WO2023245347A1 - Dispositif d'imagerie et procédé de commande de dispositif d'imagerie - Google Patents

Dispositif d'imagerie et procédé de commande de dispositif d'imagerie Download PDF

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Publication number
WO2023245347A1
WO2023245347A1 PCT/CN2022/099880 CN2022099880W WO2023245347A1 WO 2023245347 A1 WO2023245347 A1 WO 2023245347A1 CN 2022099880 W CN2022099880 W CN 2022099880W WO 2023245347 A1 WO2023245347 A1 WO 2023245347A1
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WIPO (PCT)
Prior art keywords
acceleration
imaging device
angular velocity
sensor
module
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PCT/CN2022/099880
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English (en)
Inventor
Atushi MATSUTANI
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Guangdong Oppo Mobile Telecommunications Corp., Ltd.
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Publication date
Application filed by Guangdong Oppo Mobile Telecommunications Corp., Ltd. filed Critical Guangdong Oppo Mobile Telecommunications Corp., Ltd.
Priority to PCT/CN2022/099880 priority Critical patent/WO2023245347A1/fr
Publication of WO2023245347A1 publication Critical patent/WO2023245347A1/fr

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  • the present disclosure relates to an imaging device and an imaging device control method.
  • An imaging device having a pop-up mechanism can cause the pop-up mechanism to pop up an optical system from a body and to store the optical system in the body.
  • the optical system is susceptible to shocks from a plain surface arriving by the free fall, and thus the optical system may be damaged or peripheral parts of the optical system may be damaged.
  • the present disclosure has been made in view of the above-described problem, and an aim of the present disclosure is to provide an imaging device and an imaging device control method, which can reduce shocks on an optical system due to free fall.
  • an imaging device includes a body, an optical system, an acceleration sensor, an angular velocity sensor, a detecting module, and a pop-up mechanism.
  • the acceleration sensor is configured to detect an acceleration of the body.
  • the angular velocity sensor is configured to detect an angular velocity of the body.
  • the detecting module is configured to obtain a centripetal acceleration component of the body in accordance with the detected angular velocity.
  • the detecting module is configured to remove the centripetal acceleration component from the detected acceleration to detect free fall of the body.
  • the pop-up mechanism is configured to be able to retract the optical system in the body in response to the detection of the free fall of the body by the detecting module.
  • shocks on the optical system due to free fall can be reduced.
  • FIG. 1 is a plan view illustrating an exterior configuration of an imaging device according to an embodiment
  • FIG. 2 is a cross-sectional view illustrating a configuration of an optical system, an image sensor, and a pop-up mechanism according to the embodiment
  • FIG. 3 is an exploded perspective view illustrating the configuration of the optical system, the image sensor, and the pop-up mechanism according to the embodiment
  • FIG. 4 is a perspective view illustrating an operation of the pop-up mechanism according to the embodiment.
  • FIG. 5 is a cross-sectional view illustrating the operation of the pop-up mechanism according to the embodiment.
  • FIG. 6 is a block diagram illustrating a configuration of a sensor module, a driver, the pop-up mechanism, a processor, and a vibration correction module according to the embodiment;
  • FIG. 7 is a diagram illustrating a centripetal acceleration component and a fall acceleration component of an acceleration acting on the imaging device according to the embodiment
  • FIG. 8 is a perspective view illustrating a coordinate system set for a body according to the embodiment.
  • FIG. 9 is a diagram illustrating a gyration radius of the imaging device at the free fall according to the embodiment.
  • FIG. 11 is a diagram illustrating a temporal change of an angular velocity and an acceleration at the free fall according to the embodiment
  • FIG. 13 is a flowchart illustrating operations of the imaging device according to the embodiment.
  • FIG. 14 is a block diagram illustrating a configuration of the sensor module, a driver, the pop-up mechanism, a processor, and the vibration correction module according to a first modification example of the embodiment.
  • FIG. 15 is a block diagram illustrating a configuration of the sensor module, the driver, the pop-up mechanism, a processor, and the vibration correction module according to a second modification example of the embodiment.
  • the imaging device includes a pop-up mechanism that can pop up an optical system from a body, and an improvement to reduce the shock on the optical system when the body falls freely may be reviewed.
  • FIG. 1 is a plan view illustrating an exterior configuration of an imaging device 1.
  • the imaging device 1 may be a portable electronic device.
  • the portable electronic device may be a smartphone, a tablet computer, or a digital camera, for example.
  • the X direction width of the body 2 is shorter than the Y direction width, and the body 2 has a substantially rectangular shape in an XY plan view.
  • the Z direction width of the body 2 is smaller than the X and Y direction widths.
  • the X direction width of the body 2 may be a width that fits a hand of a user. As a result, the imaging device 1 can be easily thinned.
  • the imaging device 1 is configured to be able to take an image of an object.
  • the imaging device 1 includes an optical system 3 and an image sensor 4.
  • the optical system 3 is arranged so that its optical axis PA intersects with an imaging surface 4a of the corresponding image sensor 4.
  • the image sensor 4 has a plurality of pixels arranged in the XY direction on the imaging surface 4a.
  • the optical system 3 receives light reflected by an object and forms an object image on the imaging surface 4a of the image sensor 4.
  • the image sensor 4 generates a plurality of pixel signals in accordance with the object image formed on the imaging surface 4a.
  • the imaging device 1 processes the plurality of pixel signals to generate image data of the object.
  • the imaging device 1 displays an image of the object according to the image data on a display screen (not illustrated) arranged on a main surface of the body 2 on the -Z side, for example.
  • an optical-axis-direction (Z-direction) distance between the optical system 3 and the image sensor 4 may be variable.
  • the imaging device 1 can realize an autofocus function and/or an optical zoom function to easily improve its performance.
  • FIG. 2 is a cross-sectional view illustrating a configuration of the optical system 3, the image sensor 4, and the pop-up mechanism 5 according to the embodiment.
  • FIG. 2 corresponds to a cross section taken by cutting FIG. 1 along the A-A line.
  • FIG. 3 is an exploded perspective view illustrating the configuration of the optical system 3, the image sensor 4, and the pop-up mechanism 5 according to the embodiment.
  • the image sensor 4 is arranged on the -Z side of the optical system 3 to be fixed to a fixing member 22.
  • the fixing member 22 functions as a mounting board and is also referred to as a camera board.
  • the fixing member 22 fixes the image sensor 4 to the body 2.
  • the image sensor 4 extends like a plate in the XY direction.
  • the pop-up mechanism 5 is housed in a base member 21.
  • the base member 21 is fixed to the fixing member 22 to constitute a part of the body 2.
  • the base member 21 is penetrated by an aperture 21a in the Z direction.
  • the optical system 3 can be housed in the aperture 21a.
  • a frame member 23 is arranged on the +Z side edge of the aperture 21a.
  • the frame member 23 has a ring shape along the +Z side edge of the aperture 21a in an XY plan view.
  • the frame member 23 may be formed of a material having elasticity such as rubber.
  • the frame member 23 functions as a waterproof seal for sealing a gap between the optical system 3 and the aperture 21a.
  • the pop-up mechanism 5 can drive the optical system 3 within a predetermined Z range in the Z direction. As illustrated in (a) of FIG. 4 and (a) of FIG. 5, the pop-up mechanism 5 switches to the pop-up state by driving the optical system 3 to a position of the +Z side end within the predetermined Z range. As illustrated in (b) of FIG. 4 and (b) of FIG. 5, the pop-up mechanism 5 switches to the retreat state by driving the optical system 3 to a position of the -Z side end within the predetermined Z range.
  • FIG. 4 is a perspective view illustrating an operation of the pop-up mechanism 5.
  • FIG. 5 is a cross-sectional view illustrating the operation of the pop-up mechanism 5.
  • the surface of the optical system 3 on the +Z side is located on the +Z side more than the frame member 23 and the surface of the base member 21 on the +Z side, and thus the optical system 3 is popped up from the body 2.
  • the surface of the optical system 3 on the +Z side is located at the Z position substantially equal to the frame member 23 and the surface of the base member 21 on the +Z side, and thus the optical system 3 is stored in the body 2.
  • the lens barrel 32 has a substantially tubular shape having an axis along the Z direction, and is penetrated by an aperture 32a in the Z direction.
  • the lens unit 31 can be housed in the aperture 32a.
  • the lens barrel 32 is arranged outside of the lens unit 31 in an XY plan view to hold the lens unit 31 from the outside in the XY direction. As a result, the lens barrel 32 can protect the lens unit 31 from the outside in the XY direction.
  • the lens barrel 32 may be formed of a light-shielding material. As a result, the lens barrel 32 can shield the lens unit 31 from light from the outside in the XY direction.
  • the optical member 33 is arranged on the +Z side of the lens unit 31 and the +Z side end of the aperture 32a of the lens barrel 32.
  • the optical member 33 blocks the aperture 32a of the lens barrel 32 from the +Z side.
  • the optical member 33 can protect the lens unit 31 from the outside in the +Z direction.
  • the optical member 33 may be formed of a translucent material. As a result, the optical member 33 can transmit light incident from the +Z side to guide it to the lens unit 31.
  • the optical member 34 is arranged on the -Z side of the lens unit 31 and the -Z side end of the aperture 32a of the lens barrel 32.
  • the optical member 34 blocks the aperture 32a of the lens barrel 32 from the -Z side.
  • the optical member 34 can protect the lens unit 31 from the outside in the -Z direction.
  • the optical member 34 can be formed of a translucent material. As a result, the optical member 34 can transmit light incident from the lens unit 31 to guide it to the image sensor 4.
  • the pop-up mechanism 5 includes a motor 51, a shaft 52, a pinion 53, a pinion 54, a lead screw 55, a nut 56, a support member 57, and a shaft 58.
  • the configuration which includes the motor 51, the shaft 52, the pinion 53, the pinion 54, the lead screw 55, the nut 56, and the shaft 58, functions as a moving mechanism that can move the support member 57 in the Z direction.
  • the motor 51 is arranged at a position (e.g., adjacent position on the +X side) adjacent to the optical system 3.
  • the motor 51 is a rotary motor, and is, for example, a stepping motor.
  • the motor 51 is housed in the base member 21.
  • the motor 51 has a substantially cylindrical shape whose axis is along the Z direction.
  • the shaft 52 extends along the Z direction to connect a rotation axis of the motor 51 and a center of the pinion 53.
  • the pinion 53 has a substantially disk shape whose axis is along the Z direction.
  • the teeth of the pinion 53 engage with the teeth of the pinion 54.
  • the pinion 54 has a substantially disk shape whose axis is along the Z direction.
  • the pinion 54 is connected to the +Z side end of the lead screw 55.
  • the lead screw 55 extends like a rod in the Z direction, and has a spiral thread groove formed on its side surface.
  • the nut 56 has a substantially tubular shape, and has a thread groove, corresponding to the thread groove of the lead screw 55, formed on its inner surface.
  • the nut 56 is inserted through the lead screw 55.
  • the thread groove of the nut 56 is fitted into the thread groove of the lead screw 55.
  • the support member 57 is fixed to the nut 56.
  • the support member 57 has a ring shape in accordance with the outer edge of the lens barrel 32 in the XY plane, and is fixed to the -Z side end surface of the lens barrel 32.
  • the lead screw 55 and the shaft 58 extend in the Z direction to be inserted through a hole (not illustrated) of the support member 57.
  • the motor 51 rotates a rotation shaft in accordance with a control signal received from a pop-up control module 71.
  • the motor 51 rotates the rotation shaft in a first rotation direction in accordance with a control signal to instruct switching to the pop-up state.
  • the motor 51 rotates the rotation shaft in a second rotation direction in accordance with a control signal to instruct switching to the retreat state.
  • the rotational force of the rotation shaft of the motor 51 is transmitted to the shaft 52, the pinion 53, the pinion 54, and the lead screw 55 in order.
  • the nut 56 moves in translation in the Z direction in accordance with the rotation of the lead screw 55.
  • the nut 56 converts the rotational force around the Z-axis to a translational force in the Z direction.
  • the third rotation direction is a rotation direction corresponding to the first rotation direction, and may be a rotation direction opposite to the first rotation direction.
  • the lead screw 55 rotates in a fourth rotation direction, and the nut 56 moves in translation in the -Z direction.
  • the fourth rotation direction is a rotation direction corresponding to the second rotation direction, and may be a rotation direction opposite to the second rotation direction.
  • the translational force of the nut 56 is transmitted to the support member 57 and the lens barrel 32 in order.
  • the lens barrel 32 moves in translation in the +Z direction, and thus the optical system 3 is in the pop-up state where the optical system 3 is popped up from the body 2 as illustrated in (a) of FIG. 4 and (a) of FIG. 5.
  • the lens barrel 32 moves in translation in the -Z direction, and thus the optical system 3 is in the retreat state where the optical system 3 is stored in the body 2 as illustrated in (b) of FIG. 4 and (b) of FIG. 5.
  • the pop-up mechanism 5 is not limited to the configuration illustrated in FIGS. 2 and 3.
  • the pop-up mechanism 5 may have a configuration of using a rotary motor that generates a rotational force in accordance with a control signal and a cam mechanism that converts the rotational force into a translational force, or may have a configuration of using a linear motor that generates a translational force in accordance with a control signal.
  • FIG. 6 is a block diagram illustrating a configuration of a sensor module 6, a driver 7, the pop-up mechanism 5, a processor 8, and a vibration correction module 9.
  • the sensor module 6 is connected to the driver 7 via lines L11 and L12, and is connected to the processor 8 via lines L31 and L32.
  • the driver 7 is connected to the pop-up mechanism 5 via a line L23.
  • the image sensor 4 can supply a plurality of pixel signals to the processor 8.
  • the driver 7 can supply a vibration correction signal to be described later to the vibration correction module 9.
  • the sensor module 6 includes an acceleration sensor 61, an angular velocity sensor 62, an AD converter (ADC) 63, an AD converter (ADC) 64, a low-pass filter (LPF) 65, a low-pass filter (LPF) 66, a high-pass filter (HPF) 67, a high-pass filter (HPF) 68, an interface 691, and an interface 692.
  • ADC AD converter
  • ADC AD converter
  • HPF high-pass filter
  • HPF high-pass filter
  • the acceleration sensor 61 detects an acceleration of the body 2 and generates a detection signal indicating the acceleration.
  • An output node of the acceleration sensor 61 is connected to the AD converter 63.
  • An input node of the AD converter 63 is connected to the acceleration sensor 61, and an output node of the AD converter 63 is connected to the low-pass filter 65.
  • An input node of the low-pass filter 65 is connected to the AD converter 63 and is connected to a terminal 6911 of the interface 691 via a line L1, and an output node of the low-pass filter 65 is connected to the high-pass filter 67.
  • the line L1 is connected to the line L11 via the terminal 6911 of the interface 691.
  • An input node of the high-pass filter 67 is connected to the low-pass filter 65, and an output node of the high-pass filter 67 is connected to the line L31 via the interface 692.
  • the configuration including the low-pass filter 65 and the high-pass filter 67 can be regarded as a filter FL1 having a filter characteristic FP1.
  • the detection signal of the acceleration sensor 61 on which filter processing of the filter characteristic FP1 is performed may be transmitted to the processor 8.
  • the angular velocity sensor 62 detects an angular velocity of the body 2 and generates a detection signal indicating the angular velocity.
  • An output node of the angular velocity sensor 62 is connected to the AD converter 64.
  • An input node of the AD converter 64 is connected to the angular velocity sensor 62, and an output node of the AD converter 64 is connected to the low-pass filter 66.
  • An input node of the low-pass filter 66 is connected to the AD converter 64 and is connected to a terminal 6912 of the interface 691 via a line L2, and an output node of the low-pass filter 66 is connected to the high-pass filter 68.
  • the line L2 is connected to the line L12 via the terminal 6912 of the interface 691.
  • An input node of the high-pass filter 68 is connected to the low-pass filter 66, and an output node of the high-pass filter 68 is connected to the line L32 via the interface 692.
  • the configuration including the low-pass filter 66 and the high-pass filter 68 can be regarded as a filter FL2 having a filter characteristic FP2.
  • the detection signal of the angular velocity sensor 62 on which filter processing of the filter characteristic FP2 is performed may be transmitted to the processor 8.
  • the processor 8 includes a signal processor 81 and an interface 82.
  • the signal processor 81 is connected to the low-pass filter 65 and the high-pass filter 67 via the interface 82, the line L31, and the interface 692.
  • the signal processor 81 is connected to the low-pass filter 66 and the high-pass filter 68 via the interface 82, the line L32, and the interface 692.
  • the signal processor 81 can perform signal processing by using the detection signal of the acceleration sensor 61 on which filter processing by the low-pass filter 65 and the high-pass filter 67 is performed and the detection signal of the angular velocity sensor 62 on which filter processing by the low-pass filter 66 and the high-pass filter 68 is performed.
  • the driver 7 includes the pop-up control module 71, a free fall detecting module 72, and a vibration correcting module 73.
  • the pop-up control module 71 is connected between the free fall detecting module 72 and the pop-up mechanism 5.
  • each module in the driver 7 may be realized in hardware or may be realized in software, or some of them may be realized in hardware and others may be realized in software.
  • the pop-up control module 71, the free fall detecting module 72, and the vibration correcting module 73 may be respectively implemented as circuits (or hardware module) .
  • the driver 7 may be implemented as a processor that includes CPU (Central Processing Unit) , ROM (Read Only Memory) that stores a program, and RAM (Random Access Memory) .
  • the pop-up control module 71, the free fall detecting module 72, and the vibration correcting module 73 may be respectively realized as functional modules developed on the RAM at once at compilation time or sequentially as the process progresses in accordance with the execution of the program by the CPU.
  • the free fall detecting module 72 obtains a centripetal acceleration component of the body 2 in accordance with an angular velocity detected by the angular velocity sensor 62.
  • the free fall detecting module 72 removes the centripetal acceleration component from an acceleration detected by the acceleration sensor 61 to detect the free fall of the body 2.
  • the pop-up control module 71 controls the pop-up mechanism 5 to store the optical system 3 in the body 2. In the pop-up state, the pop-up control module 71 controls the pop-up mechanism 5 to switch from the pop-up state to the retreat state in response to the free fall of the body 2 being detected by the free fall detecting module 72.
  • the pop-up control module 71 controls the pop-up mechanism 5 to maintain the retreat state in response to the free fall of the body 2 being detected by the free fall detecting module 72.
  • the pop-up mechanism 5 can switch the state of the optical system 3 to the retreat state reliably and quickly (e.g., before reaching fall plane) or can maintain the retreat state reliably.
  • FIG. 7 is a diagram illustrating a centripetal acceleration component Ac and a fall acceleration component Ag of an acceleration acting on the imaging device 1.
  • the centripetal acceleration component Ac is an acceleration in a direction from a mounting position of the acceleration sensor 61 to the center of gravity 2a, and its size can be calculated by the following Expression (1) .
  • the gyration radius may be a distance r (see FIG. 9) between the center-of-gravity position 2a of the imaging device 1 and the mounting position of the acceleration sensor 61.
  • Each of the gyration radius and the angular velocity may be a vector quantity, and " ⁇ " may indicate an inner product.
  • the angular velocity may use an output value of the angular velocity sensor 62. For this reason, the free fall detecting module 72 multiplies a square of an angular velocity indicated by the detection signal of the angular velocity sensor 62 by the distance between the center-of-gravity position 2a of the imaging device 1 and the mounting position of the acceleration sensor 61 to obtain the centripetal acceleration component.
  • an acceleration A 61 detected by the acceleration sensor 61 may be an acceleration in a direction different from a direction from the mounting position of the acceleration sensor 61 to the center of gravity 2a, as illustrated by a dashed-dotted line arrow in FIG. 7.
  • Each of the acceleration, the centripetal acceleration component, and the fall acceleration component may be a vector quantity.
  • the fall acceleration component Ag can be obtained by vectorially subtracting the centripetal acceleration component Ac from the acceleration A 61 .
  • the free fall detecting module 72 subtracts the centripetal acceleration component from the acceleration indicated by the detection signal of the acceleration sensor 61 to obtain the fall acceleration component.
  • the free fall detecting module 72 detects the free fall of the body 2 by using the fall acceleration component.
  • FIG. 8 is a perspective view illustrating a coordinate system set for the body 2.
  • An original point is regarded as the center of gravity 2a of the imaging device 1.
  • An axis extending in the Z direction from the center of gravity 2a is defined as the z-axis
  • an axis extending in the X direction from the center of gravity 2a is defined as the x-axis
  • an axis extending in the Y direction from the center of gravity 2a is defined as the y-axis.
  • the center of gravity 2a of the imaging device 1 is at different positions in a case where the pop-up mechanism 5 has been switched to the pop-up state and a case where it has been switched to the retreat state.
  • the center of gravity in the pop-up state is indicated with 2a-1
  • the coordinate system in the pop-up state is indicated by a solid arrow.
  • the center of gravity in the retreat state is indicated with 2a-2
  • the coordinate system in the retreat state is indicated by a dotted arrow.
  • the centers of gravity 2a-1 and 2a-2 are not distinguished, the centers are simply described as the center of gravity 2a.
  • the acceleration sensor 61 may be a three-axis acceleration sensor, for example.
  • the acceleration sensor may be mounted at a mounting position as illustrated in FIG. 7 inside the body 2 so that three axes coincide with the x-axis, the y-axis, and the z-axis.
  • the acceleration sensor 61 detects an x-axis component A61x, a y-axis component A61y, and a z-axis component A61z of the acceleration acting on the body 2.
  • the angular velocity sensor 62 may be a three-axis gyro sensor, for example.
  • the angular velocity sensor may be mounted inside the body 2 so that three axes coincide around the x-axis, the y-axis, and the z-axis.
  • the angular velocity sensor 62 detects an around-x-axis component wx, an around-y-axis component wy, and an around-z-axis component wz of the angular velocity acting on the body 2.
  • the rotation direction of a right-hand screw is defined as a forward direction.
  • FIG. 9 is a diagram illustrating the gyration radius of the imaging device 1 at the free fall.
  • r13 is an x-axis component of the gyration radius r z
  • r23 is a y-axis component of the gyration radius r z .
  • "r13" and "r23" are signed values, and are determined by the center of gravity 2a and the position of the acceleration sensor 61.
  • a centripetal acceleration component Acz by the rotation around the z-axis may be expressed by the following Expression (3) by using the gyration radius r z and the around-z-axis component wz of the angular velocity detected by the angular velocity sensor 62.
  • r12 is an x-axis component of the gyration radius r y
  • r32 is a z-axis component of the gyration radius r y .
  • "r12" and "r32" are signed values, and are determined by the center of gravity 2a and the position of the acceleration sensor 61.
  • a centripetal acceleration component Acy by the rotation around the y-axis may be expressed by the following Expression (7) by using the gyration radius r y and the around-y-axis component wy of the angular velocity detected by the angular velocity sensor 62.
  • r21 is a y-axis component of the gyration radius r x
  • r31 is a z-axis component of the gyration radius r x .
  • "r21" and "r31" are signed values, and are determined by the center of gravity 2a and the position of the acceleration sensor 61.
  • a centripetal acceleration component Acx by the rotation around the x-axis may be expressed by the following Expression (11) by using the gyration radius r x and the around-x-axis component wx of the angular velocity detected by the angular velocity sensor 62.
  • the free fall detecting module 72 starts to detect the free fall of the body 2 in response to the size of the acceleration Ac detected by the acceleration sensor 61 exceeding a threshold Acth.
  • the threshold Acth may be experimentally predetermined in accordance with the acceleration at the start of the free fall, and may be a value obtained by subtracting a detection margin from the acceleration at the start of the free fall.
  • the threshold Acth is 0.9G (G is gravitational acceleration) , for example.
  • the threshold Agth may be experimentally predetermined in accordance with an acceleration ( ⁇ 0) in the constant speed state after the free fall, and may be a value obtained by adding a detection margin to the acceleration in the constant speed state after the free fall.
  • the threshold Agth is 0.25G (G is gravitational acceleration) , for example.
  • FIG. 10 illustrates a case where the free fall is not detected by keeping a state where the acceleration A 61 detected by the acceleration sensor 61 remains higher than the threshold Agth even if the free fall of the body 2 enters the constant speed state.
  • the imaging device 1 falls freely, the imaging device reaches the plane to be fallen while keeping the state where the optical system 3 is popped up from the body.
  • the optical system 3 is susceptible to shocks from the plain surface arriving by the free fall, and thus the optical system 3 may be damaged or peripheral parts of the optical system 3 may be damaged.
  • the free fall detecting module 72 detects the free fall of the body 2 in response to the fall acceleration component Ag becoming smaller below the threshold Agth.
  • the free fall detecting module 72 supplies to the pop-up control module 71 a detection signal indicating that the free fall of the body 2 is detected.
  • the pop-up control module 71 controls the pop-up mechanism 5 to store the optical system 3 in the body 2.
  • the pop-up mechanism 5 can switch the state of the optical system 3 to the retreat state reliably and quickly (e.g., before reaching fall plane) or can maintain the state. As a result, the shock on the optical system 3 due to the free fall can be reduced.
  • the imaging device 1 is configured to determine the free fall by using a detection signal on which filter processing is not performed instead of the detection signal after the filter processing.
  • the vibration correcting module 73 obtains a vibrational component acting on the body 2 in accordance with the acceleration detected by the acceleration sensor 61 and the angular velocity detected by the angular velocity sensor 62. In accordance with the vibrational component, the vibration correcting module 73 generates a vibration correction signal for vibration correction (e.g., correction of image blur) with respect to an image acquired by the image sensor 4. The vibration correcting module 73 supplies the vibration correction signal to the vibration correction module 9. In accordance with the vibration correction signal, the vibration correction module 9 vibrates the optical system 3 so as to cancel out the influence of a vibration added to the optical system 3.
  • a vibration correction signal for vibration correction e.g., correction of image blur
  • the vibration correcting module 73 is connected to the acceleration sensor 61 via the line L21, the line L11, the terminal 6911, the line L1, and the AD converter 63.
  • the vibration correcting module 73 is connected to the angular velocity sensor 62 via the line L22, the line L12, the terminal 6912, the line L2, and the AD converter 64.
  • the vibration correcting module 73 can substantially share the lines to be connected to the acceleration sensor 61 and the angular velocity sensor 62 with the free fall detecting module 72. As a result, it is possible to simplify a connection configuration in the imaging device 1.
  • each module in the free fall detecting module 72 may be realized in hardware or may be realized in software, or some of them may be realized in hardware and others may be realized in software.
  • the conversion module 721, the conversion module 722, the selection module 723, the calculation module 724, the subtraction module 725, and the comparison module 726 may be respectively implemented as circuits (or hardware module) .
  • the conversion module 721, the conversion module 722, the selection module 723, the calculation module 724, the subtraction module 725, and the comparison module 726 may be respectively realized as functional modules developed on the RAM at once at compilation time or sequentially as the process progresses in accordance with the execution of the program by the CPU.
  • the conversion module 721 is connected between the line L11 and the subtraction module 725.
  • the conversion module 721 receives the detection signal of the acceleration sensor 61 via the line L11.
  • the conversion module 721 converts the detection signal of the acceleration sensor 61 into an acceleration by multiplication of a coefficient, for example.
  • the conversion module 721 supplies the acceleration to the subtraction module 725.
  • the conversion module 722 is connected between the line L12 and the calculation module 724.
  • the conversion module 722 receives the detection signal of the angular velocity sensor 62 via the line L12.
  • the conversion module 722 converts the detection signal of the angular velocity sensor 62 into an angular velocity by multiplication of a coefficient, for example.
  • the conversion module 722 supplies the angular velocity to the calculation module 724.
  • the calculation module 724 is connected between the conversion module 722 and the subtraction module 725.
  • the calculation module 724 receives the position information of the center of gravity 2a selected by the selection module 723 from the selection module 723.
  • the calculation module 724 has information on the mounting position of the acceleration sensor 61 that is previously set.
  • the calculation module 724 receives the angular velocity from the conversion module 722.
  • the calculation module 724 multiplies a square of the angular velocity by a distance between the center-of-gravity position of the imaging device 1 and the mounting position of the acceleration sensor 61 to obtain a centripetal acceleration component.
  • the calculation module 724 supplies the centripetal acceleration component to the subtraction module 725.
  • the subtraction module 725 is connected between "the conversion module 721 and the calculation module 724" and the comparison module 726.
  • the subtraction module 725 receives the acceleration from the conversion module 721.
  • the subtraction module 725 receives the centripetal acceleration component from the calculation module 724.
  • the subtraction module 725 subtracts the centripetal acceleration component from the acceleration to obtain a fall acceleration component.
  • the subtraction module 725 supplies the fall acceleration component to the comparison module 726.
  • FIG. 13 is a flowchart illustrating operations of the imaging device 1.
  • the imaging device 1 waits until a fall detection start condition is satisfied (S1: No) .
  • the fall detection start condition may mean that the output value of the acceleration sensor 61 exceeds the threshold Acth, for example.
  • the imaging device 1 multiplies a square of an angular velocity detected by the angular velocity sensor 62 by a distance between a position of the center of gravity 2a of the imaging device 1 and a mounting position of the acceleration sensor 61 to obtain a centripetal acceleration component (S2) .
  • the imaging device 1 subtracts the centripetal acceleration component obtained in Step S2 from an acceleration detected by the acceleration sensor 61 to obtain a fall acceleration component (S3) .
  • the pop-up mechanism 5 can switch the state of the optical system 3 to the retreat state reliably and quickly (e.g., before reaching fall plane) or can maintain the retreat state reliably.
  • the shock on the optical system 3 from the plane to be fallen can be reduced, a damage of the optical system 3 can be reduced, and a damage of peripheral parts of the optical system 3 can be reduced.
  • the free fall detecting module 83, the lead-lag filter 84, and the lead-lag filter 85 may be realized in hardware or in software inside the processor 8i, or some of them may be realized in hardware and others may be realized in software.
  • the free fall detecting module 83, the lead-lag filter 84, and the lead-lag filter 85 may be respectively implemented as circuits (or hardware module) .
  • the processor 8i may include CPU, ROM that stores a program, and RAM.
  • the lead-lag filter 84 is connected between the interface 82 and the free fall detecting module 83.
  • the lead-lag filter 84 has a filter characteristic FP3 opposite to the filter characteristic FP1.
  • the filter characteristic FP1 is a filter characteristic of the filter FL1 that includes the low-pass filter 65 and the high-pass filter 67.
  • the lead-lag filter 84 can restore the filtered detection signal of the acceleration sensor 61 with the filter characteristic FP1 to the unfiltered detection signal of the acceleration sensor 61 and can supply it to the free fall detecting module 83.
  • FIG. 15 is a block diagram illustrating a configuration of the sensor module 6, the driver 7i, the pop-up mechanism 5, and the processor 8j according to a second modification example of the embodiment.
  • the imaging device 1j includes the processor 8j.
  • the processor 8j does not include the lead-lag filter 84 and the lead-lag filter 85, and instead the imaging device 1j further includes lines L41 and L42.
  • the line L41 connects the line L11 and the interface 82 of the processor 8j.
  • the line L42 connects the line L12 and the interface 82 of the processor 8j.
  • the free fall detecting module 83 is connected to the acceleration sensor 61 via the interface 82, the line L41, the line L11, the terminal 6911, the line L1, and the AD converter 63.
  • the free fall detecting module 83 is connected to the angular velocity sensor 62 via the interface 82, the line L42, the line L12, the terminal 6912, the line L2, and the AD converter 64.
  • the free fall detecting module 83 receives the unfiltered detection signal of the acceleration sensor 61, and receives the unfiltered detection signal of the angular velocity sensor 62. In other words, it is possible to avoid the influence of attenuation of an amplitude by the filter processing, and it is possible to reliably and quickly detect the free fall of the body 2 when the imaging device 1j begins to fall freely.

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Abstract

Un dispositif d'imagerie (1) comprend un corps (2), un système optique (3), un capteur d'accélération (61), un capteur de vitesse angulaire (62), un module de détection (72) et un mécanisme d'éjection (5). Le capteur d'accélération (61) détecte une accélération (A 61) du corps (2). Le capteur de vitesse angulaire (62) détecte une vitesse angulaire du corps (2). Le module de détection (72) obtient une composante d'accélération centripète (A c) du corps (2) selon la vitesse angulaire détectée. Le module de détection (72) supprime la composante d'accélération centripète (A c) de l'accélération détectée (A 61) pour détecter une chute libre du corps (2). Le mécanisme d'éjection (5) peut rétracter le système optique (3) dans le corps (2) en réponse à la détection de la chute libre du corps (2) par le module de détection (72). Ainsi, des chocs sur le système optique (3) à la suite d'une chute libre peuvent être réduits. L'invention concerne également un procédé de commande de dispositif d'imagerie, qui peut réduire des chocs sur un système optique (3) à la suite d'une chute libre.
PCT/CN2022/099880 2022-06-20 2022-06-20 Dispositif d'imagerie et procédé de commande de dispositif d'imagerie WO2023245347A1 (fr)

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