JP6638148B2 - Optical device, moving body and system - Google Patents

Description

  The present invention relates to an optical device, a moving object, and a system.

A zoom movement frame for zooming the focus lens group while holding the holding frame of the focus lens group, and a spring between the holding frame and a spring for urging the two in the direction of separating the two in the optical axis direction. A lens barrel is known (for example, Patent Document 1).
Patent Document 1 JP-A-2002-296481

Issues to be solved

  When acceleration in the direction intersecting the optical axis of the movable lens is applied to the optical device, there is a problem that the movement of the movable lens cannot be sufficiently suppressed.

General disclosure

  An optical device according to one embodiment of the present invention includes a lens barrel that houses a lens that moves in an optical axis direction. The optical device includes a first guide pole and a second guide pole that control movement of the lens in the optical axis direction. The optical device includes a bias unit that biases the lens with respect to the lens barrel by a force having a component in a direction crossing the optical axis.

  The bias unit may bias the lens with respect to the lens barrel by a force having a component in a direction orthogonal to a straight line connecting the first guide pole and the second guide pole in a plane orthogonal to the optical axis.

  The optical device may further include a holding unit that holds the lens. The lens barrel may house a lens unit having a lens and a holding unit. The first guide pole and the second guide pole may control the movement of the lens in the optical axis direction via the holding unit. The bias unit may bias the lens unit with respect to the lens barrel by a force having a component in a direction crossing the optical axis.

  The bias unit may be provided on the lens unit. The lens barrel may have a protrusion provided along the optical axis direction on the inner surface of the lens barrel. The bias unit may move in contact with the protrusion when the lens unit moves in the optical axis direction.

  The bias unit may bias the lens unit with respect to the lens barrel by a force having a component in a direction toward the center of gravity of the lens unit.

  The bias unit may bias the lens unit with respect to the lens barrel with a force greater than the weight of the lens unit.

  The bias unit sets the value obtained by dividing the design value of the maximum acceleration applied to the optical device by the gravitational acceleration G as A, and applies a force equal to or more than a force obtained by multiplying the mass of the lens unit by (A + 1) G to the lens unit. May be biased.

  In a plane perpendicular to the optical axis, the distance between the center of gravity of the lens unit and the first guide pole and the distance between the center of gravity of the lens unit and the second guide pole may be substantially equal.

  When the optical device is in a predetermined posture, the bias unit may bias the lens with respect to the lens barrel by a force having a component in a vertically downward direction.

  The bias unit includes a first bias unit configured to bias the lens with respect to the lens barrel by a force having a component in a first direction intersecting the optical axis, and a second bias unit intersecting a plane including the optical axis direction and the first direction. A second bias unit that biases the lens with respect to the lens barrel by a force having a directional component.

  A lens may be further provided.

  The image processing apparatus may further include an imaging unit configured to capture an image using light passing through the lens.

  A moving object according to one embodiment of the present invention includes the above optical device and moves.

  The mobile may be an unmanned aerial vehicle.

  A system according to one embodiment of the present invention includes the above-described optical device and a support mechanism that displaceably supports the optical device.

  According to the above optical device, the movement of the lens can be suppressed when acceleration having a component in a direction intersecting the optical axis of the lens is applied to the optical device.

  The above summary of the present invention is not an exhaustive listing of all features of the present invention. Sub-combinations of these features can also be inventions.

1 schematically illustrates an example of a mobile system 10 including an unmanned aerial vehicle (UAV) 100 and a controller 50. 2 shows an example of a functional block of the UAV 100. FIG. 4 is a perspective view showing a part of a support structure of a second lens unit 302. FIG. 4 is a perspective view showing a lens barrel 360. FIG. 9 is a front view of the lens barrel 360 viewed from the base 370 side. FIG. 9 is a perspective view showing a state where the second lens unit 302 is accommodated in a lens barrel 360. The positional relationship among the first guide pole 310, the second guide pole 320, and the leaf spring 400 is schematically illustrated. 9 schematically illustrates a positional relationship among a first guide pole 310, a second guide pole 320, a leaf spring 400, and a leaf spring 500 in a modified example of the lens device 160. FIG. 2 is an external perspective view showing an example of a stabilizer 800.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Further, not all combinations of the features described in the embodiments are necessarily indispensable to the solution of the invention. It is apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  The claims, specification, drawings, and abstract include material that is subject to copyright protection. The copyright owner will not object to any number of copies of these documents, as indicated in the JPO file or record. However, in all other cases, all copyrights are reserved.

  FIG. 1 schematically illustrates an example of a mobile system 10 including an unmanned aerial vehicle (UAV) 100 and a controller 50. The UAV 100 includes a UAV main body 101, a gimbal 110, a plurality of imaging devices 230, and an imaging device 220. The imaging device 220 includes a lens device 160 and an imaging unit 140. The UAV 100 is an example of a moving object that includes an imaging device and moves. The moving body is a concept including UAVs, other aircraft moving in the air, vehicles moving on the ground, ships moving on water, and the like. The imaging device 220 is an example of an optical device.

  The UAV main body 101 includes a plurality of rotors. The UAV body 101 causes the UAV 100 to fly by controlling the rotation of a plurality of rotors. The UAV main body 101 makes the UAV 100 fly using, for example, four rotors. The number of rotors is not limited to four. UAV 100 may be a fixed wing aircraft without rotating wings.

  The imaging device 230 is an imaging camera that captures an image of a subject included in a desired imaging range. The plurality of imaging devices 230 are sensing cameras that capture images around the UAV 100 to control the flight of the UAV 100. The imaging device 230 may be fixed to the UAV main body 101.

  Two imaging devices 230 may be provided in front of the nose of UAV 100. Still other two imaging devices 230 may be provided on the bottom surface of UAV 100. The two imaging devices 230 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 230 on the bottom side may also be paired and function as a stereo camera. Based on the images captured by the plurality of imaging devices 230, three-dimensional spatial data around the UAV 100 may be generated. The distance to the subject imaged by the imaging device 230 can be specified by a stereo camera with a plurality of imaging devices 230.

  The number of imaging devices 230 provided in the UAV 100 is not limited to four. The UAV 100 only needs to include at least one imaging device 230. The UAV 100 may include at least one imaging device 230 on each of the nose, nose, side, bottom, and ceiling of the UAV 100. The imaging device 230 may have a single focus lens or a fisheye lens. In the description related to the UAV 100, the plurality of imaging devices 230 may be collectively referred to simply as the imaging device 230.

  The controller 50 includes a display unit 54 and an operation unit 52. The operation unit 52 receives an input operation for controlling the attitude of the UAV 100 from a user. Controller 50 transmits a signal for controlling UAV 100 based on a user operation received by operation unit 52. For example, the operation unit 52 receives an operation of changing the focus of the lens device 160. The controller 50 transmits a signal instructing the change of the focus to the UAV 100.

  The controller 50 receives an image captured by at least one of the imaging device 230 and the imaging device 220. The display unit 54 displays the image received by the controller 50. The display unit 54 may be a touch panel. The controller 50 may receive an input operation from the user via the display unit 54. The display unit 54 may receive a user operation or the like in which a user specifies a position of a subject to be imaged by the imaging device 220.

  In the imaging device 220, the imaging unit 140 generates and records image data of an optical image formed by the lens device 160. The lens device 160 is provided integrally with the imaging unit 140.

  The gimbal 110 has a support mechanism that movably supports the imaging device 220. The imaging device 220 is attached to the UAV main body 101 via the gimbal 110. The gimbal 110 supports the imaging device 220 so as to be rotatable about a pitch axis. The gimbal 110 supports the imaging device 220 so as to be rotatable about a roll axis. The gimbal 110 supports the imaging device 220 so as to be rotatable about the yaw axis. The gimbal 110 may rotatably support the imaging device 220 about at least one of a pitch axis, a roll axis, and a yaw axis. The gimbal 110 may rotatably support the imaging device 220 around each of a pitch axis, a roll axis, and a yaw axis. The gimbal 110 may hold the imaging unit 140. The gimbal 110 may hold the lens device 160. The gimbal 110 may change the imaging direction of the imaging device 220 by rotating the imaging unit 140 and the lens device 160 about at least one of the yaw axis, the pitch axis, and the roll axis.

  FIG. 2 shows an example of functional blocks of the UAV 100. The UAV 100 includes an interface 102, a control unit 104, a memory 106, a gimbal 110, an imaging unit 140, and a lens device 160.

  Interface 102 communicates with controller 50. The interface 102 receives various commands from the controller 50. The control unit 104 controls the flight of the UAV 100 according to the command received from the controller 50. The control unit 104 controls the gimbal 110, the imaging unit 140, and the lens device 160. The control unit 104 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, and the like. The memory 106 stores programs and the like necessary for the control unit 104 to control the gimbal 110, the imaging unit 140, and the lens device 160.

  The memory 106 may be a computer-readable recording medium. The memory 106 may include at least one of a flash memory such as an SRAM, a DRAM, an EPROM, an EEPROM, and a USB memory. The memory 106 may be provided in a housing of the UAV 100. It may be provided detachably from the housing of UAV100.

  The gimbal 110 has a control unit 112, a driver 114, a driver 116, a driver 118, a drive unit 124, a drive unit 126, a drive unit 128, and a support mechanism 130. The driving unit 124, the driving unit 126, and the driving unit 128 may be motors.

  The support mechanism 130 supports the imaging device 220. The support mechanism 130 movably supports the imaging direction of the imaging device 220. The support mechanism 130 supports the imaging unit 140 and the lens device 160 rotatably about the yaw axis, the pitch axis, and the roll axis. The support mechanism 130 includes a rotation mechanism 134, a rotation mechanism 136, and a rotation mechanism 138. The rotation mechanism 134 uses the driving unit 124 to rotate the imaging unit 140 and the lens device 160 about the yaw axis. The rotation mechanism 136 uses the driving unit 126 to rotate the imaging unit 140 and the lens device 160 about the pitch axis. The rotation mechanism 138 uses the driving unit 128 to rotate the imaging unit 140 and the lens device 160 about the roll axis.

  The control unit 112 outputs an operation command indicating each rotation angle to the driver 114, the driver 116, and the driver 118 in response to the operation command of the gimbal 110 from the control unit 104. The driver 114, the driver 116, and the driver 118 drive the driving unit 124, the driving unit 126, and the driving unit 128 according to an operation command indicating a rotation angle. The rotation mechanism 134, the rotation mechanism 136, and the rotation mechanism 138 are driven and rotated by the driving unit 124, the driving unit 126, and the driving unit 128, respectively, and change the attitude of the imaging unit 140 and the lens device 160.

  The imaging unit 140 captures an image using light that has passed through the first lens unit 301, the second lens unit 302, and the third lens unit 303 included in the lens device 160. The imaging unit 140 includes a control unit 222, an image sensor 221 and a memory 223. The control unit 222 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The control unit 222 controls the imaging unit 140 and the lens device 160 according to an operation command from the control unit 104 to the imaging unit 140 and the lens device 160. The control unit 222 outputs a control command for instructing the lens device 160 to change the magnification to the lens device 160 based on the signal received from the controller 50.

  The memory 223 may be a computer-readable recording medium, and may include at least one of a flash memory such as an SRAM, a DRAM, an EPROM, an EEPROM, and a USB memory. The memory 223 may be provided inside the housing of the imaging unit 140. It may be provided detachably from the housing of the imaging unit 140.

  The imaging element 221 is held inside the housing of the imaging unit 140, generates image data of an optical image formed via the lens device 160, and outputs the image data to the control unit 222. The control unit 222 stores the image data output from the image sensor 221 in the memory 223. The control unit 222 may output and store the image data to the memory 106 via the control unit 104.

  The lens device 160 includes a control unit 162, a memory 163, a driving mechanism 161, a first lens unit 301, a second lens unit 302, a third lens unit 303, and a lens barrel 360. The lens barrel 360 houses the first lens unit 301, the second lens unit 302, and the third lens unit 303. The first lens unit 301 and the third lens unit 303 are fixed in the optical axis direction. Specifically, the first lens unit 301 and the third lens unit 303 are fixed to the lens barrel 360 in the optical axis direction. The second lens unit 302 is a lens unit movable in the optical axis direction. The second lens unit 302 may be movable in the optical axis direction with respect to the lens barrel 360.

  In the description of the present embodiment, the optical axis of a lens system including the lenses included in the first lens unit 301, the second lens unit 302, and the third lens unit 303 is simply referred to as “optical axis”. There is.

  The control unit 162 moves the second lens unit 302 along the optical axis according to a control command from the control unit 222. The second control unit 162 moves the second lens unit 302 along the optical axis when, for example, changing the focus. The image formed by the first lens unit 301, the second lens unit 302, and the third lens unit 303 included in the lens device 160 is captured by the imaging unit 140.

  The drive mechanism 161 drives the second lens unit 302. The drive mechanism 161 includes, for example, an actuator and a cam cylinder. The actuator rotates the cam barrel by an angle corresponding to the driving pulse supplied from the control unit 162. The cam barrel is provided with a cam groove that engages with a cam pin of the second lens unit 302. The driving force in the optical axis direction is applied to the second lens unit 302 via a cam pin according to the rotation of the cam barrel. Thereby, the second lens unit 302 moves in the optical axis direction.

  The second lens unit 302 is provided with a leaf spring 400. The leaf spring 400 contacts the lens barrel 360. Specifically, the leaf spring 400 contacts the protrusion 362 provided on the inner surface of the lens barrel 360. The leaf spring 400 biases the second lens unit 302 against the protrusion 362 by a force having a component in a direction intersecting the optical axis. Therefore, the second lens unit 302 is in a state where a bias force is constantly applied from the lens barrel 360 by the leaf spring 400. Thus, even if the UAV 100 vibrates in a direction perpendicular to the optical axis, the second lens unit 302 can be suppressed from vibrating in a direction perpendicular to the optical axis.

  The imaging device 230 includes a control unit 232, a control unit 234, an imaging element 231, a memory 233, a lens 235, and a base 370. The control unit 232 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The control unit 232 controls the image sensor 231 according to an operation command of the image sensor 231 from the control unit 104.

  The control unit 234 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The control unit 234 controls the focal length of the lens 235 according to an operation command for the lens 235 from the control unit 104. The control unit 234 may control the focus of the lens 235 according to an operation command for the lens 235. The control unit 234 may control the aperture of the lens 235 according to an operation command for the lens 235.

  The memory 233 may be a computer-readable recording medium. The memory 233 may include at least one of a flash memory such as an SRAM, a DRAM, an EPROM, an EEPROM, and a USB memory.

  The imaging element 231 is fixed to the base 370. The lens barrel 360 is fixed to the base 370. The image sensor 231 generates image data of an optical image formed via the lens 235 and outputs the image data to the control unit 232. The control unit 232 stores the image data output from the image sensor 231 in the memory 233.

  In the present embodiment, an example in which the UAV 100 includes the control unit 104, the control unit 112, the control unit 222, the control unit 232, the control unit 234, and the control unit 162 will be described. However, any one of the control units 104, 112, 222, 232, 234, and 162 may execute a process performed by a plurality of the control units. The processes executed by the control unit 104, the control unit 112, the control unit 222, the control unit 232, the control unit 234, and the control unit 162 may be executed by one control unit. In the present embodiment, an example in which the UAV 100 includes the memory 106, the memory 223, and the memory 233 will be described. Information stored in at least one of the memory 106, the memory 223, and the memory 233 may be stored in one or more other memories among the memory 106, the memory 223, and the memory 233.

  FIG. 3 is a perspective view showing a part of the support structure of the second lens unit 302. FIG. 4 is a perspective view showing the lens barrel 360. FIG. 5 is a front view when the lens barrel 360 is viewed from the base 370 side. FIG. 6 is a perspective view showing a state in which the second lens unit 302 is accommodated in the lens barrel 360.

  FIG. 3 shows a state in which the support plate 380 of the lens device 160, the first guide pole 310, the second guide pole 320, the second lens unit 302, and the base 370 of the imaging device 220 are assembled. ing. One end of the first guide pole 310 and one end of the second guide pole 320 are fixed to the base 370. The other ends of the first guide pole 310 and the second guide pole 320 are fixed to the support plate 380. Thus, the first guide pole 310 and the second guide pole 320 connect the support plate 380 and the base 370. The support plate 380 is located on the object side of the base 370 and the second lens unit 302. The first lens unit 301 is fixed to the support plate 380. The lens barrel 360 is fixed to the base 370 and the support plate 380. Thereby, the lens barrel 360, the base 370, the support plate 380, the first guide pole 310, and the second guide pole 320 are integrally assembled.

  The first guide pole 310 and the second guide pole 320 are provided substantially parallel to the optical axis. In a cross section perpendicular to the optical axis, the first guide pole 310 and the second guide pole 320 are fixed at different positions on the base 370. That is, the first guide pole 310 and the second guide pole 320 extend from different positions on the base 370 to the object side. The first guide pole 310 and the second guide pole 320 control the movement of the second lens unit 302 in the optical axis direction. Accordingly, the movement of the lens of the second lens unit 302 in the optical axis direction is controlled by the first guide pole 310 and the second guide pole 320. The first guide pole 310 is a main shaft that regulates the direction of the second lens unit 302. The second guide pole 320 is a sub guide pole for suppressing the rotation of the second lens unit 302.

  The second lens unit 302 has a holding section 340 for holding a lens and a support section 350. The support part 350 of the second lens unit 302 extends in the optical axis direction. The first guide pole 310 penetrates the support portion 350 at two different positions in the optical axis direction. Thus, the second lens unit 302 is supported by the first guide pole 310 along the optical axis direction. The inclination of the second lens unit 302 with respect to the optical axis is mainly controlled by the first guide pole 310.

  In the holding portion 340 of the second lens unit 302, a through groove 341 and a through groove 342 that penetrate the holding portion 340 in the optical axis direction are formed. The first guide pole 310 is inserted into the through groove 341. The second guide pole 320 is inserted into the through groove 342. Thus, the lens held by the holding unit 340 is provided movably in the optical axis direction along the first guide pole 310 and the second guide pole 320 via the holding unit 340. The rotation of the second lens unit 302 around the optical axis is mainly restricted by the first guide pole 310 and the second guide pole 320.

  The support portion 350 of the second lens unit 302 has a cam pin 352 projecting outward. As described above, the cam pins 352 are engaged with the cam grooves of the cam barrel of the lens device 160. The cam pin 352 applies a force in the optical axis direction from the cam barrel in accordance with the rotation of the cam barrel. When a force in the optical axis direction is applied to the cam pin 352, the second lens unit 302 moves in the optical axis direction along the first guide pole 310 and the second guide pole 320, respectively. The support portion 350 is provided with a spring 330 that biases the second lens unit 302 in the optical axis direction. Since the second lens unit 302 is biased in the optical axis direction by the spring 330, it is possible to suppress the blur of the second lens unit 302 in the optical axis direction.

  The leaf spring 400 is provided on the holding unit 340. The leaf spring 400 is an example of a spring member fixed to the second lens unit 302. The leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a direction intersecting the optical axis.

  Specifically, the leaf spring 400 has a curved portion 402 which is bent in a direction away from the optical axis and bent again in a direction approaching the optical axis. The leaf spring 400 may have a structure that only bends away from the optical axis. As shown in FIGS. 4 and 5, the lens barrel 360 has a protrusion 362 on the inner surface 361 of the lens barrel 360. The protruding portion 362 protrudes from the inner surface 361 in a direction toward the optical axis. As shown in FIG. 6, when the second lens unit 302 is assembled in the lens barrel 360, the curved part 402 of the leaf spring 400 comes into contact with the protrusion 362 on the inner surface 361 of the lens barrel 360. Thus, the second lens unit 302 is biased by the leaf spring 400 in a direction intersecting the optical axis. Therefore, the second lens unit 302 is pressed against the first guide pole 310 and the second guide pole 320. Thus, the lens of the second lens unit 302 is biased with respect to the lens barrel 360.

  Accordingly, the second lens unit 302 is pressed against at least one of the first guide pole 310 and the second guide pole 320, for example, and is positioned in a direction orthogonal to the optical axis. Therefore, when the UAV 100 vibrates in a direction perpendicular to the optical axis, it is possible to suppress the second lens unit 302 from shaking in a direction perpendicular to the optical axis. Thus, a lens driving mechanism that is resistant to vibration can be provided. In other words, for example, rattling between at least one of the first guide pole 310 and the second guide pole 320 and the second lens unit 302 can be suppressed.

  As shown in FIG. 4, the protrusion 362 of the lens barrel 360 extends in the optical axis direction. When the second lens unit 302 moves in the optical axis direction, the leaf spring 400 moves in contact with the protrusion 362. Specifically, the leaf spring 400 moves in the optical axis direction with the top of the curved portion 402 of the leaf spring 400 in contact with the top of the protrusion 362. Accordingly, the second lens unit 302 can move in the optical axis direction while maintaining a state in which the plate spring 400 applies a force in the direction intersecting the second lens unit 302 with the optical axis.

  FIG. 7 schematically illustrates a positional relationship among the first guide pole 310, the second guide pole 320, and the leaf spring 400. FIG. 7 is a front view when the lens barrel 360 is viewed from the base 370 side.

  FIG. 7 schematically illustrates the positional relationship between the members when the imaging device 220 is in the reference posture. The reference posture is a predetermined posture in the imaging device 220. The reference posture may be, for example, a posture in which the optical axis 240 is orthogonal to the vertical direction. FIG. 7 illustrates an orthogonal coordinate system in which a vertically downward direction is defined as a positive y-axis direction and a direction from the imaging device 220 toward the object side is defined as a positive z-axis direction. In the description related to FIG. 7, the direction of the force and the like may be indicated using the coordinate system.

  7, a dotted line 700 schematically shows the position of the second lens unit 302. A vertical downward force F is applied to the second lens unit 302 by a force generated when the curved portion 402 of the leaf spring 400 comes into contact with the protrusion 362. As described above, when the imaging device 220 is in the predetermined reference posture, the leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a vertically downward force. Thereby, the spring force required for the leaf spring 400 can be reduced as compared with the case where a vertically upward force is applied to the second lens unit 302.

  7, P indicates the position of the center of gravity of the second lens unit 302. As shown in FIG. 7, the leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a force in a direction toward the center of gravity of the second lens unit 302. By setting the force applied by the leaf spring 400 to the second lens unit 302 toward the center of gravity of the second lens unit 302, it is possible to suppress a large moment around the center of gravity from being applied to the second lens unit 302. Thus, the force applied to the second lens unit 302 in the direction of rotation about the optical axis 240 can be reduced.

  In FIG. 7, a dashed line indicates a straight line L connecting the center of the first guide pole 310 and the center of the second guide pole 320. The force applied by the leaf spring 400 to the second lens unit 302 intersects the direction of the straight line L. As described above, the leaf spring 400 applies the lens to the lens barrel 360 by a force in a direction intersecting the direction connecting the first guide pole 310 and the second guide pole 320 in a plane orthogonal to the optical axis 240. Bias. Thereby, the second lens unit 302 can be pressed more evenly against the first guide pole 310 and the second guide pole 320. Thereby, rotation of the second lens unit 302 around the optical axis 240 can be suppressed.

  The distance between the center of gravity of the second lens unit 302 and the first guide pole 310 and the distance between the center of gravity of the second lens unit 302 and the second guide pole 320 in a plane orthogonal to the optical axis 240. Are desirably arranged to be substantially equal. Accordingly, it is possible to suppress the blur of the second lens unit 302 from the first guide pole 310 and the second guide pole 320.

  It is preferable that the magnitude of the force applied by the leaf spring 400 to the second lens unit 302 is equal to or greater than the weight of the second lens unit 302. That is, it is preferable that the leaf spring 400 biases the second lens unit 302 with respect to the lens barrel 360 by a force greater than the weight of the second lens unit 302. Accordingly, the displacement of the second lens unit 302 against the bias force of the leaf spring 400 can be suppressed. Note that the weight of the second lens unit 302 is represented by mG using the mass m of the second lens unit 302 and the gravitational acceleration G.

  Assuming that the value obtained by dividing the maximum acceleration predicted to be applied to the imaging device 220 by the gravitational acceleration G is A, the magnitude of the force applied by the leaf spring 400 to the second lens unit 302 is equal to or more than (A + 1) mG. Is more preferred. For example, the magnitude of the force applied by the leaf spring 400 to the second lens unit 302 is more preferably S (A + 1) mG, where S is one or more predetermined safety factors. As described above, the leaf spring 400 has a force equal to or greater than the force obtained by multiplying the mass of the second lens unit 302 by (A + 1) G, where A is the value obtained by dividing the set value of the maximum acceleration applied to the imaging device 220 by the gravitational acceleration G. Therefore, it is more preferable to bias the second lens unit 302 with respect to the lens barrel 360. Accordingly, the displacement of the second lens unit 302 against the bias force of the leaf spring 400 can be suppressed.

  The force applied by the leaf spring 400 to the second lens unit 302 may have a component in the x-axis direction in addition to the component in the y-axis direction in FIG. That is, the bias force generated by the leaf spring 400 only needs to have a component in a direction intersecting the optical axis 240. That is, the leaf spring 400 may bias the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a direction intersecting the optical axis 240. The leaf spring 400 may bias the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a direction toward the center of gravity of the second lens unit 302. The leaf spring 400 may bias the second lens unit 302 with respect to the lens barrel 360 by a force having a component in a vertically downward direction. When the imaging device 220 is in a predetermined reference posture, the leaf spring 400 may bias the lens with respect to the lens barrel 360 by a force having a vertically downward component. It is desirable that the force in the y-axis direction component applied by the leaf spring 400 to the second lens unit 302 is larger than the force in the x-axis direction component. It is desirable that the force in the y-axis direction component applied by the leaf spring 400 to the second lens unit 302 is larger than the force in the z-axis direction component.

  According to the lens device 160 described above, it is possible to make it difficult for the second lens unit 302 to vibrate in a direction intersecting the optical axis. As described in connection with FIG. 7 and the like, since the leaf spring 400 biases the second lens unit 302 in the y-axis direction, the second lens unit 302 is connected to the first guide pole 310 and the second guide pole 320. Can be imposed. For this reason, the frictional force between the first and second guide poles 310 and 320 and the second lens unit 302 can also suppress the blurring of the second lens unit 302 in the x-axis direction to some extent.

  FIG. 8 schematically illustrates a positional relationship among a first guide pole 310, a second guide pole 320, a leaf spring 400, and a leaf spring 500 in a modified example of the lens device 160. FIG. 8 is a front view when the lens barrel 360 is viewed from the base 370 side, similarly to FIG. In a modification of the lens device 160 shown in FIG. 8, in addition to the configuration of the lens device 160, the inner surface 361 of the lens barrel 360 has a protrusion 562, and the second lens unit 302 has a leaf spring 500. Except for the other points, the modified example of the lens device 160 shown in FIG. 8 has the same configuration as the lens device 160 described with reference to FIGS.

  The leaf spring 500 has a curved portion that moves in contact with the protruding portion 562 similarly to the leaf spring 400. The leaf spring 400 described with reference to FIGS. 1 to 7 mainly applies a force in the y-axis direction to the second lens unit 302. On the other hand, the leaf spring 500 mainly applies a force in the x-axis direction to the second lens unit 302. For example, the force in the x-axis direction applied by the leaf spring 500 to the second lens unit 302 is greater than the force in the y-axis direction and the z-axis direction applied by the leaf spring 500 to the second lens unit 302.

  As shown in FIG. 8, the leaf spring 500 biases the second lens unit 302 with respect to the lens barrel 360 by a force in a direction toward the center of gravity of the second lens unit 302. The direction of the y-axis component force applied by the leaf spring 500 to the second lens unit 302 may match the direction of the y-axis component force applied by the leaf spring 400 to the second lens unit 302. According to the modification shown in FIG. 8, a force can be applied to the second lens unit 302 from two different directions in a plane orthogonal to the optical axis 240. Therefore, the vibration generated in the second lens unit 302 when the UAV 100 vibrates can be more strongly suppressed.

  The leaf spring 400 is an example of a first bias unit that biases the lens with respect to the lens barrel 360 by a force having a component in the first direction that intersects the optical axis 240. The leaf spring 500 is an example of a second bias unit that biases the lens with respect to the lens barrel 360 by a force having a component in a second direction that intersects a plane including the direction of the optical axis 240 and the first direction. .

  According to the lens device 160 described above, the vibration of the second lens unit 302 can be suppressed.

  The above-described leaf springs 400 and 500 are examples of an elastic body that biases the second lens unit 302. The bias unit is not limited to the leaf spring 400 and the leaf spring 500. Further, in the above-described lens device 160, a bias unit that generates a bias force of the second lens unit 302 is provided in the second lens unit 302. In another embodiment, a bias unit that generates a bias force of the second lens unit 302 may be provided on the lens barrel 360 side.

  FIG. 9 is an external perspective view illustrating an example of the stabilizer 800. The stabilizer 800 is another example of the moving object. For example, the camera unit 813 included in the stabilizer 800 may include an imaging device having the same configuration as the imaging device 220.

  The stabilizer 800 includes a camera unit 813, a gimbal 820, and a handle 803. The gimbal 820 rotatably supports the camera unit 813. The gimbal 820 has a pan axis 809, a roll axis 810, and a tilt axis 811. The gimbal 820 rotatably supports the camera unit 813 around a pan axis 809, a roll axis 810, and a tilt axis 811. The gimbal 820 is an example of a support mechanism.

  The camera unit 813 is an example of an imaging device. The camera unit 813 has a slot 812 for inserting a memory. The gimbal 820 is fixed to the handle 803 via the holder 807.

  The handle unit 803 has various buttons for operating the gimbal 820 and the camera unit 813. The handle unit 803 includes a shutter button 804, a recording button 805, and an operation button 806. When the shutter button 804 is pressed, a still image can be recorded by the camera unit 813. When the recording button 805 is pressed, a moving image can be recorded by the camera unit 813.

  A device holder 801 is fixed to a handle 803. The device holder 801 holds a mobile device 802 such as a smartphone. The mobile device 802 is communicably connected to the stabilizer 800 via a wireless network such as WiFi. Thus, an image captured by the camera unit 813 can be displayed on the screen of the mobile device 802.

  Also in the stabilizer 800, the vibration of the movable lens such as the focus lens can be suppressed by applying the configuration of the imaging device 220 to the camera unit 813.

  The UAV 100 and the stabilizer 800 have been described above as examples of the moving object. An imaging device having a configuration similar to that of the imaging device 220 may be attached to a moving object other than the UAV 100 and the stabilizer.

  In the above description, the imaging device attached to the moving object has been described. However, at least a part of the configuration of the imaging device 220 may be applied not only to the imaging device attached to the moving body but also to an imaging device having a fixed installation location. For example, at least a part of the configuration of the imaging device 220 may be applied to a monitoring camera. At least a part of the configuration of the imaging device 220 may be applied to a so-called compact digital camera. At least a part of the configuration of the lens device 160 may be applied to an interchangeable lens of an interchangeable lens camera such as a single-lens reflex camera. At least a part of the configuration of the imaging device 220 may be applied to a video camera.

  In the above, the imaging device 220 including the lens device 160 and the imaging unit 140 has been described as an example of the optical device. However, the optical device may be the lens device 160. The optical device may be a lens device for measurement, illumination, light projection, or optical communication other than the lens device 160 for imaging. The optical device may be a lens device for various uses other than for imaging and light projection.

  The execution order of each processing such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “before”. It is possible to realize in any order as long as the output of the previous process is not used in the subsequent process. Even if the operation flow in the claims, the specification, and the drawings is described using “first”, “next”, etc. for convenience, it means that it is essential to implement in this order is not.

10 mobile system 50 controller 52 operation unit 54 display unit 100 UAV
101 UAV main body 102 Interface 104 Control unit 106 Memory 110 Gimbal 112 Control units 114, 116, 118 Drivers 124, 126, 128 Drive unit 130 Support mechanisms 134, 136, 138 Rotation mechanism 140 Imaging unit 160 Lens device 161 Drive mechanism 162 Control unit 163 memory 220, 230 imaging device 221 imaging device 222 control unit 223 memory 231 imaging device 232 control unit 233 memory 234 control unit 235 lens 301 first lens unit, 302 second lens unit, 303 third lens unit 310 first guide pole , 320 second guide pole 330 spring 340 holding portion, 341 through groove, 342 through groove 350 support portion, 352 cam pin 360 lens barrel, 361 inner surface, 362 projecting portion 370 base 380 support plate 400 Leaf spring, 402 Bending part 500 Leaf spring, 562 Projection part 800 Stabilizer 801 Device holder 802 Mobile device 803 Handle part 804 Shutter button 805 Record button 806 Operation button 807 Holder 809 Pan axis 810 Roll axis 811 Tilt axis 812 Slot 813 Camera unit 820 gimbal

Claims (12)

An unmanned aerial vehicle traveling with optical devices,
The optical device,
A holding unit that holds a lens that moves in the optical axis direction,
A lens barrel that houses the lens unit having the lens and the holding portion,
A first guide pole and a second guide pole that control movement of the lens in the optical axis direction via the holding unit ;
A bias unit that biases the lens unit with respect to the lens barrel by a force having a component in a direction that intersects the optical axis,
When the optical device is in a predetermined posture, the bias unit biases the lens unit with respect to the lens barrel by a force having a component in a vertically downward direction ,
The bias unit is provided in the lens unit,
The lens barrel has a protrusion provided along the optical axis direction on an inner surface of the lens barrel,
The unmanned aerial vehicle , wherein the bias unit moves in contact with the protrusion when the lens unit moves in the optical axis direction .   An unmanned aerial vehicle traveling with optical devices,
  The optical device,
  A holding unit that holds a lens that moves in the optical axis direction,
  A lens barrel containing a lens unit having the lens and the holding unit,
  A first guide pole and a second guide pole that control movement of the lens in the optical axis direction via the holding unit;
  A bias unit for biasing the lens unit with respect to the lens barrel by a force having a component in a direction intersecting the optical axis;
With
  When the optical device is in a predetermined posture, the bias unit biases the lens unit with respect to the lens barrel by a force having a component in a vertically downward direction,
  The bias unit biases the lens unit with respect to the lens barrel by a force having a component in a direction toward a center of gravity of the lens unit.
Unmanned aerial vehicle.   An unmanned aerial vehicle traveling with optical devices,
  The optical device,
  A holding unit that holds a lens that moves in the optical axis direction,
  A lens barrel containing a lens unit having the lens and the holding unit,
  A first guide pole and a second guide pole that control movement of the lens in the optical axis direction via the holding unit;
  A bias unit for biasing the lens unit with respect to the lens barrel by a force having a component in a direction intersecting the optical axis;
With
  When the optical device is in a predetermined posture, the bias unit biases the lens unit with respect to the lens barrel by a force having a component in a vertically downward direction,
  The bias unit biases the lens unit with respect to the lens barrel by a force greater than the weight of the lens unit.
Unmanned aerial vehicle.   An unmanned aerial vehicle traveling with optical devices,
  The optical device,
  A holding unit that holds a lens that moves in the optical axis direction,
  A lens barrel containing a lens unit having the lens and the holding unit,
  A first guide pole and a second guide pole that control movement of the lens in the optical axis direction via the holding unit;
  A bias unit for biasing the lens unit with respect to the lens barrel by a force having a component in a direction intersecting the optical axis;
With
  When the optical device is in a predetermined posture, the bias unit biases the lens unit with respect to the lens barrel by a force having a component in a vertically downward direction,
  The vertical downward component of the force by which the bias unit biases the lens unit with respect to the lens barrel is equal to or greater than the weight of the lens unit.
Unmanned aerial vehicle.   An unmanned aerial vehicle traveling with optical devices,
  The optical device,
  A holding unit that holds a lens that moves in the optical axis direction,
  A lens barrel containing a lens unit having the lens and the holding unit,
  A first guide pole and a second guide pole that control movement of the lens in the optical axis direction via the holding unit;
  A bias unit for biasing the lens unit with respect to the lens barrel by a force having a component in a direction intersecting the optical axis;
With
  When the optical device is in a predetermined posture, the bias unit biases the lens unit with respect to the lens barrel by a force having a component in a vertically downward direction,
  The bias unit applies a force equal to or greater than a force obtained by multiplying the mass of the lens unit by (A + 1) G to a value obtained by dividing a design value of a maximum acceleration applied to the optical device by a gravitational acceleration G, to the lens barrel. Bias the lens unit against
Unmanned aerial vehicle.   An unmanned aerial vehicle traveling with optical devices,
  The optical device,
  A holding unit that holds a lens that moves in the optical axis direction,
  A lens barrel containing a lens unit having the lens and the holding unit,
  A first guide pole and a second guide pole that control movement of the lens in the optical axis direction via the holding unit;
  A bias unit for biasing the lens unit with respect to the lens barrel by a force having a component in a direction intersecting the optical axis;
With
  When the optical device is in a predetermined posture, the bias unit biases the lens unit with respect to the lens barrel by a force having a component in a vertically downward direction,
  Assuming that a value obtained by dividing a design value of the maximum acceleration applied to the optical device by a gravitational acceleration G is A, the component of the force in which the bias unit biases the lens unit with respect to the lens barrel in the vertical downward direction is the lens. Greater than the force of the unit mass multiplied by (A + 1) G
Unmanned aerial vehicle. The bias unit is configured to move the lens relative to the lens barrel by a force having a component in a direction orthogonal to a direction connecting the first guide pole and the second guide pole in a plane orthogonal to the optical axis. An unmanned aerial vehicle according to any one of the preceding claims, wherein the aircraft is biased. In a plane orthogonal to the optical axis, the lens unit of the center of gravity and the distance between the first guide pole, claims distances are substantially equal between the centroid and the second guide pole of the lens unit 1 An unmanned aerial vehicle according to any one of claims 1 to 7 . The bias unit includes:
A first bias unit that biases the lens unit with respect to the lens barrel by a force having a component in a first direction that intersects the optical axis;
The force has a second component in the direction intersecting the plane containing the direction and the first direction of the optical axis, from claim 1 and a second bias unit for biasing the lens unit relative to the barrel 8 An unmanned aerial vehicle according to any one of the preceding claims. The unmanned aerial vehicle according to any one of claims 1 to 9 , wherein the optical device further includes the lens. The unmanned aerial vehicle according to any one of claims 1 to 10, wherein the optical device further includes an imaging unit configured to capture an image using light passing through the lens. The unmanned aerial vehicle according to any one of claims 1 to 11 , further comprising a support mechanism that displaceably supports the optical device.

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