WO2021253325A1

WO2021253325A1 - Optical system, photographing device and movable platform

Info

Publication number: WO2021253325A1
Application number: PCT/CN2020/096810
Authority: WO
Inventors: 毛庆
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-06-18
Filing date: 2020-06-18
Publication date: 2021-12-23
Also published as: CN113167987A

Abstract

Disclosed are 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), a fourth lens (104), a fifth lens (105), a sixth lens (106) and a seventh lens (107) which are sequentially arranged from an object side to an image side, wherein the first lens (101) and the fifth lens (105) have a negative focal power, and the second lens (102), the third lens (103), the fourth lens (104), the sixth lens (106) and the seventh lens (107) have a positive focal power. The optical system (100) satisfies the following expressions: -8 < f₁ < -5, 20 < f₂ < 30, 16 < f₃ < 24, 5 < f₄ < 8, -8 < f₅ < -5, 10 < f₆ < 15, 70 < f₇ < 90, and 0.2 ≤ f/TTL ≤ 0.32, wherein f is the focal length of the optical system (100), f₁ to f₇ are the focal lengths of the first lens (101) to the seventh lens (107) respectively, and TTL is the distance from the center of a lens surface of the first lens (101) that is close to the object side to an optical axis of an imaging face.

Description

光学***、拍摄装置及可移动平台Optical system, shooting 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***、使用光学***的拍摄装置以及可移动平台。This 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

随着技术的发展，小型化、高像质、低成本、大视场范围拍摄的镜头越来越受到人们的青睐。目前市面上大视场、小型化广角镜头主要集中在1/2.3图像传感器尺寸以下，如需要提升图像传感器的尺寸，比如提升至1英寸或更大，需要解决以下问题：图像传感器尺寸提升后，如果需要保持使用大光圈，景深会变浅，无法兼顾微距摄影；如果镜头的长度太大，不利于产品小型化，同时会影响最终产品的续航能力。With the development of technology, lenses with small size, high image quality, low cost, and large field of view are becoming more and more popular. At present, the large field of view and miniaturized wide-angle lenses on the market are mainly concentrated below the 1/2.3 image sensor size. If the size of the image sensor needs to be increased, such as 1 inch or larger, the following problems need to be solved: After the image sensor size is increased, if It is necessary to maintain a large aperture, and the depth of field will become shallower, which cannot take into account macro photography; if the length of the lens is too large, it is not conducive to product miniaturization and will affect the endurance of the final product.

发明内容Summary of the invention

基于此，本申请的实施例提供了一种光学***、拍摄装置以及可移动平台，该光学***有利于产品的小型化，同时又可以增加拍摄装置的视场角以及提高成像质量。Based on this, the embodiments of the present application provide an optical system, a photographing device, and a movable platform. The optical system is conducive to the miniaturization of products, while increasing the field of view of the photographing device and improving the imaging quality.

第一方面，本申请的实施例提供了一种光学***，所述光学***包括从物侧至像侧依次设置的第一透镜、第二透镜、第三透镜、第四透镜、第五透镜、第六透镜和第七透镜，所述第一透镜和第五透镜具有负光焦度，所述第二透镜、第三透镜、第四透镜、第六透镜和第七透镜具有正光焦度；In the first aspect, an embodiment of the present application provides an optical system including a first lens, a second lens, a third lens, a fourth lens, and a fifth lens, which are sequentially arranged from the object side to the image side. A sixth lens and a seventh lens, the first lens and the fifth lens have negative refractive power, and the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens have positive refractive power;

所述光学***满足以下表达式：The optical system satisfies the following expression:

-8<f ₁<-5，20<f ₂<30，16<f ₃<24，5<f ₄<8，-8<f ₅<-5，10<f ₆<15，70<f ₇<90，0.2≤f/TTL≤0.32； -8<f ₁ <-5, 20<f ₂ <30, 16<f ₃ <24, 5<f ₄ <8, -8<f ₅ <-5, 10<f ₆ <15, 70<f ₇ <90, 0.2≤f/TTL≤0.32;

其中，f是所述光学***的焦距，f ₁是所述第一透镜的焦距、f ₂是所述第二透镜的焦距，f ₃是所述第三透镜的焦距，f ₄是所述第四透镜的焦距，f ₅是所述第五透镜的焦距，f ₆是所述第六透镜的焦距，f ₇是所述第七透镜的焦距，TTL是所述第一透镜靠近物侧的透镜面中心到成像面为止的光轴上的距离。 Where f is the focal length of the optical system, f ₁ is the focal length of the first lens, f ₂ is the focal length of the second lens, f ₃ is the focal length of the third lens, and f ₄ is the first lens. The focal length of the four lenses, f ₅ is the focal length of the fifth lens, f ₆ is the focal length of the sixth lens, f ₇ is the focal length of the seventh lens, and TTL is the lens near the object side of the first lens The distance on the optical axis from the center of the surface to the imaging surface.

第二方面，本申请的实施例还提供了一种拍摄装置，所述拍摄装置包括光学***和图像传感器，所述光学***配置在待拍摄物体与图像传感器的光路中；In a second aspect, an embodiment of the present application also provides a photographing device, the photographing device includes an optical system and an image sensor, and the optical system is configured in an optical path between the object to be photographed and the image sensor;

所述光学***包括从物侧至像侧依次设置的第一透镜、第二透镜、第三透镜、第四透镜、第五透镜、第六透镜和第七透镜，所述第一透镜和第五透镜具有负光焦度，所述第二透镜、第三透镜、第四透镜、第六透镜和第七透镜具有正光焦度；The optical system includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a seventh lens that are sequentially arranged from the object side to the image side. The lens has negative refractive power, and the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens have positive refractive power;

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；所述拍摄装置包括光学***和图像传感器，所述光学***配置在待拍摄物体与所述图像传感器的光路中；In a third aspect, the present application also provides a movable platform, the movable platform includes a platform body and a photographing device, the photographing device is mounted on the platform body; the photographing device includes an optical system and an image sensor, The optical system is configured in the optical path between the object to be photographed and the image sensor;

本申请实施例提供的光学***、拍摄装置及可移动平台，其中光学***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***利用七个透镜的组合及特定参数设置，不仅可以减小产品体积，同时又增加了拍摄装置的视场角和提高了成像质量。The optical system, the photographing device and the movable platform provided by the embodiments of the present application, wherein the optical system is installed on the photographing device, the photographing device can be installed on the main body of the movable platform, and the optical system uses a combination of seven lenses and specific parameters The setting can not only reduce the volume of the product, but also increase the field of view of the camera and improve the imaging quality.

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 should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

附图说明Description of the 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 will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

图1是本申请一实施例提供的一种光学***的结构示意图；FIG. 1 is a schematic structural diagram of an optical system provided by an embodiment of the present application;

图2是本申请一实施例提供的一种光学***的配置示意图；2 is a schematic diagram of the configuration of an optical system provided by an embodiment of the present application;

图3是本申请一实施例提供的另一种光学***的结构示意图；FIG. 3 is a schematic structural diagram of another optical system provided by an embodiment of the present application;

图4是本申请一实施例提供的又一种光学***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是本申请一实施例提供的光学***的成像质量的效果示意图；FIG. 5 is a schematic diagram of the effect of the imaging quality of the optical system provided by an embodiment of the present application;

图6是本申请一实施例提供的光学***的成像质量的效果示意图；6 is a schematic diagram of the effect of imaging quality of the optical system provided by an embodiment of the present application;

图7是本申请一实施例提供的一种拍摄装置的结构示意图；FIG. 7 is a schematic structural diagram of a photographing device provided by an embodiment of the present application;

图8是本申请一实施例提供的一种可移动平台的结构示意图。FIG. 8 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***；101、第一透镜；102、第二透镜；103、第三透镜、104、第四透镜；105、第五透镜；106、第六透镜；107、第七透镜；108、镜片；100. Optical system; 101, first lens; 102, second lens; 103, third lens, 104, fourth lens; 105, fifth lens; 106, sixth lens; 107, seventh lens; 108, lens ；

200、拍摄装置；22、待拍摄物体；220、待拍摄物体的图像；211、显示屏；212、拍摄按键；200. Shooting device; 22. Object to be photographed; 220. Image of the object to be photographed; 211. Display screen; 212. Shooting button;

300、可移动平台；310、平台本体。300. Movable platform; 310. Platform ontology.

具体实施方式detailed description

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with 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 this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this 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。Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

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 terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

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 be further understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations .

请参阅图1，图1是本申请一实施例提供的一种光学***的结构示意图。该光学***能够用于增加拍摄装置的视场角，同时又可以提高成像质量。Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an optical system provided by an embodiment of the present application. The optical system can be used to increase the angle of view of the shooting device, and at the same time can improve the imaging quality.

如图1所示，该光学***100包括从物侧O至像侧I依次设置的第一透镜101、第二透镜102、第三透镜103、第四透镜104、第五透镜105、第六透镜106和第七透镜107，其中，第一透镜101和第五透镜105具有负光焦度，第二透镜102、第三透镜103、第四透镜104、第六透镜106和第七透镜107具有正光焦度。As shown in FIG. 1, the optical system 100 includes a first lens 101, a second lens 102, a third lens 103, a fourth lens 104, a fifth lens 105, and a sixth lens arranged in order from the object side O to the image side I. 106 and the seventh lens 107, wherein the first lens 101 and the fifth lens 105 have negative refractive power, and the second lens 102, the third lens 103, the fourth lens 104, the sixth lens 106 and the seventh lens 107 have positive light Focal power.

其中，该光学***100满足以下表达式：Wherein, the optical system 100 satisfies the following expression:

-8<f ₁<-5，20<f ₂<30，16<f ₃<24，5<f ₄<8，-8<f ₅<-5，10<f ₆<15，70<f ₇<90，0.2≤f/TTL≤0.32 (1) -8<f ₁ <-5, 20<f ₂ <30, 16<f ₃ <24, 5<f ₄ <8, -8<f ₅ <-5, 10<f ₆ <15, 70<f ₇ <90, 0.2≤f/TTL≤0.32 (1)

在表达式(1)中，f是光学***100的焦距，f ₁是第一透镜101的焦距、f ₂是第二透镜102的焦距，f ₃是第三透镜103的焦距，f ₄是第四透镜104的焦距，f ₅是第五透镜105的焦距，f ₆是第六透镜106的焦距，f ₇是第七透镜107的焦距，TTL是第一透镜101靠近物侧的透镜面中心到成像面为止的光轴上的距离。 In Expression (1), f is the focal length of optical system 100, f ₁ is the focal length of the first lens 101, f ₂ is the focal length of the second lens 102, f is the focal length of the third _{lens. 3} 103, _{f. 4} are The focal length of the four lens 104, f ₅ is the focal length of the fifth lens 105, f ₆ is the focal length of the sixth lens 106, f ₇ is the focal length of the seventh lens 107, TTL is the lens surface center of the first lens 101 near the object side to The distance on the optical axis from the imaging surface.

需要说明的是，该光学***100满足0.2≤f/TTL≤0.32，可以保持光学***100对应的镜头周边压缩比较小，同时确保光学***的小型化和轻便化。镜头周边压缩比较小可以确保具有较小的周边图片压缩比，在同样的视角下，光学 ***可以捕捉到更多的细节。It should be noted that the optical system 100 satisfies 0.2≦f/TTL≦0.32, and the peripheral compression of the lens corresponding to the optical system 100 can be kept relatively small, while ensuring the miniaturization and lightness of the optical system. The smaller peripheral compression of the lens can ensure a smaller peripheral image compression ratio. Under the same viewing angle, the optical system can capture more details.

按照上述参数配置的光学***，能够安装在拍摄装置上，以增加拍摄装置的视场角，进而拍摄较大范围的景物，该光学***利用七个透镜的组合及特定参数设置，不仅可以增加拍摄装置的视场角和提高成像质量，还可以减小拍摄装置体积。进而方便拍摄装置提升图像传感器的尺寸，同时拍摄装置的小型化还提升了产品的续航能力。The optical system configured according to the above parameters can be installed on the shooting device to increase the angle of view of the shooting device, and then shoot a larger range of scenes. The optical system uses a combination of seven lenses and specific parameter settings, which can not only increase shooting The field of view of the device and the improvement of imaging quality can also reduce the size of the shooting device. In turn, it is convenient for the shooting device to increase the size of the image sensor, and the miniaturization of the shooting device also improves the endurance of the product.

需要说明的是，该光学***100的孔径光阑S位于第三透镜103和第四透镜104之间。It should be noted that the aperture stop S of the optical system 100 is located between the third lens 103 and the fourth lens 104.

在一些实施例中，采用上述七个透镜的组合及特定参数设置，可以将光学***100的长度设计为20.5mm；或者确保所述光学***的视场角为155°；再或者，即可以将光学***100的长度设计为20.5mm，同时还可以确保所述光学***的视场角为155°。In some embodiments, using the combination of the above seven lenses and specific parameter settings, the length of the optical system 100 can be designed to be 20.5mm; or to ensure that the field of view of the optical system is 155°; or, alternatively, The length of the optical system 100 is designed to be 20.5 mm, and it can also ensure that the field of view of the optical system is 155°.

在一些实施例中，为了进一步地提高光学***的成像质量，可以将对第七透镜107进行形成拐点的设计。具体地，即第七透镜107的物侧透镜面具有拐点，或者第七透镜107的像侧透镜面具有拐点；或者，第七透镜107的物侧透镜面和像侧透镜面均具有拐点。In some embodiments, in order to further improve the imaging quality of the optical system, the seventh lens 107 may be designed to form an inflection point. Specifically, that is, the object side lens surface of the seventh lens 107 has an inflection point, or the image side lens surface of the seventh lens 107 has an inflection point; or, both the object side lens surface and the image side lens surface of the seventh lens 107 have an inflection point.

由于第七透镜107具有拐点设计，因此第七透镜107的物侧透镜面具有凸出的物侧表面，或者第七透镜107的像侧透镜面具有凹入的像侧表面，再或者第七透镜107的物侧透镜面具有凸出的物侧表面且第七透镜107的像侧透镜面具有凹入的像侧表面。Since the seventh lens 107 has an inflection point design, the object side lens surface of the seventh lens 107 has a convex object side surface, or the image side lens surface of the seventh lens 107 has a concave image side surface, or the seventh lens The object side lens surface of 107 has a convex object side surface and the image side lens surface of the seventh lens 107 has a concave image side surface.

在一些实施例中，为了进一步地提高光学***的成像质量，可以将对第六透镜106进行形成拐点的设计。具体地，即第六透镜106的物侧透镜面具有拐点，或者第六透镜106的像侧透镜面具有拐点；或者，第六透镜106的物侧透镜面和像侧透镜面均具有拐点。In some embodiments, in order to further improve the imaging quality of the optical system, the sixth lens 106 may be designed to form an inflection point. Specifically, that is, the object side lens surface of the sixth lens 106 has an inflection point, or the image side lens surface of the sixth lens 106 has an inflection point; or, both the object side lens surface and the image side lens surface of the sixth lens 106 have an inflection point.

由于第六透镜106具有拐点设计，因此第六透镜106的物侧透镜面具有凸出的物侧表面，或者第六透镜106的像侧透镜面具有凹入的像侧表面，再或者第六透镜106的物侧透镜面具有凸出的物侧表面且第六透镜106的像侧透镜面具有凹入的像侧表面。Since the sixth lens 106 has an inflection point design, the object side lens surface of the sixth lens 106 has a convex object side surface, or the image side lens surface of the sixth lens 106 has a concave image side surface, or the sixth lens The object side lens surface of 106 has a convex object side surface and the image side lens surface of the sixth lens 106 has a concave image side surface.

需要说明的是，在一些实施例中，第六透镜106和第七透镜107可以均具有拐点设计。It should be noted that, in some embodiments, the sixth lens 106 and the seventh lens 107 may both have an inflection point design.

在一些实施例中，光学***100至少包括一个玻璃材质的透镜。比如，第一透镜101为玻璃透镜，或者第四透镜104为玻璃透镜，再或者第一透镜101和第四透镜104为玻璃透镜均为玻璃透镜。为了减轻光学***的重量，光学***100至少包括一个塑胶材质的透镜。比如，第七透镜107为塑胶透镜。In some embodiments, the optical system 100 includes at least one lens made of glass. For example, the first lens 101 is a glass lens, or the fourth lens 104 is a glass lens, or both the first lens 101 and the fourth lens 104 are glass lenses. In order to reduce the weight of the optical system, the optical system 100 at least includes a plastic lens. For example, the seventh lens 107 is a plastic lens.

在一些实施例中，为了进一步地减轻光学***100的重量，可以采用较多数量的塑胶透镜。比如，第一透镜101为玻璃透镜，第二透镜102、第三透镜103、第四透镜104、第五透镜105、第六透镜106和第七透镜107为塑胶透镜；比如，第四透镜104为玻璃透镜，第一透镜101、第二透镜102、第三透镜103、第五透镜105、第六透镜106和第七透镜107为塑胶透镜；再比如，第一透镜101和第四透镜104为玻璃透镜，第二透镜102、第三透镜103、第五透镜105、第六透镜106和第七透镜107为塑胶透镜。In some embodiments, in order to further reduce the weight of the optical system 100, a larger number of plastic lenses may be used. For example, the first lens 101 is a glass lens, the second lens 102, the third lens 103, the fourth lens 104, the fifth lens 105, the sixth lens 106, and the seventh lens 107 are plastic lenses; for example, the fourth lens 104 is Glass lenses, the first lens 101, the second lens 102, the third lens 103, the fifth lens 105, the sixth lens 106, and the seventh lens 107 are plastic lenses; for another example, the first lens 101 and the fourth lens 104 are glass The lenses, the second lens 102, the third lens 103, the fifth lens 105, the sixth lens 106, and the seventh lens 107 are plastic lenses.

在一些实施例中，第七透镜107作为对焦透镜，采用对焦透镜在拍摄时可以兼顾微距摄影，由此提高了光学***的成像质量。在另一些实施例中，第七透镜107作为对焦透镜，并且第七透镜107为塑胶透镜，可以减轻对焦透镜的重量，由此进一步地提高了拍摄装置的电池续航能力。In some embodiments, the seventh lens 107 is used as a focusing lens, and the focusing lens can be used for macro photography during shooting, thereby improving the imaging quality of the optical system. In other embodiments, the seventh lens 107 is used as a focusing lens, and the seventh lens 107 is a plastic lens, which can reduce the weight of the focusing lens, thereby further improving the battery life of the shooting device.

在一些实施例中，为了矫正色差，提高光学***的成像质量。光学***100满足以下表达式：v ₄≥65，其中，v ₄为第四透镜104的色散系数，也称为阿贝数。第四透镜104的色散系数大于65时，可以校正色差，尤其是垂轴色差的校正，进而提高光学***的成像质量。 In some embodiments, in order to correct chromatic aberration, the imaging quality of the optical system is improved. The optical system 100 satisfies the following expression: v ₄ ≥ 65, where v ₄ is the dispersion coefficient of the fourth lens 104, which is also called the Abbe number. When the dispersion coefficient of the fourth lens 104 is greater than 65, the chromatic aberration can be corrected, especially the correction of the vertical axis chromatic aberration, thereby improving the imaging quality of the optical system.

在一些实施例中，为了提高光学***的成像质量，进一步地对第七透镜107进行限定，即该光学***100满足以下表达式：18≤v ₇≤25，1.5≤n ₇≤1.7，其中，v ₇为第七透镜107的色散系数，n ₇为第七透镜107的折射率。 In some embodiments, in order to improve the imaging quality of the optical system, the seventh lens 107 is further limited, that is, the optical system 100 satisfies the following expression: 18≤v ₇ ≤25, 1.5≤n ₇ ≤1.7, where, v ₇ is the dispersion coefficient of the seventh lens 107, and n ₇ is the refractive index of the seventh lens 107.

其中，第七透镜107的两个透镜面中至少有一个是非球面，当然也可以两个透镜面均为非球面。由于第七透镜107为对焦透镜，因此第七透镜107采用塑胶透镜，塑胶透镜有利于对焦透镜重量轻便化，减小对焦时电机的功耗问题，由此在小型化产品中又增加产品的电池续航能力。Wherein, at least one of the two lens surfaces of the seventh lens 107 is aspherical, of course, both lens surfaces may be aspherical. Since the seventh lens 107 is a focusing lens, the seventh lens 107 adopts a plastic lens. The plastic lens is conducive to the light weight of the focusing lens and reduces the power consumption of the motor during focusing. Therefore, the battery of the product is added to the miniaturized product. Endurance.

在一些实施例中，为了减少像差的同时矫正大广角带来的色差问题，以提高光学***的成像质量。该光学***100满足以下表达式：In some embodiments, in order to reduce aberrations while correcting the chromatic aberration caused by the wide angle, the imaging quality of the optical system is improved. The optical system 100 satisfies the following expression:

1.7≥n ₁≥1.45，v ₁≥65；1.9≥n ₂≥1.45，v ₂≤40；1.58≥n ₃≥1.45，v ₃≥55；1.9≥n ₅≥1.45，v ₅≤40；1.58≥n ₆≥1.45，v ₆≥55 (2) 1.7≥n ₁ ≥1.45, v ₁ ≥65; 1.9≥n ₂ ≥1.45, v ₂ ≤40; 1.58≥n ₃ ≥1.45, v ₃ ≥55; 1.9≥n ₅ ≥1.45, v ₅ ≤40; 1.58≥ n ₆ ≥1.45, v ₆ ≥55 (2)

在表达式(2)中，n ₁、n ₂、n ₃、n ₅、n ₆分别为第一透镜101、第二透镜102、第三透镜103、第五透镜105和第六透镜106的折射率，对上述折射率值的范围限定有利于在大视角位置收光的同时减小像差，即减少成像边缘的畸变；v ₁、v ₂、v ₃、v ₅、v ₆分别为第一透镜101、第二透镜102、第三透镜103、第五透镜105和第六透镜106的色散系数，对上述色散系数值的范围限定有利于矫正大广角带来的色差问题。 In the expression (2), n ₁ , n ₂ , n ₃ , n ₅ , and n ₆ are the refraction of the first lens 101, the second lens 102, the third lens 103, the fifth lens 105 and the sixth lens 106, respectively The above-mentioned range of refractive index value is conducive to reducing aberrations while receiving light at a large viewing angle, that is, reducing the distortion of the imaging edge; v ₁ , v ₂ , v ₃ , v ₅ , and v ₆ are the first Limiting the range of the dispersion coefficient values of the lens 101, the second lens 102, the third lens 103, the fifth lens 105, and the sixth lens 106 is beneficial to correct the chromatic aberration problem caused by the wide angle.

在一些实施例中，该光学***100满足以下表达式：In some embodiments, the optical system 100 satisfies the following expression:

在表达式(3)中，c ₇₁是第七透镜107的物侧透镜面的曲率，c ₇₂是第七透镜107的像侧透镜面的曲率。满足表达式(3)条件下的光学***，有利于修正出射光线的角度，更好地与图像传感器匹配，同时也有利于降低透镜的对焦敏感度，有利于在高频率震动下以及落摔情况下仍然保持较好的光学性能。 In the expression (3), c ₇₁ is the curvature of the object side lens surface of the _{seventh lens 107, and c 72} is the curvature of the image side lens surface of the seventh lens 107. The optical system that satisfies the condition of expression (3) is conducive to correcting the angle of the emitted light, better matching with the image sensor, and also conducive to reducing the focus sensitivity of the lens, conducive to high-frequency vibration and drop conditions It still maintains good optical performance.

在一些实施例中，为了确保机械结构的空间布置、对焦透镜的行程以及光学***的成像质量，所述光学***满足以下表达式：In some embodiments, in order to ensure the spatial arrangement of the mechanical structure, the stroke of the focus lens, and the imaging quality of the optical system, the optical system satisfies the following expressions:

CT ₆₁＞2.0mm，CT ₆₂＞1.9mm，且CT ₆₁+CT ₇₁＝CT ₆₂+CT ₇₂ (4) CT ₆₁ ＞2.0mm, CT ₆₂ ＞1.9mm, and CT ₆₁ + CT ₇₁ = CT ₆₂ + CT ₇₂ (4)

在表达式(4)中，CT ₆₁为无穷远物距下第六透镜106的像侧透镜面至第七透镜107的物侧透镜面的间隔，CT ₆₂为最近物距下第六透镜106的像侧透镜面至第七透镜107的物侧透镜面的间隔，CT ₇₁为无穷远物距下第七透镜107的像侧透镜面至成像面的间隔，CT ₇₂为最近物距下第七透镜107的像侧透镜面至成像面的间隔，mm表示毫米。 In expression (4), CT ₆₁ is the distance from the image side lens surface of the sixth lens 106 to the object side lens surface of the seventh lens 107 at the infinite object distance, and CT ₆₂ is the distance from the sixth lens 106 at the closest object distance. The distance from the image-side lens surface to the object-side lens surface of the seventh lens 107, CT ₇₁ is the distance from the image-side lens surface of the seventh lens 107 to the imaging surface at infinite object distance, and CT ₇₂ is the seventh lens at the closest object distance The distance between the image side lens surface and the imaging surface of 107, mm means millimeter.

在一些实施例中，具体地，CT ₆₁＝2.304mm，CT ₆₂＝1.900mm，CT ₇₁＝2.350mm，CT ₇₂＝2.754mm，其中mm表示毫米。 In some embodiments, specifically, CT ₆₁ =2.304 mm, CT ₆₂ =1.900 mm, CT ₇₁ =2.350 mm, and CT ₇₂ =2.754 mm, where mm represents millimeters.

在一个实施例中，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是高次非球面，所述高次非球面满足以下表达式：In an embodiment, for further correction, one mirror surface or all aspheric lens surfaces of the aforementioned aspheric lens are high-order aspheric surfaces, and the high-order aspheric surface satisfies the following expression:

在表达式(5)中，z为非球面旋转对称轴，c为顶点曲率；y为径向坐标，其单位和透镜单位长度相同；k为二次曲线常数，a ₁至a ₈分别表示各径向坐标所对应的系数。 In the expression (5), z is the aspheric rotational symmetry axis, c is the curvature of the vertex; y is the radial coordinate, and its unit is the same as the lens unit length; k is the conic constant, and a ₁ to a ₈ represent each The coefficient corresponding to the radial coordinate.

在一些实施例中，为了提高光学***的成像质量，还可以在光学***上设置滤光片。如图2所示，该光学***还包括镜片108，该镜片108设置第七透镜107与图像传感器之间，具体地，该镜片108可以为IR镜片，用于特定波长范围内成像。In some embodiments, in order to improve the imaging quality of the optical system, a filter may also be provided on the optical system. As shown in FIG. 2, the optical system further includes a lens 108 which is arranged between the seventh lens 107 and the image sensor. Specifically, the lens 108 may be an IR lens for imaging in a specific wavelength range.

以下结合附图以及表，给出光学***的具体数值配置，如图3所示，面数1、2、...、15表示光学***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、...、第七透镜107的镜面，16表示为镜片108。The specific numerical configuration of the optical system is given below in conjunction with the drawings and the table. As shown in Figure 3, the

surface numbers

1, 2,..., 15 represent the surface numbers in the optical system, and respectively represent the mirror surface of the first lens 101, The mirror surface of the second lens 102,..., the mirror surface of the

seventh lens

107, 16 is denoted as a lens 108.

具体地，如图3所示，第一透镜101的两个透镜面分别为表面1和表面2、第二透镜102的两个透镜面分别为表面3和表面4、第三透镜103的两个透镜面分别为表面5和表面6、孔径光阑S为表面7、第四透镜104的两个透镜面分别为表面8和表面9、第五透镜105的两个透镜面分别为表面10和表面11、第六透镜106的两个透镜面分别为表面12和表面13、第七透镜107的两个透镜面分别为表面14和表面15、镜片108是平面镜表示为表面16。Specifically, as shown in FIG. 3, the two lens surfaces of the first lens 101 are surface 1 and surface 2, and the two lens surfaces of the second lens 102 are surface 3 and surface 4, and two of the third lens 103. The lens surfaces are surface 5 and surface 6, the aperture stop S is surface 7, the two lens surfaces of the fourth lens 104 are surface 8 and surface 9, and the two lens surfaces of the fifth lens 105 are surface 10 and surface respectively. 11. The two lens surfaces of the sixth lens 106 are surface 12 and surface 13, respectively, the two lens surfaces of the seventh lens 107 are surface 14 and surface 15, respectively, and the lens 108 is a flat mirror denoted as surface 16.

在表1至表5中，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***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；“CT6N”表示在不同的物距(无限远和最近)时，第六透镜106的像侧透镜面至第七透镜107的物侧透镜面的间隔；“CT7N”表示在不同的物距(无限远和最近)时，第七透镜107的像侧透镜面至成像面的间隔。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 Tables 1 to 5, the type represents the shape of the surface, "STANDRAD" represents the plane, and "EVENASPH" represents the aspheric surface; the radius of curvature represents the degree of curvature of the lens surface, which can be represented by R. The smaller the R value, the more curved the lens surface ; Interval or thickness (Thickness), the interval is expressed as the distance between the lenses of the optical system on the optical axis, and the thickness is the center thickness of the lens; Nd represents the refractive index of the lens; Vd represents the dispersion coefficient of the lens, also known as A Bayi coefficient; "Infinity" means plane; "CT6N" means the distance from the image side lens surface of the sixth lens 106 to the object side lens surface of the seventh lens 107 at different object distances (infinity and closest); "CT7N "Represents the distance from the image side lens surface of the seventh lens 107 to the imaging surface at different object distances (infinity and closest). k is a conic constant, and a ₁ to a ₈ respectively represent the coefficients corresponding to each radial coordinate.

其中，表1、表2、表3、表4和表5示出的不同的光学***的具体数值配置，对应的光学***的结构如图1或图4所示，具体地，图1示出的光学***称为实施例一，对于图4示出的光学***称为实施例二；表1、表2和表6示出的光学***的具体数值配置。Among them, Table 1, Table 2, Table 3, Table 4 and Table 5 show the specific numerical configuration of different optical systems, and the corresponding optical system structure is shown in Figure 1 or Figure 4, specifically, Figure 1 shows The optical system shown in Figure 4 is referred to as the first embodiment, and the optical system shown in Figure 4 is referred to as the second embodiment; Table 1, Table 2 and Table 6 show the specific numerical configuration of the optical system.

表1为实施例一的光学***各个表面参数数据Table 1 shows the surface parameter data of the optical system in Example 1.

表2为实施例一光学***各个表面非球面系数数据Table 2 shows the aspheric coefficient data of each surface of the optical system in Example 1.

surfsurf	KK	4次项4th item	6次项6 items	8次项8 items	10次项10 items
11	-15.1325-15.1325	-9.36605E-05-9.36605E-05	-1.04496E-06-1.04496E-06	5.68352E-075.68352E-07	-7.66691E-09-7.66691E-09
22	-0.67157-0.67157	8.60735E-048.60735E-04	-3.76988E-05-3.76988E-05	8.66002E-058.66002E-05	-8.22868E-06-8.22868E-06
33	74.3600774.36007	-2.25644E-04-2.25644E-04	-4.24418E-05-4.24418E-05	3.65860E-063.65860E-06	2.34251E-062.34251E-06
44	-58.5037-58.5037	3.96890E-043.96890E-04	-6.27439E-05-6.27439E-05	-1.08559E-05-1.08559E-05	3.70021E-063.70021E-06
55	-1.41259-1.41259	9.94682E-049.94682E-04	-6.72161E-04-6.72161E-04	6.37936E-046.37936E-04	-2.24926E-05-2.24926E-05
66	0.2328450.232845	-1.11445E-03-1.11445E-03	2.37391E-042.37391E-04	4.61223E-054.61223E-05	3.64133E-053.64133E-05
88	-2.90525-2.90525	1.07605E-031.07605E-03	1.77414E-041.77414E-04	-1.74936E-04-1.74936E-04	3.33049E-053.33049E-05
99	-0.63971-0.63971	-1.02225E-03-1.02225E-03	-2.20757E-04-2.20757E-04	1.31195E-041.31195E-04	3.34726E-053.34726E-05
1010	-11.6463-11.6463	-3.34333E-03-3.34333E-03	-3.37290E-04-3.37290E-04	2.98569E-042.98569E-04	-3.77150E-05-3.77150E-05
1111	00	7.91786E-047.91786E-04	8.83822E-058.83822E-05	-1.27839E-05-1.27839E-05	-3.02227E-06-3.02227E-06
1212	-28.1604-28.1604	-1.89093E-03-1.89093E-03	8.22043E-058.22043E-05	-4.85203E-05-4.85203E-05	-5.36580E-06-5.36580E-06
1313	-84.035-84.035	3.67442E-043.67442E-04	-4.98829E-05-4.98829E-05	-2.02518E-05-2.02518E-05	-9.92744E-08-9.92744E-08
1414	4.4044474.404447	-8.60813E-04-8.60813E-04	2.05360E-062.05360E-06	2.95501E-062.95501E-06	-4.73578E-08-4.73578E-08
1515	00	-6.48660E-04-6.48660E-04	-3.18345E-06-3.18345E-06	1.34597E-061.34597E-06	-3.78493E-09-3.78493E-09

表3为物距为无限远时光学***(实施例一)透镜组配置数据Table 3 shows the configuration data of the lens group of the optical system (Example 1) when the object distance is infinity

CT0CT0	INFINF
CT61CT61	2.3042.304
CT71CT71	2.352.35

表4为物距为最近时光学***(实施例二)透镜组配置数据Table 4 shows the configuration data of the lens group of the optical system (embodiment 2) when the object distance is the closest

CT0CT0

0.5m0.5m

CT62CT62	1.91.9
CT72CT72	2.7542.754

表5为实施例一光学***透镜组配置数据Table 5 is the configuration data of the lens group of the optical system in the first embodiment

光学***的长度The length of the optical system	20.5mm20.5mm
光学***的视场角The angle of view of the optical system	155°155°

其中，在表1、表3和表4中，CT0表示光学***的物距，比如CT0为INF时表示为无限远，或者CT0为0.5m时表示为最近物距为0.5m；CT6N和CT7N中N取1或2，1代表INF下的数据，2代表0.5m下的数据。Among them, in Table 1, Table 3 and Table 4, CT0 represents the object distance of the optical system. For example, when CT0 is INF, it means infinity, or when CT0 is 0.5m, it means that the closest object distance is 0.5m; in CT6N and CT7N N takes 1 or 2, 1 represents the data under INF, and 2 represents the data under 0.5m.

图5和图6为实施例一示例的光学***，在波长为546nm下的场曲(Field Curvature)和畸变(Distortion)，由图5和图6可知，该光学***具有较好的成像效果。Figures 5 and 6 are examples of the optical system in the first embodiment. Field Curvature and Distortion at a wavelength of 546 nm, as can be seen from Figures 5 and 6, the optical system has a better imaging effect.

需要说明的是，上述给出两个具体实施例(实施例一和实施例二的光学***)，当然可以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***。It should be noted that the two specific embodiments (the optical systems of the first embodiment and the second embodiment) are given above. Of course, one of the parameters can be changed and then the optical design can be performed to obtain more different optical systems.

请参阅图7，图7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使可以实现大像面以及高像质的成像效果，同时又可以实现产品小型化。Please refer to FIG. 7, which is a schematic structural diagram of a photographing device provided by an embodiment of the present application. The imaging device 200 can realize a large image surface and high-quality imaging effect, and at the same time can realize the miniaturization of the product.

如图7所示，拍摄装置200包括光学***100和图像传感器，光学***100配置在待拍摄物体22与该图像传感器的光路中。其中，光学***100采用上述实施例提供的任意一种光学***，该图像传感器可例如为COMS传感器或CCD传感器。As shown in FIG. 7, the photographing device 200 includes an optical system 100 and an image sensor, and the optical system 100 is disposed in the optical path between the object 22 to be photographed and the image sensor. Wherein, the optical system 100 adopts any optical system provided in the above-mentioned embodiments, and the image sensor may be, for example, a CMOS sensor or a CCD sensor.

具体地，拍摄装置200为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 device 200 is an electronic device that can perform photographing, including a mobile phone, a digital camera, a sports camera, a wearable device, or a handheld pan-tilt camera.

在一些实施例中，如图7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***100用于将待拍摄物体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. 7, the photographing device 200 may be a sports camera, including a display screen 211 and a photographing button 212. The optical system 100 is used to image the object 22 (such as a scene) to be photographed 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 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***，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 foregoing embodiment uses the optical system provided in the embodiment of the present application, so that the field of view of the photographing device can be increased, the imaging quality of the photographing device can be improved, and the product can be miniaturized.

请参阅图8，图8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，实现拍摄。Please refer to FIG. 8, which is a schematic structural diagram of a movable platform provided by an embodiment of the present application. The movable platform is equipped with a shooting device to realize shooting.

如图8所示，可移动平台300包括平台主体310和拍摄装置200，拍摄装置200安装在平台主体310上，拍摄装置200为上述实施例提供的任意一种拍摄装置。As shown in FIG. 8, the movable platform 300 includes a platform main body 310 and a photographing device 200. The photographing device 200 is installed on the platform main body 310. The photographing device 200 is any one of the photographing devices provided in the above embodiments.

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

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。Among them, the aircraft includes drones, which include rotary-wing drones, such as quadrotor drones, hexarotor drones, and octorotor drones. It can also be a fixed-wing drone or It is a combination of rotary-wing and fixed-wing UAV, 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 impact detection module that can quickly detect physical strikes. At the same time, it also includes a two-axis pan/tilt, which can be flexibly rotated, matched with the transmitter to accurately, stably and continuously fire crystal bombs or infrared beams, and coordinate with ballistic light effects to give users a more realistic shooting experience.

比如，将光学***安装在无人机上，由于光学***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***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***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 an unmanned aerial vehicle, the optical system can increase the field of view of the lens, so that a larger range of scenes can be taken, and the imaging quality of the shooting device can be improved at the same time, and the combination of multiple lenses makes the relative distance Smaller, thereby reducing the volume of the optical system, achieving miniaturization and portability. Therefore, when the drone is used for aerial photography, better images can be taken by using the optical system, thereby improving the user 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 implementations of this application, but the scope of protection of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

一种光学***，其特征在于，所述光学***包括从物侧至像侧依次设置的第一透镜、第二透镜、第三透镜、第四透镜、第五透镜、第六透镜和第七透镜，所述第一透镜和第五透镜具有负光焦度，所述第二透镜、第三透镜、第四透镜、第六透镜和第七透镜具有正光焦度；An optical system, characterized in that the optical system includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a seventh lens arranged in sequence from the object side to the image side , The first lens and the fifth lens have negative refractive power, and the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens have positive refractive power;

所述光学***满足以下表达式：The optical system satisfies the following expression:

-8<f ₁<-5，20<f ₂<30，16<f ₃<24，5<f ₄<8，-8<f ₅<-5，10<f ₆<15，70<f ₇<90，0.2≤f/TTL≤0.32； -8<f ₁ <-5, 20<f ₂ <30, 16<f ₃ <24, 5<f ₄ <8, -8<f ₅ <-5, 10<f ₆ <15, 70<f ₇ <90, 0.2≤f/TTL≤0.32;

其中，f是所述光学***的焦距，f ₁是所述第一透镜的焦距、f ₂是所述第二透镜的焦距，f ₃是所述第三透镜的焦距，f ₄是所述第四透镜的焦距，f ₅是所述第五透镜的焦距，f ₆是所述第六透镜的焦距，f ₇是所述第七透镜的焦距，TTL是所述第一透镜靠近物侧的透镜面中心到成像面为止的光轴上的距离。 Where f is the focal length of the optical system, f ₁ is the focal length of the first lens, f ₂ is the focal length of the second lens, f ₃ is the focal length of the third lens, and f ₄ is the first lens. The focal length of the four lenses, f ₅ is the focal length of the fifth lens, f ₆ is the focal length of the sixth lens, f ₇ is the focal length of the seventh lens, and TTL is the lens near the object side of the first lens The distance on the optical axis from the center of the surface to the imaging surface.
根据权利要求1所述的光学***，其特征在于，所述第七透镜的物侧透镜面具有拐点，和/或，所述第七透镜的像侧透镜面具有拐点。The optical system according to claim 1, wherein the object side lens surface of the seventh lens has an inflection point, and/or the image side lens surface of the seventh lens has an inflection point.
根据权利要求2所述的光学***，其特征在于，所述第七透镜的物侧透镜面具有凸出的物侧表面，和/或，所述第七透镜的像侧透镜面具有凹入的像侧表面。The optical system according to claim 2, wherein the object-side lens surface of the seventh lens has a convex object-side surface, and/or the image-side lens surface of the seventh lens has a concave Like the side surface.
根据权利要求1所述的光学***，其特征在于，所述第六透镜的物侧透镜面具有拐点，和/或，所述第六透镜的像侧透镜面具有拐点。The optical system according to claim 1, wherein the object side lens surface of the sixth lens has an inflection point, and/or the image side lens surface of the sixth lens has an inflection point.
根据权利要求4所述的光学***，其特征在于，所述第六透镜的物侧透镜面具有凸出的物侧表面，和/或，所述第六透镜的像侧透镜面具有凹入的像侧表面。The optical system according to claim 4, wherein the object-side lens surface of the sixth lens has a convex object-side surface, and/or the image-side lens surface of the sixth lens has a concave Like the side surface.
根据权利要求1所述的光学***，其特征在于，所述光学***至少包括一个玻璃材质的透镜。The optical system according to claim 1, wherein the optical system includes at least one lens made of glass.
根据权利要求6所述的光学***，其特征在于，所述第一透镜为玻璃透镜，和/或，所述第四透镜为玻璃透镜。The optical system according to claim 6, wherein the first lens is a glass lens, and/or the fourth lens is a glass lens.
根据权利要求1所述的光学***，其特征在于，所述第七透镜作为对焦透镜。The optical system according to claim 1, wherein the seventh lens serves as a focusing lens.
根据权利要求1所述的光学***，其特征在于，所述第三透镜和第四透镜位于所述光学***的孔径光阑的两侧。The optical system according to claim 1, wherein the third lens and the fourth lens are located on both sides of an aperture stop of the optical system.
根据权利要求1至9任一项所述的光学***，其特征在于，所述光学***满足以下表达式：v ₄≥65，其中，v ₄为所述第四透镜的色散系数。 The optical system according to any one of claims 1 to 9, wherein the optical system satisfies the following expression: v ₄ ≥ 65, where v ₄ is the dispersion coefficient of the fourth lens.
根据权利要求1至9任一项所述的光学***，其特征在于，所述光学***满足以下表达式：The optical system according to any one of claims 1 to 9, wherein the optical system satisfies the following expression:

18≤v ₇≤25，1.5≤n ₇≤1.7 18≤v ₇ ≤25, 1.5≤n ₇ ≤1.7

其中，v ₇为所述第七透镜的色散系数，n ₇为所述第七透镜的折射率。 Wherein, v ₇ is the dispersion coefficient _{of the seventh lens, and n 7} is the refractive index of the seventh lens.
根据权利要求11所述的光学***，其特征在于，所述第七透镜为塑胶透镜。The optical system of claim 11, wherein the seventh lens is a plastic lens.
根据权利要求11所述的光学***，其特征在于，所述第七透镜的两个透镜面中至少有一个是非球面。The optical system according to claim 11, wherein at least one of the two lens surfaces of the seventh lens is aspherical.
根据权利要求1至9任一项所述的光学***，其特征在于，所述光学***满足以下表达式：The optical system according to any one of claims 1 to 9, wherein the optical system satisfies the following expression:

1.7≥n ₁≥1.45，v ₁≥65；1.9≥n ₂≥1.45，v ₂≤40；1.58≥n ₃≥1.45，v ₃≥55；1.9≥n ₅≥1.45，v ₅≤40；1.58≥n ₆≥1.45，v ₆≥55； 1.7≥n ₁ ≥1.45, v ₁ ≥65; 1.9≥n ₂ ≥1.45, v ₂ ≤40; 1.58≥n ₃ ≥1.45, v ₃ ≥55; 1.9≥n ₅ ≥1.45, v ₅ ≤40; 1.58≥ n ₆ ≥1.45, v ₆ ≥55;

其中，n ₁、n ₂、n ₃、n ₅、n ₆分别为所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜的折射率；v ₁、v ₂、v ₃、v ₅、v ₆分别为所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜的色散系数。 Wherein, n ₁ , n ₂ , n ₃ , n ₅ , and n ₆ are the refractive indexes of the first lens, second lens, third lens, fifth lens, and sixth lens, respectively; v ₁ , v ₂ , v ₃ , v ₅ , and v ₆ are the dispersion coefficients of the first lens, the second lens, the third lens, the fifth lens, and the sixth lens, respectively.
根据权利要求1至9任一项所述的光学***，其特征在于，所述光学***满足以下表达式：The optical system according to any one of claims 1 to 9, wherein the optical system satisfies the following expression:

其中，c ₇₁是所述第七透镜的物侧透镜面的曲率，c ₇₂是所述第七透镜的像侧透镜面的曲率。 Wherein, c ₇₁ is the curvature of the object side lens surface of _{the seventh lens, and c 72} is the curvature of the image side lens surface of the seventh lens.
根据权利要求1至9任一项所述的光学***，其特征在于，所述光学***满足以下表达式：The optical system according to any one of claims 1 to 9, wherein the optical system satisfies the following expression:

CT ₆₁＞2.0mm，CT ₆₂＞1.9mm，且CT ₆₁+CT ₇₁＝CT ₆₂+CT ₇₂ CT ₆₁ ＞2.0mm, CT ₆₂ ＞1.9mm, and CT ₆₁ +CT ₇₁ =CT ₆₂ +CT ₇₂

其中，CT ₆₁为无穷远物距下所述第六透镜的像侧透镜面至所述第七透镜的物侧透镜面的间隔，CT ₆₂为最近物距下所述第六透镜的像侧透镜面至所述第七透镜的物侧透镜面的间隔，CT ₇₁为无穷远物距下所述第七透镜的像侧透镜面至成像面的间隔，CT ₇₂为最近物距下所述第七透镜的像侧透镜面至成像面的间隔，mm表示毫米。 Wherein CT ₆₁ is the distance from the image side lens surface of the sixth lens to the object side lens surface of the seventh lens at an infinite object distance, and CT ₆₂ is the image side lens of the sixth lens at the closest object distance The distance between the lens surface and the object side lens surface of the seventh lens, CT ₇₁ is the distance from the image side lens surface of the seventh lens to the imaging surface at infinite object distance, and CT ₇₂ is the distance between the seventh lens surface and the imaging surface at the closest object distance. The distance between the image side lens surface of the lens and the imaging surface, mm means millimeter.
根据权利要求16所述的光学***，其特征在于，CT ₆₁＝2.304mm，CT ₆₂＝1.900mm，CT ₇₁＝2.350mm，CT ₇₂＝2.754mm，其中mm表示毫米。 The optical system according to claim 16, wherein CT ₆₁ = 2.304 mm, CT ₆₂ = 1.900 mm, CT ₇₁ = 2.350 mm, and CT ₇₂ = 2.754 mm, wherein mm represents millimeters.
根据权利要求1所述的光学***，其特征在于，所述光学***的长度为20.5mm，和/或，所述光学***的视场角为155°。The optical system according to claim 1, wherein the length of the optical system is 20.5 mm, and/or the field of view of the optical system is 155°.
一种拍摄装置，其特征在于，所述拍摄装置包括光学***和图像传感器，所述光学***配置在待拍摄物体与所述图像传感器的光路中；A photographing device, characterized in that the photographing device includes an optical system and an image sensor, and the optical system is configured in an optical path between an object to be photographed and the image sensor;

所述光学***包括从物侧至像侧依次设置的第一透镜、第二透镜、第三透镜、第四透镜、第五透镜、第六透镜和第七透镜，所述第一透镜和第五透镜具有负光焦度，所述第二透镜、第三透镜、第四透镜、第六透镜和第七透镜具有正光焦度；The optical system includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a seventh lens that are sequentially arranged from the object side to the image side. The lens has negative refractive power, and the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens have positive refractive power;

所述光学***满足以下表达式：The optical system satisfies the following expression:

-8<f ₁<-5，20<f ₂<30，16<f ₃<24，5<f ₄<8，-8<f ₅<-5，10<f ₆<15，70<f ₇<90，0.2≤f/TTL≤0.32； -8<f ₁ <-5, 20<f ₂ <30, 16<f ₃ <24, 5<f ₄ <8, -8<f ₅ <-5, 10<f ₆ <15, 70<f ₇ <90, 0.2≤f/TTL≤0.32;

其中，f是所述光学***的焦距，f ₁是所述第一透镜的焦距、f ₂是所述第二透镜的焦距，f ₃是所述第三透镜的焦距，f ₄是所述第四透镜的焦距，f ₅是所述第五透镜的焦距，f ₆是所述第六透镜的焦距，f ₇是所述第七透镜的焦距，TTL是所述第一透镜靠近物侧的透镜面中心到成像面为止的光轴上的距离。 Where f is the focal length of the optical system, f ₁ is the focal length of the first lens, f ₂ is the focal length of the second lens, f ₃ is the focal length of the third lens, and f ₄ is the first lens. The focal length of the four lenses, f ₅ is the focal length of the fifth lens, f ₆ is the focal length of the sixth lens, f ₇ is the focal length of the seventh lens, and TTL is the lens near the object side of the first lens The distance on the optical axis from the center of the surface to the imaging surface.
根据权利要求19所述的拍摄装置，其特征在于，所述第七透镜的物侧透镜面具有拐点，和/或，所述第七透镜的像侧透镜面具有拐点。The photographing device according to claim 19, wherein the object side lens surface of the seventh lens has an inflection point, and/or the image side lens surface of the seventh lens has an inflection point.
根据权利要求20所述的拍摄装置，其特征在于，所述第七透镜的物侧透镜面具有凸出的物侧表面，和/或，所述第七透镜的像侧透镜面具有凹入的像侧表面。The photographing device according to claim 20, wherein the object-side lens surface of the seventh lens has a convex object-side surface, and/or the image-side lens surface of the seventh lens has a concave Like the side surface.
根据权利要求19所述的拍摄装置，其特征在于，所述第六透镜的物侧透镜面具有拐点，和/或，所述第六透镜的像侧透镜面具有拐点。The photographing device according to claim 19, wherein the object side lens surface of the sixth lens has an inflection point, and/or the image side lens surface of the sixth lens has an inflection point.
根据权利要求22所述的拍摄装置，其特征在于，所述第六透镜的物侧透镜面具有凸出的物侧表面，和/或，所述第六透镜的像侧透镜面具有凹入的像侧表面。The photographing device according to claim 22, wherein the object-side lens surface of the sixth lens has a convex object-side surface, and/or the image-side lens surface of the sixth lens has a concave Like the side surface.
根据权利要求19所述的拍摄装置，其特征在于，所述光学***至少包括一个玻璃材质的透镜。18. The photographing device according to claim 19, wherein the optical system comprises at least one lens made of glass.
根据权利要求24所述的拍摄装置，其特征在于，所述第一透镜为玻璃透镜，和/或，所述第四透镜为玻璃透镜。The photographing device according to claim 24, wherein the first lens is a glass lens, and/or the fourth lens is a glass lens.
根据权利要求19所述的拍摄装置，其特征在于，所述第七透镜作为对焦透镜。The photographing device according to claim 19, wherein the seventh lens serves as a focusing lens.
根据权利要求19所述的拍摄装置，其特征在于，所述第三透镜和第四透镜位于所述光学***的孔径光阑的两侧。The photographing device according to claim 19, wherein the third lens and the fourth lens are located on both sides of an aperture stop of the optical system.
根据权利要求19至27任一项所述的拍摄装置，其特征在于，所述光学***满足以下表达式：v ₄≥65，其中，v ₄为所述第四透镜的色散系数。 The photographing device according to any one of claims 19 to 27, wherein the optical system satisfies the following expression: v ₄ ≥ 65, where v ₄ is the dispersion coefficient of the fourth lens.
根据权利要求19至27任一项所述的拍摄装置，其特征在于，所述光学***满足以下表达式：The photographing device according to any one of claims 19 to 27, wherein the optical system satisfies the following expression:

18≤v ₇≤25，1.5≤n ₇≤1.7 18≤v ₇ ≤25, 1.5≤n ₇ ≤1.7

其中，v ₇为所述第七透镜的色散系数，n ₇为所述第七透镜的折射率。 Wherein, v ₇ is the dispersion coefficient _{of the seventh lens, and n 7} is the refractive index of the seventh lens.
根据权利要求29所述的拍摄装置，其特征在于，所述第七透镜为塑胶透镜。The imaging device of claim 29, wherein the seventh lens is a plastic lens.
根据权利要求29所述的拍摄装置，其特征在于，所述第七透镜的两个透镜面中至少有一个是非球面。The photographing device according to claim 29, wherein at least one of the two lens surfaces of the seventh lens is aspherical.
根据权利要求19至27任一项所述的拍摄装置，其特征在于，所述光学***满足以下表达式：The photographing device according to any one of claims 19 to 27, wherein the optical system satisfies the following expression:

1.7≥n ₁≥1.45，v ₁≥65；1.9≥n ₂≥1.45，v ₂≤40；1.58≥n ₃≥1.45，v ₃≥55；1.9≥n ₅≥1.45，v ₅≤40；1.58≥n ₆≥1.45，v ₆≥55； 1.7≥n ₁ ≥1.45, v ₁ ≥65; 1.9≥n ₂ ≥1.45, v ₂ ≤40; 1.58≥n ₃ ≥1.45, v ₃ ≥55; 1.9≥n ₅ ≥1.45, v ₅ ≤40; 1.58≥ n ₆ ≥1.45, v ₆ ≥55;

其中，n ₁、n ₂、n ₃、n ₅、n ₆分别为所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜的折射率；v ₁、v ₂、v ₃、v ₅、v ₆分别为所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜的色散系数。 Wherein, n ₁ , n ₂ , n ₃ , n ₅ , and n ₆ are the refractive indexes of the first lens, second lens, third lens, fifth lens, and sixth lens, respectively; v ₁ , v ₂ , v ₃ , v ₅ , and v ₆ are the dispersion coefficients of the first lens, the second lens, the third lens, the fifth lens, and the sixth lens, respectively.
根据权利要求19至27任一项所述的拍摄装置，其特征在于，所述光学***满足以下表达式：The photographing device according to any one of claims 19 to 27, wherein the optical system satisfies the following expression:

其中，c ₇₁是所述第七透镜的物侧透镜面的曲率，c ₇₂是所述第七透镜的像侧透镜面的曲率。 Wherein, c ₇₁ is the curvature of the object side lens surface of _{the seventh lens, and c 72} is the curvature of the image side lens surface of the seventh lens.
根据权利要求19至27任一项所述的拍摄装置，其特征在于，所述光学***满足以下表达式：The photographing device according to any one of claims 19 to 27, wherein the optical system satisfies the following expression:

CT ₆₁＞2.0mm，CT ₆₂＞1.9mm，且CT ₆₁+CT ₇₁＝CT ₆₂+CT ₇₂ CT ₆₁ ＞2.0mm, CT ₆₂ ＞1.9mm, and CT ₆₁ +CT ₇₁ =CT ₆₂ +CT ₇₂

其中，CT ₆₁为无穷远物距下所述第六透镜的像侧透镜面至所述第七透镜的物侧透镜面的间隔，CT ₆₂为最近物距下所述第六透镜的像侧透镜面至所述第七透镜的物侧透镜面的间隔，CT ₇₁为无穷远物距下所述第七透镜的像侧透镜面至成像面的间隔，CT ₇₂为最近物距下所述第七透镜的像侧透镜面至成像面的间隔，mm表示毫米。 Wherein CT ₆₁ is the distance from the image side lens surface of the sixth lens to the object side lens surface of the seventh lens at an infinite object distance, and CT ₆₂ is the image side lens of the sixth lens at the closest object distance The distance between the lens surface and the object side lens surface of the seventh lens, CT ₇₁ is the distance from the image side lens surface of the seventh lens to the imaging surface at infinite object distance, and CT ₇₂ is the distance between the seventh lens surface and the imaging surface at the closest object distance. The distance between the image side lens surface of the lens and the imaging surface, mm means millimeter.
根据权利要求34所述的拍摄装置，其特征在于，CT ₆₁＝2.304mm，CT ₆₂＝1.900mm，CT ₇₁＝2.350mm，CT ₇₂＝2.754mm，其中mm表示毫米。 The imaging device according to claim 34, wherein CT ₆₁ =2.304mm, CT ₆₂ =1.900mm, CT ₇₁ =2.350mm, CT ₇₂ =2.754mm, wherein mm represents millimeters.
根据权利要求19所述的拍摄装置，其特征在于，所述光学***的长度为20.5mm，和/或，所述光学***的视场角为155°。The photographing device according to claim 19, wherein the length of the optical system is 20.5 mm, and/or the field of view of the optical system is 155°.
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***和图像传感器，所述光学***配置在待拍摄物体与所述图像传感器的光路中；A movable platform, wherein 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 object to be photographed and the image sensor;

所述光学***包括从物侧至像侧依次设置的第一透镜、第二透镜、第三透镜、第四透镜、第五透镜、第六透镜和第七透镜，所述第一透镜和第五透镜具有负光焦度，所述第二透镜、第三透镜、第四透镜、第六透镜和第七透镜具有正光焦度；The optical system includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a seventh lens that are sequentially arranged from the object side to the image side. The lens has negative refractive power, and the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens have positive refractive power;

所述光学***满足以下表达式：The optical system satisfies the following expression:

-8<f ₁<-5，20<f ₂<30，16<f ₃<24，5<f ₄<8，-8<f ₅<-5，10<f ₆<15，70<f ₇<90，0.2≤f/TTL≤0.32； -8<f ₁ <-5, 20<f ₂ <30, 16<f ₃ <24, 5<f ₄ <8, -8<f ₅ <-5, 10<f ₆ <15, 70<f ₇ <90, 0.2≤f/TTL≤0.32;

其中，f是所述光学***的焦距，f ₁是所述第一透镜的焦距、f ₂是所述第二透镜的焦距，f ₃是所述第三透镜的焦距，f ₄是所述第四透镜的焦距，f ₅是所述第五透镜的焦距，f ₆是所述第六透镜的焦距，f ₇是所述第七透镜的焦距，TTL是所述第一透镜靠近物侧的透镜面中心到成像面为止的光轴上的距离。 Where f is the focal length of the optical system, f ₁ is the focal length of the first lens, f ₂ is the focal length of the second lens, f ₃ is the focal length of the third lens, and f ₄ is the first lens. The focal length of the four lenses, f ₅ is the focal length of the fifth lens, f ₆ is the focal length of the sixth lens, f ₇ is the focal length of the seventh lens, and TTL is the lens near the object side of the first lens The distance on the optical axis from the center of the surface to the imaging surface.
根据权利要求37所述的可移动平台，其特征在于，所述第七透镜的物侧透镜面具有拐点，和/或，所述第七透镜的像侧透镜面具有拐点。The movable platform according to claim 37, wherein the object side lens surface of the seventh lens has an inflection point, and/or the image side lens surface of the seventh lens has an inflection point.
根据权利要求38所述的可移动平台，其特征在于，所述第七透镜的物侧透镜面具有凸出的物侧表面，和/或，所述第七透镜的像侧透镜面具有凹入的像侧表面。The movable platform of claim 38, wherein the object-side lens surface of the seventh lens has a convex object-side surface, and/or the image-side lens surface of the seventh lens has a concave The image side surface.
根据权利要求37所述的可移动平台，其特征在于，所述第六透镜的物侧透镜面具有拐点，和/或，所述第六透镜的像侧透镜面具有拐点。The movable platform according to claim 37, wherein the object side lens surface of the sixth lens has an inflection point, and/or the image side lens surface of the sixth lens has an inflection point.
根据权利要求40所述的可移动平台，其特征在于，所述第六透镜的物侧透镜面具有凸出的物侧表面，和/或，所述第六透镜的像侧透镜面具有凹入的像侧表面。The movable platform of claim 40, wherein the object side lens surface of the sixth lens has a convex object side surface, and/or the image side lens surface of the sixth lens has a concave The image side surface.
根据权利要求37所述的可移动平台，其特征在于，所述光学***至少包括一个玻璃材质的透镜。The movable platform of claim 37, wherein the optical system includes at least one glass lens.
根据权利要求42所述的可移动平台，其特征在于，所述第一透镜为玻璃透镜，和/或，所述第四透镜为玻璃透镜。The movable platform according to claim 42, wherein the first lens is a glass lens, and/or the fourth lens is a glass lens.
根据权利要求37所述的可移动平台，其特征在于，所述第七透镜作为对焦透镜。The movable platform of claim 37, wherein the seventh lens serves as a focusing lens.
根据权利要求37所述的可移动平台，其特征在于，所述第三透镜和第四透镜位于所述光学***的孔径光阑的两侧。The movable platform of claim 37, wherein the third lens and the fourth lens are located on both sides of the aperture stop of the optical system.
根据权利要求37至45任一项所述的可移动平台，其特征在于，所述光学***满足以下表达式：v ₄≥65，其中，v ₄为所述第四透镜的色散系数。 The movable platform according to any one of claims 37 to 45, wherein the optical system satisfies the following expression: v ₄ ≥ 65, where v ₄ is the dispersion coefficient of the fourth lens.
根据权利要求37至45任一项所述的可移动平台，其特征在于，所述光学***满足以下表达式：The movable platform according to any one of claims 37 to 45, wherein the optical system satisfies the following expression:

18≤v ₇≤25，1.5≤n ₇≤1.7 18≤v ₇ ≤25, 1.5≤n ₇ ≤1.7

其中，v ₇为所述第七透镜的色散系数，n ₇为所述第七透镜的折射率。 Wherein, v ₇ is the dispersion coefficient _{of the seventh lens, and n 7} is the refractive index of the seventh lens.
根据权利要求47所述的可移动平台，其特征在于，所述第七透镜为塑胶透镜。The movable platform of claim 47, wherein the seventh lens is a plastic lens.
根据权利要求47所述的可移动平台，其特征在于，所述第七透镜的两个透镜面中至少有一个是非球面。The movable platform of claim 47, wherein at least one of the two lens surfaces of the seventh lens is aspherical.
根据权利要求37至45任一项所述的可移动平台，其特征在于，所述光学***满足以下表达式：The movable platform according to any one of claims 37 to 45, wherein the optical system satisfies the following expression:

1.7≥n ₁≥1.45，v ₁≥65；1.9≥n ₂≥1.45，v ₂≤40；1.58≥n ₃≥1.45，v ₃≥55；1.9≥n ₅≥1.45，v ₅≤40；1.58≥n ₆≥1.45，v ₆≥55； 1.7≥n ₁ ≥1.45, v ₁ ≥65; 1.9≥n ₂ ≥1.45, v ₂ ≤40; 1.58≥n ₃ ≥1.45, v ₃ ≥55; 1.9≥n ₅ ≥1.45, v ₅ ≤40; 1.58≥ n ₆ ≥1.45, v ₆ ≥55;

其中，n ₁、n ₂、n ₃、n ₅、n ₆分别为所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜的折射率；v ₁、v ₂、v ₃、v ₅、v ₆分别为所述第一透镜、第二透镜、第三透镜、第五透镜和第六透镜的色散系数。 Wherein, n ₁ , n ₂ , n ₃ , n ₅ , and n ₆ are the refractive indexes of the first lens, second lens, third lens, fifth lens, and sixth lens, respectively; v ₁ , v ₂ , v ₃ , v ₅ , and v ₆ are the dispersion coefficients of the first lens, the second lens, the third lens, the fifth lens, and the sixth lens, respectively.
根据权利要求37至45任一项所述的可移动平台，其特征在于，所述光学***满足以下表达式：The movable platform according to any one of claims 37 to 45, wherein the optical system satisfies the following expression:

其中，c ₇₁是所述第七透镜的物侧透镜面的曲率，c ₇₂是所述第七透镜的像侧透镜面的曲率。 Wherein, c ₇₁ is the curvature of the object side lens surface of _{the seventh lens, and c 72} is the curvature of the image side lens surface of the seventh lens.
根据权利要求37至45任一项所述的可移动平台，其特征在于，所述光学***满足以下表达式：The movable platform according to any one of claims 37 to 45, wherein the optical system satisfies the following expression:

CT ₆₁＞2.0mm，CT ₆₂＞1.9mm，且CT ₆₁+CT ₇₁＝CT ₆₂+CT ₇₂ CT ₆₁ ＞2.0mm, CT ₆₂ ＞1.9mm, and CT ₆₁ +CT ₇₁ =CT ₆₂ +CT ₇₂

其中，CT ₆₁为无穷远物距下所述第六透镜的像侧透镜面至所述第七透镜的物侧透镜面的间隔，CT ₆₂为最近物距下所述第六透镜的像侧透镜面至所述第七透镜的物侧透镜面的间隔，CT ₇₁为无穷远物距下所述第七透镜的像侧透镜面至成像面的间隔，CT ₇₂为最近物距下所述第七透镜的像侧透镜面至成像面的间隔，mm表示毫米。 Wherein CT ₆₁ is the distance from the image side lens surface of the sixth lens to the object side lens surface of the seventh lens at an infinite object distance, and CT ₆₂ is the image side lens of the sixth lens at the closest object distance The distance between the lens surface and the object side lens surface of the seventh lens, CT ₇₁ is the distance from the image side lens surface of the seventh lens to the imaging surface at infinite object distance, and CT ₇₂ is the distance between the seventh lens surface and the imaging surface at the closest object distance. The distance between the image side lens surface of the lens and the imaging surface, mm means millimeter.
根据权利要求52所述的可移动平台，其特征在于，CT ₆₁＝2.304mm，CT ₆₂＝1.900mm，CT ₇₁＝2.350mm，CT ₇₂＝2.754mm，其中mm表示毫米。 The movable platform according to claim 52, characterized in that CT ₆₁ =2.304mm, CT ₆₂ =1.900mm, CT ₇₁ =2.350mm, CT ₇₂ =2.754mm, where mm represents millimeters.
根据权利要求37所述的可移动平台，其特征在于，所述光学***的长度为20.5mm，和/或，所述光学***的视场角为155°。The movable platform according to claim 37, wherein the length of the optical system is 20.5 mm, and/or the field of view of the optical system is 155°.
根据权利要求37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、无人驾驶车辆和手持云台中的任一种。The movable platform of claim 37, wherein the movable platform includes any one of a drone, a robot, an unmanned vehicle, and a handheld pan/tilt.