection prism. Exemplarily, as shown in FIG. 1 , the reflector 104 is a flat reflector, or as shown in FIG. 4 , the reflector 104 is a total reflection prism.
需要说明的是，第一透镜101、第二透镜102、第三透镜103可以是一个透镜面为非球面，也可以是两个透镜面都为非球面。It should be noted that, the first lens 101 , the second lens 102 , and the third lens 103 may have one lens surface that is aspherical, or both lens surfaces may be aspherical.
在一些实施例中，为了进一步地矫正，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, for further correction, one mirror surface of the aspherical lens or all aspherical lens surfaces may be high-order aspherical surfaces, and the high-order aspherical surfaces satisfy the following expression:
Figure PCTCN2020141840-appb-000004
Figure PCTCN2020141840-appb-000004
在表达式(12)中，z为非球面旋转对称轴，c为中心点曲率；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 (12), 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 represent respectively The coefficients corresponding to each radial coordinate.
以下结合附图以及表，给出光学系统的具体数值配置，面数1、2、3、4、6、7、8、9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和反射镜101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 1, 2, 3, 4, 6, 7, 8, and 9 represent the surface numbers in the optical system, which 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 and the mirror 101 .
具体地，如图5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S5和表面S7，反射镜104的两个镜面分别为表面S8和表面S9，其中反射镜104为平面镜。Specifically, as shown in FIG. 5 , 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 S5 and the surface S7 respectively, and the two mirror surfaces of the reflecting mirror 104 are the surface S8 and the surface S9 respectively, wherein the reflecting mirror 104 is a plane mirror.
在表1中，面数表示透镜的表面，类型表示表面的形状，“STANDRAD”表示平面，“EVENASPH”表示非球面；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；间隔或厚度(Thickness)，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。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; Obj means object side, STO means stop plane, and Ima means image side.
在表2中，Surf表示面数，K为二次曲线常数，“4次项”至“14次项”表示a 2至a 7分别表示各径向坐标所对应的系数。 In Table 2, Surf represents the number of faces, K is a quadratic curve constant, and "4th-order term" to "14th-order term" indicate that a 2 to a 7 represent the coefficients corresponding to each radial coordinate, respectively.
在表3中，T tl为光学系统的第一透镜的物侧透镜面中心点至图像传感器的 距离，I mgh为光学系统的有效像素区域对角线长度的一半，H FOV为图像传感器对角线方向的视场角的一半。 In Table 3, T t1 is the distance from the center point of the object-side lens surface of the first lens of the optical system to the image sensor, 1 mgh is half of the diagonal length of the effective pixel area of the optical system, and H FOV is the diagonal angle of the image sensor Half of the field of view in the line direction.
需要说明的是，表1至表3对应的光学系统，称为实施例1。It should be noted that the optical systems corresponding to Tables 1 to 3 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
Figure PCTCN2020141840-appb-000005
Figure PCTCN2020141840-appb-000005
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 aspheric coefficient data of the optical system lens-surface 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
11 4.73189E-014.73189E-01 3.37780E-043.37780E-04 -6.54654E-06-6.54654E-06 3.42677E-083.42677E-08 -1.42371E-07-1.42371E-07 7.33814E-097.33814E-09 -1.93041E-10-1.93041E-10
22 1.25874E+011.25874E+01 9.62832E-049.62832E-04 -2.25418E-05-2.25418E-05 -1.91373E-05-1.91373E-05 1.54538E-061.54538E-06 -5.12284E-08-5.12284E-08 5.23695E-105.23695E-10
33 -5.57373E+00-5.57373E+00 7.97505E-047.97505E-04 -4.52504E-05-4.52504E-05 9.57333E-069.57333E-06 4.17853E-074.17853E-07 -1.97851E-08-1.97851E-08 2.15260E-102.15260E-10
44 -1.10896E-01-1.10896E-01 -2.97928E-03-2.97928E-03 -3.33657E-05-3.33657E-05 1.26115E-041.26115E-04 -1.99327E-05-1.99327E-05 1.32993E-061.32993E-06 -3.96125E-08-3.96125E-08
66 -1.28549E+01-1.28549E+01 1.21640E-031.21640E-03 -1.49518E-04-1.49518E-04 1.89763E-041.89763E-04 -1.64681E-05-1.64681E-05 8.00754E-078.00754E-07 -1.50123E-08-1.50123E-08
77 -8.16918E+01-8.16918E+01 3.69177E-053.69177E-05 -5.89635E-05-5.89635E-05 1.13338E-041.13338E-04 -1.16492E-05-1.16492E-05 6.14714E-076.14714E-07 -1.17685E-08-1.17685E-08
表3实施例1的光学系统的相关参数Table 3 Relevant parameters of the optical system of Example 1
T tl T tl 33mm33mm
I mgH 1 mgH 4mm4mm
H FOV H FOV 7.67度7.67 degrees
图6和图7分别为实施例1示例的光学系统的场曲参数和畸变参数，由图6和图7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。FIG. 6 and FIG. 7 are the field curvature parameters and distortion parameters of the optical system of Example 1, respectively. It can be seen from FIG. 6 and FIG. 7 that the optical system has a better imaging effect and therefore has a 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8，图8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，同时又具有远距离摄影以及较大的变焦倍率，进而提高了拍摄装置200的成像质量。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 by the embodiment of the present application, the photographing device 200 can realize the miniaturization of the product, and at the same time has a long-distance photography and a larger zoom ratio, thereby improving the imaging quality of the photographing device 200 .
具体地，如图8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。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.
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8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. 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 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，由此可以增加拍摄装置的视场角，提高拍摄装置的成像质量，同时又实现了产品的小型化。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.
请参阅图9，图9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. 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.
如图9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. 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.
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, stably, and continuously launch crystal bullets or infrared beams. 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。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, if the optical system is installed on the drone, because 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.
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 (61)

  1. 一种光学系统，其特征在于，用于将拍摄物体成像于图像传感器，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 it is used for imaging a photographed object on an image sensor, the optical system comprising:
    第一透镜，具有正光焦度；a first lens having positive refractive power;
    第二透镜，具有负光焦度；a second lens having negative refractive power;
    第三透镜，具有正光焦度；The third lens has positive refractive power;
    反射镜，用于改变经过所述第一透镜、第二透镜和第三透镜光线的传播方向并将所述光线反射至所述图像传感器；a reflector for changing the propagation direction of light passing through the first lens, the second lens and the third lens and reflecting the light to the image sensor;
    所述光学系统满足以下表达式：The optical system satisfies the following expression:
    1.0≤T tl/E ffl≤1.5 1.0≤T tl /E ffl ≤1.5
    其中，T tl为光轴上的光线从所述第一透镜的物侧透镜面中心点经过所述第一透镜、第二透镜、第三透镜以及所述反射镜反射到所述图像传感器的传播距离，E ffl为所述光学系统的有效焦距。 Wherein, T t1 is the propagation of light on the optical axis reflected from the center point of the object side lens surface of the first lens to the image sensor through the first lens, the second lens, the third lens and the reflector distance, Effl is the effective focal length of the optical system.
  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:
    3.9≤T tl/(I mgh*2)≤4.35 3.9≤T tl /(I mgh *2)≤4.35
    其中，T tl为所述第一透镜的物侧透镜面中心点至所述图像传感器的距离，I mgh为所述光学系统的有效像素区域对角线长度的一半。 Wherein, T t1 is the distance from the center point of the object-side lens surface of the first lens to the image sensor, and 1 mgh is half of the diagonal length of the effective pixel area of the optical system.
  4. 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:
    6.2°≤H FOV≤9.2° 6.2°≤H FOV ≤9.2°
    其中，H FOV为所述图像传感器对角线方向的视场角的一半。 Wherein, H FOV is half of the field of view in the diagonal direction of the image sensor.
  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:
    0.5≤B fl/T tl≤0.8 0.5≤B fl /T tl ≤0.8
    其中，T tl为所述第一透镜的物侧透镜面中心点至所述图像传感器的距离， B fl为所述第三透镜的像侧透镜面中心点至所述图像传感器的距离。 Wherein, T t1 is the distance from the center point of the object-side lens surface of the first lens to the image sensor, and Bf1 is the distance from the center point of the image-side lens surface of the third lens to the image sensor.
  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:
    Figure PCTCN2020141840-appb-100001
    Figure PCTCN2020141840-appb-100001
    其中，c 21为所述第二透镜的物侧透镜面的曲率半径，c 22为所述第二透镜的像侧透镜面的曲率半径。 Wherein, c 21 is the curvature radius of the object-side lens surface of the second lens, and c 22 is the curvature radius of the image-side lens surface of the second lens.
  7. 根据权利要求6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：
    Figure PCTCN2020141840-appb-100002
    The optical system according to claim 6, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100002
  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:
    0.1毫米≤CT 12≤2毫米 0.1mm≤CT 12≤2mm
    其中，CT 12为所述第一透镜的像侧透镜面中心点至所述第二透镜的物侧透镜面中心点之间的间隔距离。 Wherein, CT 12 is the separation distance between the center point of the image-side lens surface of the first lens and the center point of the object-side lens surface of the second lens.
  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:
    CT 23＞CT 12 CT 23 > CT 12
    其中，CT 12为所述第一透镜的像侧透镜面中心点至所述第二透镜的物侧透镜面中心点之间的间隔距离，CT 23为所述第二透镜的像侧透镜面中心点至所述第三透镜的物侧透镜面中心点之间的间隔距离。 Wherein, CT 12 is the separation distance from the center point of the image side lens surface of the first lens to the center point of the object side lens surface of the second lens, and CT 23 is the center point of the image side lens surface of the second lens The separation distance from the point to the center point of the object-side lens surface of the third lens.
  10. 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 PCTCN2020141840-appb-100003
    Figure PCTCN2020141840-appb-100003
    其中，c 11为所述第一透镜的物侧透镜面的曲率半径，c 12为所述第一透镜的像侧透镜面的曲率半径。 Wherein, c 11 is the curvature radius of the object-side lens surface of the first lens, and c 12 is the curvature radius of the image-side lens surface of the first lens.
  11. 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:
    0.2≤|f 2/E ffl|≤2 0.2≤|f 2 /E ffl |≤2
    其中，f 2为所述第二透镜的有效焦距，E ffl为所述光学系统的有效焦距。 Wherein, f2 is the effective focal length of the second lens, and Effl is the effective focal length of the optical system.
  12. 根据权利要求1至11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 11, wherein the optical system satisfies the following expression:
    VD 1≥65 VD 1 ≥65
    其中，VD 1为所述第一透镜的色散系数。 Wherein, VD 1 is the dispersion coefficient of the first lens.
  13. 根据权利要求1至11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 11, wherein the optical system satisfies the following expression:
    18≤VD 2≤35，1.5≤ND 2≤1.7 18≤VD2≤35，1.5≤ND2≤1.7 _
    其中，VD 2为所述第二透镜的色散系数，ND 2为所述第二透镜的折射率。 Wherein, VD 2 is the dispersion coefficient of the second lens, and ND 2 is the refractive index of the second lens.
  14. 根据权利要求1至11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 11, wherein the optical system satisfies the following expression:
    70≤VD 1≤90，1.45≤ND 1≤1.55；和/或， 70≤VD1≤90 , 1.45≤ND1≤1.55 ; and/or,
    18≤VD 2≤35，1.5≤ND 2≤1.7；和/或， 18≤VD2≤35 , 1.5≤ND2≤1.7 ; and/or,
    50≤VD 3≤75，1.5≤ND 2≤1.7 50≤VD3≤75，1.5≤ND2≤1.7 _
    其中，VD 1为所述第一透镜的色散系数，ND 1为所述第一透镜的折射率，VD 2为所述第二透镜的色散系数，ND 2为所述第二透镜的折射率，VD 3为所述第三透镜的色散系数，ND 3为所述第三透镜的折射率。 Wherein, VD 1 is the dispersion coefficient of the first lens, ND 1 is the refractive index of the first lens, VD 2 is the dispersion coefficient of the second lens, ND 2 is the refractive index of the second lens, VD 3 is the dispersion coefficient of the third lens, and ND 3 is the refractive index of the third lens.
  15. 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、第二透镜和第三透镜中至少包括一个非球面透镜。The optical system according to claim 1, wherein at least one aspherical lens is included among the first lens, the second lens and the third lens.
  16. 根据权利要求15所述的光学系统，其特征在于，所述第一透镜、第二透镜和第三透镜均为非球面透镜。The optical system according to claim 15, wherein the first lens, the second lens and the third lens are all aspherical lenses.
  17. 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、第二透镜和第三透镜中至少包括一个塑胶透镜。The optical system according to claim 1, wherein the first lens, the second lens and the third lens include at least one plastic lens.
  18. 根据权利要求17所述的光学系统，其特征在于，所述第一透镜为玻璃透镜。The optical system according to claim 17, wherein the first lens is a glass lens.
  19. 根据权利要求17所述的光学系统，其特征在于，所述第二透镜为塑胶透镜。The optical system according to claim 17, wherein the second lens is a plastic lens.
  20. 根据权利要求1所述的光学系统，其特征在于，所述反射镜为平面反射镜、全反射棱镜中的至少一种。The optical system according to claim 1, wherein the reflector is at least one of a plane reflector and a total reflection prism.
  21. 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 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 ;
    所述光学系统包括：The optical system includes:
    第一透镜，具有正光焦度；a first lens having positive refractive power;
    第二透镜，具有负光焦度；a second lens having negative refractive power;
    第三透镜，具有正光焦度；The third lens has positive refractive power;
    反射镜，用于改变经过所述第一透镜、第二透镜和第三透镜光线的传播方向并将所述光线反射至所述图像传感器；a reflector for changing the propagation direction of light passing through the first lens, the second lens and the third lens and reflecting the light to the image sensor;
    所述光学系统满足以下表达式：The optical system satisfies the following expression:
    1.0≤T tl/E ffl≤1.5 1.0≤T tl /E ffl ≤1.5
    其中，T tl为光轴上的光线从所述第一透镜的物侧透镜面中心点经过所述第一透镜、第二透镜、第三透镜以及所述反射镜反射到所述图像传感器的传播距离，E ffl为所述光学系统的有效焦距。 Wherein, T t1 is the propagation of light on the optical axis reflected from the center point of the object side lens surface of the first lens to the image sensor through the first lens, the second lens, the third lens and the reflector distance, Effl is the effective focal length of the optical system.
  22. 根据权利要求21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 21, wherein a diaphragm of the optical system is located between the second lens and the third lens.
  23. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    3.9≤T tl/(I mgh*2)≤4.35 3.9≤T tl /(I mgh *2)≤4.35
    其中，T tl为所述第一透镜的物侧透镜面中心点至所述图像传感器的距离，I mgh为所述光学系统的有效像素区域对角线长度的一半。 Wherein, T t1 is the distance from the center point of the object-side lens surface of the first lens to the image sensor, and 1 mgh is half of the diagonal length of the effective pixel area of the optical system.
  24. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    6.2°≤H FOV≤9.2° 6.2°≤H FOV ≤9.2°
    其中，H FOV为所述图像传感器对角线方向的视场角的一半。 Wherein, H FOV is half of the field of view in the diagonal direction of the image sensor.
  25. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    0.5≤B fl/T tl≤0.8 0.5≤B fl /T tl ≤0.8
    其中，T tl为所述第一透镜的物侧透镜面中心点至所述图像传感器的距离，B fl为所述第三透镜的像侧透镜面中心点至所述图像传感器的距离。 Wherein, T t1 is the distance from the center point of the object-side lens surface of the first lens to the image sensor, and Bf1 is the distance from the center point of the image-side lens surface of the third lens to the image sensor.
  26. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100004
    Figure PCTCN2020141840-appb-100004
    其中，c 21为所述第二透镜的物侧透镜面的曲率半径，c 22为所述第二透镜的像侧透镜面的曲率半径。 Wherein, c 21 is the curvature radius of the object-side lens surface of the second lens, and c 22 is the curvature radius of the image-side lens surface of the second lens.
  27. 根据权利要求26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：
    Figure PCTCN2020141840-appb-100005
    The photographing device according to claim 26, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100005
  28. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    0.1毫米≤CT 12≤2毫米 0.1mm≤CT 12≤2mm
    其中，CT 12为所述第一透镜的像侧透镜面中心点至所述第二透镜的物侧透镜面中心点之间的间隔距离。 Wherein, CT 12 is the separation distance between the center point of the image-side lens surface of the first lens and the center point of the object-side lens surface of the second lens.
  29. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    CT 23＞CT 12 CT 23 > CT 12
    其中，CT 12为所述第一透镜的像侧透镜面中心点至所述第二透镜的物侧透镜面中心点之间的间隔距离，CT 23为所述第二透镜的像侧透镜面中心点至所述第三透镜的物侧透镜面中心点之间的间隔距离。 Wherein, CT 12 is the separation distance from the center point of the image side lens surface of the first lens to the center point of the object side lens surface of the second lens, and CT 23 is the center point of the image side lens surface of the second lens The separation distance from the point to the center point of the object-side lens surface of the third lens.
  30. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100006
    Figure PCTCN2020141840-appb-100006
    其中，c 11为所述第一透镜的物侧透镜面的曲率半径，c 12为所述第一透镜的 像侧透镜面的曲率半径。 Wherein, c 11 is the curvature radius of the object-side lens surface of the first lens, and c 12 is the curvature radius of the image-side lens surface of the first lens.
  31. 根据权利要求21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 21, wherein the optical system satisfies the following expression:
    0.2≤|f 2/E ffl|≤2 0.2≤|f 2 /E ffl |≤2
    其中，f 2为所述第二透镜的有效焦距，E ffl为所述光学系统的有效焦距。 Wherein, f2 is the effective focal length of the second lens, and Effl is the effective focal length of the optical system.
  32. 根据权利要求21至31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 21 to 31, wherein the optical system satisfies the following expression:
    VD 1≥65 VD 1 ≥65
    其中，VD 1为所述第一透镜的色散系数。 Wherein, VD 1 is the dispersion coefficient of the first lens.
  33. 根据权利要求21至31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 21 to 31, wherein the optical system satisfies the following expression:
    18≤VD 2≤35，1.5≤ND 2≤1.7 18≤VD2≤35，1.5≤ND2≤1.7 _
    其中，VD 2为所述第二透镜的色散系数，ND 2为所述第二透镜的折射率。 Wherein, VD 2 is the dispersion coefficient of the second lens, and ND 2 is the refractive index of the second lens.
  34. 根据权利要求21至31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 21 to 31, wherein the optical system satisfies the following expression:
    70≤VD 1≤90，1.45≤ND 1≤1.55；和/或， 70≤VD1≤90 , 1.45≤ND1≤1.55 ; and/or,
    18≤VD 2≤35，1.5≤ND 2≤1.7；和/或， 18≤VD2≤35 , 1.5≤ND2≤1.7 ; and/or,
    50≤VD 3≤75，1.5≤ND 2≤1.7 50≤VD3≤75，1.5≤ND2≤1.7 _
    其中，VD 1为所述第一透镜的色散系数，ND 1为所述第一透镜的折射率，VD 2为所述第二透镜的色散系数，ND 2为所述第二透镜的折射率，VD 3为所述第三透镜的色散系数，ND 3为所述第三透镜的折射率。 Wherein, VD 1 is the dispersion coefficient of the first lens, ND 1 is the refractive index of the first lens, VD 2 is the dispersion coefficient of the second lens, ND 2 is the refractive index of the second lens, VD 3 is the dispersion coefficient of the third lens, and ND 3 is the refractive index of the third lens.
  35. 根据权利要求21所述的拍摄装置，其特征在于，所述第一透镜、第二透镜和第三透镜中至少包括一个非球面透镜。The photographing device according to claim 21, wherein at least one aspheric lens is included in the first lens, the second lens and the third lens.
  36. 根据权利要求35所述的拍摄装置，其特征在于，所述第一透镜、第二透镜和第三透镜均为非球面透镜。The photographing device according to claim 35, wherein the first lens, the second lens and the third lens are all aspherical lenses.
  37. 根据权利要求21所述的拍摄装置，其特征在于，所述第一透镜、第二透镜和第三透镜中至少包括一个塑胶透镜。The photographing device according to claim 21, wherein at least one plastic lens is included among the first lens, the second lens and the third lens.
  38. 根据权利要求37所述的拍摄装置，其特征在于，所述第一透镜为玻璃透镜。The photographing device according to claim 37, wherein the first lens is a glass lens.
  39. 根据权利要求37所述的拍摄装置，其特征在于，所述第二透镜为塑胶透镜。The photographing device of claim 37, wherein the second lens is a plastic lens.
  40. 根据权利要求21所述的拍摄装置，其特征在于，所述反射镜为平面反射镜、全反射棱镜中的至少一种。The photographing device according to claim 21, wherein the reflection mirror is at least one of a flat reflection mirror and a total reflection prism.
  41. 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：The optical system includes:
    第一透镜，具有正光焦度；a first lens having positive refractive power;
    第二透镜，具有负光焦度；a second lens having negative refractive power;
    第三透镜，具有正光焦度；The third lens has positive refractive power;
    反射镜，用于改变经过所述第一透镜、第二透镜和第三透镜光线的传播方向并将所述光线反射至所述图像传感器；a reflector for changing the propagation direction of light passing through the first lens, the second lens and the third lens and reflecting the light to the image sensor;
    所述光学系统满足以下表达式：The optical system satisfies the following expression:
    1.0≤T tl/E ffl≤1.5 1.0≤T tl /E ffl ≤1.5
    其中，T tl为光轴上的光线从所述第一透镜的物侧透镜面中心点经过所述第一透镜、第二透镜、第三透镜以及所述反射镜反射到所述图像传感器的传播距离，E ffl为所述光学系统的有效焦距。 Wherein, T t1 is the propagation of light on the optical axis reflected from the center point of the object side lens surface of the first lens to the image sensor through the first lens, the second lens, the third lens and the reflector distance, Effl is the effective focal length of the optical system.
  42. 根据权利要求41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 41, wherein the stop of the optical system is located between the second lens and the third lens.
  43. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    3.9≤T tl/(I mgh*2)≤4.35 3.9≤T tl /(I mgh *2)≤4.35
    其中，T tl为所述第一透镜的物侧透镜面中心点至所述图像传感器的距离，I mgh为所述光学系统的有效像素区域对角线长度的一半。 Wherein, T t1 is the distance from the center point of the object-side lens surface of the first lens to the image sensor, and 1 mgh is half of the diagonal length of the effective pixel area of the optical system.
  44. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    6.2°≤H FOV≤9.2° 6.2°≤H FOV ≤9.2°
    其中，H FOV为所述图像传感器对角线方向的视场角的一半。 Wherein, H FOV is half of the field of view in the diagonal direction of the image sensor.
  45. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    0.5≤B fl/T tl≤0.8 0.5≤B fl /T tl ≤0.8
    其中，T tl为所述第一透镜的物侧透镜面中心点至所述图像传感器的距离，B fl为所述第三透镜的像侧透镜面中心点至所述图像传感器的距离。 Wherein, T t1 is the distance from the center point of the object-side lens surface of the first lens to the image sensor, and Bf1 is the distance from the center point of the image-side lens surface of the third lens to the image sensor.
  46. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100007
    Figure PCTCN2020141840-appb-100007
    其中，c 21为所述第二透镜的物侧透镜面的曲率半径，c 22为所述第二透镜的像侧透镜面的曲率半径。 Wherein, c 21 is the curvature radius of the object-side lens surface of the second lens, and c 22 is the curvature radius of the image-side lens surface of the second lens.
  47. 根据权利要求46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：
    Figure PCTCN2020141840-appb-100008
    The movable platform of claim 46, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100008
  48. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    0.1毫米≤CT 12≤2毫米 0.1mm≤CT 12≤2mm
    其中，CT 12为所述第一透镜的像侧透镜面中心点至所述第二透镜的物侧透镜面中心点之间的间隔距离。 Wherein, CT 12 is the separation distance between the center point of the image-side lens surface of the first lens and the center point of the object-side lens surface of the second lens.
  49. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    CT 23＞CT 12 CT 23 > CT 12
    其中，CT 12为所述第一透镜的像侧透镜面中心点至所述第二透镜的物侧透镜面中心点之间的间隔距离，CT 23为所述第二透镜的像侧透镜面中心点至所述第三透镜的物侧透镜面中心点之间的间隔距离。 Wherein, CT 12 is the separation distance from the center point of the image side lens surface of the first lens to the center point of the object side lens surface of the second lens, and CT 23 is the center point of the image side lens surface of the second lens The separation distance from the point to the center point of the object-side lens surface of the third lens.
  50. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    Figure PCTCN2020141840-appb-100009
    Figure PCTCN2020141840-appb-100009
    其中，c 11为所述第一透镜的物侧透镜面的曲率半径，c 12为所述第一透镜的像侧透镜面的曲率半径。 Wherein, c 11 is the curvature radius of the object-side lens surface of the first lens, and c 12 is the curvature radius of the image-side lens surface of the first lens.
  51. 根据权利要求41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 41, wherein the optical system satisfies the following expression:
    0.2≤|f 2/E ffl|≤2 0.2≤|f 2 /E ffl |≤2
    其中，f 2为所述第二透镜的有效焦距，E ffl为所述光学系统的有效焦距。 Wherein, f2 is the effective focal length of the second lens, and Effl is the effective focal length of the optical system.
  52. 根据权利要求41至51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 41 to 51, wherein the optical system satisfies the following expression:
    VD 1≥65 VD 1 ≥65
    其中，VD 1为所述第一透镜的色散系数。 Wherein, VD 1 is the dispersion coefficient of the first lens.
  53. 根据权利要求41至51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 41 to 51, wherein the optical system satisfies the following expression:
    18≤VD 2≤35，1.5≤ND 2≤1.7 18≤VD2≤35，1.5≤ND2≤1.7 _
    其中，VD 2为所述第二透镜的色散系数，ND 2为所述第二透镜的折射率。 Wherein, VD 2 is the dispersion coefficient of the second lens, and ND 2 is the refractive index of the second lens.
  54. 根据权利要求41至51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 41 to 51, wherein the optical system satisfies the following expression:
    70≤VD 1≤90，1.45≤ND 1≤1.55；和/或， 70≤VD1≤90 , 1.45≤ND1≤1.55 ; and/or,
    18≤VD 2≤35，1.5≤ND 2≤1.7；和/或， 18≤VD2≤35 , 1.5≤ND2≤1.7 ; and/or,
    50≤VD 3≤75，1.5≤ND 2≤1.7 50≤VD3≤75，1.5≤ND2≤1.7 _
    其中，VD 1为所述第一透镜的色散系数，ND 1为所述第一透镜的折射率，VD 2为所述第二透镜的色散系数，ND 2为所述第二透镜的折射率，VD 3为所述第三透镜的色散系数，ND 3为所述第三透镜的折射率。 Wherein, VD 1 is the dispersion coefficient of the first lens, ND 1 is the refractive index of the first lens, VD 2 is the dispersion coefficient of the second lens, ND 2 is the refractive index of the second lens, VD 3 is the dispersion coefficient of the third lens, and ND 3 is the refractive index of the third lens.
  55. 根据权利要求41所述的可移动平台，其特征在于，所述第一透镜、第二透镜和第三透镜中至少包括一个非球面透镜。The movable platform according to claim 41, wherein the first lens, the second lens and the third lens include at least one aspheric lens.
  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、第二透镜和第三透镜均为非球面透镜。The movable platform of claim 55, wherein the first lens, the second lens and the third lens are all aspherical lenses.
  57. 根据权利要求41所述的可移动平台，其特征在于，所述第一透镜、第 二透镜和第三透镜中至少包括一个塑胶透镜。The movable platform according to claim 41, wherein the first lens, the second lens and the third lens include at least one plastic lens.
  58. 根据权利要求57所述的可移动平台，其特征在于，所述第一透镜为玻璃透镜。The movable platform of claim 57, wherein the first lens is a glass lens.
  59. 根据权利要求57所述的可移动平台，其特征在于，所述第二透镜为塑胶透镜。The movable platform of claim 57, wherein the second lens is a plastic lens.
  60. 根据权利要求41所述的可移动平台，其特征在于，所述反射镜为平面反射镜、全反射棱镜中的至少一种。The movable platform according to claim 41, wherein the reflection mirror is at least one of a flat reflection mirror and a total reflection prism.
  61. 根据权利要求41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 41, wherein the movable platform comprises an unmanned aerial vehicle, a robot, or a handheld gimbal.
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US20030095341A1 (en) * 2001-11-16 2003-05-22 Fuji Photo Optical Co., Ltd. Single-focus lens
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CN111399173A (en) * 2016-11-24 2020-07-10 大立光电股份有限公司 Image capturing lens assembly and image capturing device
CN211603693U (en) * 2020-04-17 2020-09-29 广州长步道光电科技有限公司 35MM industrial lens system
CN112147766A (en) * 2019-06-28 2020-12-29 南昌欧菲精密光学制品有限公司 Imaging lens, camera module and electronic device

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* Cited by examiner, † Cited by third party
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US20030095341A1 (en) * 2001-11-16 2003-05-22 Fuji Photo Optical Co., Ltd. Single-focus lens
US20130063830A1 (en) * 2011-09-14 2013-03-14 Samsung Electro-Mechanics Co., Ltd. Subminiature optical system
CN111399173A (en) * 2016-11-24 2020-07-10 大立光电股份有限公司 Image capturing lens assembly and image capturing device
CN112147766A (en) * 2019-06-28 2020-12-29 南昌欧菲精密光学制品有限公司 Imaging lens, camera module and electronic device
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