WO2022111253A1 - 镜头装置、摄像装置、摄像***及移动体 - Google Patents

镜头装置、摄像装置、摄像***及移动体 Download PDF

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Publication number
WO2022111253A1
WO2022111253A1 PCT/CN2021/128982 CN2021128982W WO2022111253A1 WO 2022111253 A1 WO2022111253 A1 WO 2022111253A1 CN 2021128982 W CN2021128982 W CN 2021128982W WO 2022111253 A1 WO2022111253 A1 WO 2022111253A1
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WO
WIPO (PCT)
Prior art keywords
magnet
coil
reflection
support
lens device
Prior art date
Application number
PCT/CN2021/128982
Other languages
English (en)
French (fr)
Inventor
城野方博
白龙吉
东条宏昭
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2022111253A1 publication Critical patent/WO2022111253A1/zh

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present invention relates to a lens device, a camera device, a camera system and a moving body.
  • Patent Document 1 describes an actuator including a magnet and a coil, and a mirror that tilts and bends the optical path to compensate for the movement of the user's hand.
  • Patent Document 1 US Patent Application Publication No. 2019/0146238
  • image shake correction may not be sufficiently performed depending on the environment in which the image pickup apparatus is used.
  • the lens apparatus may include an optical system.
  • the lens device may include a reflective member having a reflective surface that bends the optical path of the optical system.
  • the lens device may include a support member including a support portion supporting a bottom surface on the opposite side to the reflection surface of the reflection member.
  • the lens device may include a holding member that holds the reflection member and the support member so that the reflection member can swing with the support portion as a fulcrum.
  • the lens device may include an elastic member that applies a force having a component in a direction in which the reflection member is pressed toward the support portion to the reflection member.
  • the lens device may include a drive circuit including a magnet provided on one of the reflecting member and the holding member, and a coil provided on the other of the reflecting member and the holding member opposed to the magnet, and configured to pass current through the coil to support Part of it is a fulcrum to swing the reflective member.
  • the supporting member adjusts the position of the supporting portion relative to the holding member in order to adjust the magnitude of the force applied by the elastic member to the reflecting member.
  • the support member may include screw grooves on the outer peripheral surface.
  • the retaining member may include screw holes that cooperate with the threaded grooves of the support member.
  • the lens device may further include a spacer that adjusts the amount by which the support member is screwed into the holding member.
  • the support portion may be a ball that rotatably supports the support member.
  • the drive circuit may include multiple magnets and multiple coils. A plurality of magnets and a plurality of coils may be arranged around the support member.
  • the plurality of magnets may include: a first magnet; a second magnet disposed on opposite sides of the first magnet in the first direction across the support member; a third magnet; and a fourth magnet disposed on the opposite side of the support member through the support member the opposite side of the third magnet in the second direction.
  • the plurality of coils may include: a first coil disposed opposite the first magnet; a second coil disposed opposite the second magnet; a third coil disposed opposite the third magnet; and a fourth coil disposed opposite the first magnet The four magnets are arranged opposite each other.
  • the first magnet, the second magnet, the third magnet and the fourth magnet may be arranged on the bottom surface of the reflecting member.
  • the first coil, the second coil, the third coil, and the fourth coil may be opposed to the first magnet, the second magnet, the third magnet, and the fourth magnet, respectively, and may be arranged on the holding member.
  • the lens device may include a plurality of elastic members.
  • the plurality of elastic members may include a first elastic member; a second elastic member disposed on opposite sides of the first elastic member in the first direction across the support portion; a third elastic member; and a fourth elastic member
  • the supporting portion is arranged on the opposite side of the third elastic member in the second direction.
  • the reflective member may include an optical element having a reflective surface.
  • the spring constant of the elastic member may be a value such that the primary resonance frequency of the reflection member pressed by the elastic member is 200 kHz or more.
  • An imaging device may include the above-described lens device and an image sensor that receives light from the lens device.
  • An imaging system may include the above-described imaging device and a support mechanism that supports the imaging device so as to control the posture of the imaging device.
  • the support mechanism may control the posture of the camera.
  • the driving circuit may be configured such that, in order to correct image shake in a second frequency band higher than the first frequency band, current flows through the coil to oscillate the reflective member.
  • the moving body according to one aspect of the present invention may include the above-described imaging system and move.
  • the spring constant of the elastic member may be a value that makes the primary resonance frequency of the reflecting member pressed by the elastic member higher than the frequency caused by the vibration generated by the moving body when the moving body is driven.
  • the moving body may be a flying body including at least one rotor.
  • the spring constant of the elastic member may be a value such that the primary resonance frequency of the reflection member pressed by the elastic member is higher than the frequency caused by the vibration generated by the flying body when the at least one rotor rotates.
  • image stabilization can be achieved with higher accuracy.
  • FIG. 1 is a diagram showing one example of the appearance of an unmanned aircraft and a remote operation device.
  • FIG. 2 is an external perspective view of the imaging device.
  • FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 .
  • FIG. 4 is a perspective view of the internal structure of the imaging device.
  • FIG. 5 is an external perspective view of the reflection mechanism.
  • FIG. 6 is a cross-sectional view of the reflection mechanism.
  • FIG. 7A is a diagram showing an assembly process of the reflection mechanism.
  • FIG. 7B is a diagram illustrating an assembly process of the reflection mechanism.
  • FIG. 7C is a diagram showing the assembly process of the reflection mechanism.
  • FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 1000 and a remote control device 300 .
  • UAV 1000 includes a UAV body 20 , a plurality of camera devices 60 , and a camera system 10 .
  • the camera system 10 includes a gimbal 50 and a camera device 100 .
  • UAV1000 that is, a moving body, refers to a concept including a flying body moving in the air, a vehicle moving on the ground, and a ship moving on the water.
  • the flying object that moves in the air is a concept that includes not only the UAV but also other aircraft, airships, helicopters, and the like that move in the air.
  • UAV body 20 includes a plurality of rotors.
  • a plurality of rotors is one example of a propulsion section.
  • the UAV main body 20 makes the UAV 1000 fly by controlling the rotation of the plurality of rotors.
  • the UAV main body 20 uses, for example, four rotors to make the UAV 1000 fly.
  • the number of rotors is not limited to four.
  • the UAV1000 can also be a fixed-wing aircraft without rotors.
  • the imaging device 100 is an imaging camera for imaging a subject included in a desired imaging range.
  • the gimbal 50 rotatably supports the camera device 100 .
  • Cardan joint 50 is one example of a support mechanism.
  • the gimbal 50 rotatably supports the camera device 100 with a pitch axis using an actuator.
  • the gimbal 50 further supports the camera 100 rotatably around the roll axis and the yaw axis, respectively, using an actuator.
  • the gimbal 50 can change the posture of the camera 100 by rotating the camera 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 60 are sensing cameras that capture images of the surroundings of the UAV 1000 in order to control the flight of the UAV 1000 .
  • the two camera devices 60 may be installed on the nose of the UAV1000, that is, on the front.
  • the other two camera devices 60 can be installed on the bottom surface of the UAV1000.
  • the two imaging devices 60 on the front side may be paired to function as a so-called stereo camera.
  • the two imaging devices 60 on the bottom side may be paired to function as stereo cameras.
  • Three-dimensional space data around the UAV 1000 can be generated from images captured by the plurality of cameras 60 .
  • the number of camera devices 60 included in UAV 1000 is not limited to four.
  • the UAV 1000 only needs to include at least one camera device 60 .
  • the UAV1000 may also include at least one camera device 60 on the nose, the tail, the side, the bottom, and the top of the UAV1000, respectively.
  • the angle of view that can be set in the camera device 60 may be larger than the angle of view that can be set in the camera device 100 .
  • the camera device 60 may also have a single focus lens or a fisheye lens.
  • the remote operation device 300 communicates with the UAV 1000 to remotely operate the UAV 1000 .
  • the remote operation device 300 can wirelessly communicate with the UAV 1000 .
  • the remote control device 300 transmits instruction information indicating various commands related to the movement of the UAV 1000, such as ascending, descending, acceleration, deceleration, forward, backward, and rotation, to the UAV 1000 .
  • the instruction information includes, for example, instruction information to raise the altitude of UAV 1000 .
  • the indication information may indicate the altitude at which the UAV 1000 should be located.
  • UAV 1000 moves so as to be located at the height indicated by the instruction information received from remote operation device 300 .
  • the instruction information may include an ascending instruction to ascend the UAV 1000 .
  • the UAV1000 rises during the period when the rising command is accepted. When the height of the UAV1000 has reached the upper limit, even if the ascending command is accepted, the UAV1000 can be restricted from ascending.
  • FIG. 2 is an external perspective view of the imaging device 100 .
  • FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 .
  • FIG. 4 is a perspective view of the internal structure of the imaging device 100 .
  • the imaging device 100 includes a first lens group 101 , a second lens group 102 , a reflection mechanism 110 , and an image sensor 103 .
  • the reflection mechanism 110 is arranged between the first lens group 101 and the second lens group 102 .
  • the reflection mechanism 110 bends the optical path of the optical system including the first lens group 101 and the second lens group 102 .
  • the light incident from the first lens group 101 is reflected by the reflection mechanism 110 , and incident on the second lens group 102 to be received by the image sensor 103 .
  • the reflection mechanism 110 changes the directions of the light rays emitted from the first lens group 101 to different directions, so that the light rays from the first lens group 101 are incident on the second lens group 102 .
  • the reflection mechanism 110 functions as an optical image stabilization mechanism (OIS).
  • the imaging device 100 drives the reflection mechanism 110 based on the vibration signal indicating the vibration of the imaging device 100 detected by the vibration sensor, and performs image stabilization.
  • the vibration sensor may be an acceleration sensor that detects vibration of the camera 100 .
  • the gyro sensor detects, for example, angular shake and rotational shake.
  • the acceleration sensor detects, for example, displacement shake in the X and Y directions.
  • Gyroscopic sensors can also transform angles and rotations into X-direction components and Y-direction components.
  • the acceleration sensor can also transform the displacement jitter in the X and Y directions into angular jitter and rotation jitter.
  • the vibration sensor can be a combination of an acceleration sensor and a gyroscope sensor.
  • the vibration sensor may be provided on the universal joint 50 .
  • the camera system 10 configured in this way can perform image stabilization by combining the gimbal 50 and the reflection mechanism 110 .
  • the gimbal 50 can correct image shake in the first frequency band.
  • the reflection mechanism 110 may correct image shake of a second frequency band different from the first frequency band.
  • the gimbal 50 can correct image shake in the frequency band around 1 kHz to 10 kHz.
  • the reflection mechanism 110 can correct image shake in a frequency band of about 10 kHz to 150 kHz.
  • FIG. 5 is an external perspective view of the reflection mechanism 110 .
  • FIG. 6 is a cross-sectional view of the reflection mechanism 110 .
  • the reflection mechanism 110 includes a reflection part 116 , a support part 120 and a base part 130 .
  • the reflection member 116 has a reflection surface 112 a that bends the optical paths of the first lens group 101 and the second lens group 102 .
  • the reflecting member 116 includes the optical element 112 having the reflecting surface 112 a and the movable member 114 holding the optical element 112 .
  • the first direction 70 and the second direction 72 opposite to the first direction 70 are directions along the plane having the reflective surface 112a.
  • the third direction 74 and the fourth direction 76 opposite to the third direction 74 are directions along the plane having the reflective surface 112 a and are perpendicular to the first direction 70 and the second direction 72 .
  • the fifth direction 78 and the sixth direction 80 opposite to the fifth direction 78 are directions perpendicular to the plane having the reflective surface 112a.
  • the support member 120 supports the bottom surface on the opposite side to the reflection surface 112 a of the reflection member 116 .
  • the support member 120 includes a ball 122 , an adjusting screw 124 and a washer 126 .
  • the ball 122 is rotatably supported on the front end of the adjustment screw 124 .
  • the bottom surface of the movable member 114 includes a hemispherical groove 114a into which the balls 122 are rotatably fitted.
  • the base member 130 holds the reflection member 116 and the support member 120 so that the reflection member 116 can swing with the ball 122 as a fulcrum.
  • the base member 130 is an example of a holding member.
  • the reflection mechanism 110 also includes a leaf spring 150 .
  • the reflection mechanism 110 may include four leaf springs 150 .
  • the leaf spring 150 applies a force having a component in the pressing direction (the sixth direction 80 ) of the balls 122 to the reflecting member 116 .
  • the movable member 114 has a rectangular shape when viewed from the reflective surface 112a side.
  • the leaf springs 150 are arranged in the grooves 114 b respectively provided on the four side surfaces of the movable member 114 .
  • the leaf spring 150 is an example of an elastic member.
  • the four leaf springs 150 include a first leaf spring, a second leaf spring, a third leaf spring, and a fourth leaf spring.
  • the first leaf spring may be arranged in the side groove 114b of the movable part 114 in the first direction 70 .
  • the second leaf spring may be disposed in the side groove 114b of the movable member 114 on the opposite side of the first leaf spring in the second direction 72 with the support member 120 interposed therebetween.
  • the third leaf spring may be arranged in the side groove 114b of the third direction 74 of the movable part 114 .
  • the fourth leaf spring may be arranged in the groove 114b of the side of the movable part 114 on the opposite side of the fourth direction 76 of the third leaf spring.
  • the reflection mechanism 110 further includes a drive circuit 140 that swings the reflection member 116 with the ball 122 as a fulcrum.
  • the drive circuit 140 includes four magnets 142 and four coils 144 .
  • Four magnets 142 are arranged on the edges of the four sides of the bottom surface of the movable part 114 .
  • the four coils 144 are arranged on the bearing surface opposite to the bottom surface of the movable part 114 of the base part 130 and are respectively opposite to the four magnets 142 .
  • the four magnets 142 include a first magnet, a second magnet, a third magnet and a fourth magnet.
  • the first magnet may be arranged along the edge of the first direction 70 of the bottom surface of the movable part 114 .
  • the second magnet may be disposed along the side of the bottom surface of the movable member 114 on the opposite side in the second direction 72 of the first magnet with the support member 120 interposed therebetween.
  • the third magnet may be configured along the edge of the third direction 74 of the bottom surface of the movable part 114 .
  • the fourth magnet may be disposed along the side of the bottom surface of the movable member 114 on the opposite side of the third magnet in the fourth direction 76 with the support member 120 interposed therebetween.
  • the four coils 144 include a first coil, a second coil, a third coil, and a fourth coil.
  • the first coil is arranged opposite to the first magnet.
  • the first coil may be arranged along the edge of the first direction 70 of the bearing surface of the base member 130 .
  • the second coil is arranged opposite the second magnet.
  • the second coil may be arranged along the side of the bearing surface of the base member 130 on the opposite side in the second direction 72 of the first coil across the support member 120.
  • the third coil is arranged opposite to the third magnet.
  • the third coil may be arranged along the side of the third direction 74 of the bearing surface of the base member 130 .
  • the fourth coil is disposed opposite the fourth magnet.
  • the fourth coil may be disposed along the side of the bearing surface of the base member 130 on the opposite side of the third coil in the fourth direction 76 with the support member 120 interposed therebetween.
  • the coil 144 may be provided on the movable part 114
  • the magnet 142 may be provided on the base part 130 .
  • a current flows through at least one coil 144 of the four coils 144, so that a magnetic field is generated around the coil 144, and the reflective member 116 is oscillated.
  • the adjustment screw 124 includes a threaded groove on the outer peripheral surface.
  • the base member 130 includes threaded holes that mate with the threaded grooves of the adjustment screw 124 .
  • the support member 120 adjusts the position of the ball 122 relative to the base member 130 in order to adjust the magnitude of the force having the component in the sixth direction 80 exerted by the plate spring 150 on the reflection member 116 . More specifically, by adjusting the amount by which the adjusting screw 124 is screwed into the base member 130 , the position of the ball 122 relative to the base member 130 is adjusted, and the magnitude of the force exerted by the leaf spring 150 on the reflecting member 116 is adjusted.
  • the spacer 126 may be used to adjust the amount that the adjustment screw 124 is screwed into the base member 130 .
  • the amount by which the adjusting screw 124 is screwed into the base member 130 can be adjusted by adjusting the thickness of the washer 126 used.
  • the spacer 126 may not be used.
  • the reflection mechanism 110 swings the reflection member 116 at a frequency of 1 kHz to 10 kHz, and the driving amount of the reflection member 116 increases.
  • the driving amount of the reflection member 116 increases, the Lorentz force acting between the magnet 142 and the coil 144 and the linearity of the displacement of the reflection member 116 deteriorate. Therefore, the OIS drive control needs to provide a position detection sensor such as a Hall element for feedback control.
  • the resolution of the OIS drive control needs to be finer from 1/20 to about 1/30 or less compared to the resolution at 1 kHz to 10 kHz.
  • the reflection mechanism 110 swings the reflection member 116 at a frequency of 10 kHz to 150 kHz, the driving amount of the reflection member 116 is relatively small.
  • the reflective mechanism 110 may vibrate the reflective member 116 on the nanometer scale. Therefore, it is easy to maintain the linearity of the Lorentz force acting between the magnet 142 and the coil 144 and the displacement of the reflection member 116 . Therefore, in the present embodiment, the reflection mechanism 110 does not execute feedback control based on the detection result of the position detection sensor that detects the position of the reflection member 116 . That is, the reflection mechanism 110 does not include a position detection sensor that detects the position of the reflection member 116 .
  • the force of the leaf spring 150 to press the movable member 114 against the balls 122 cannot be as large. That is, in order to facilitate the deformation of the leaf spring 150 to a certain extent, the spring constant of the leaf spring 150 is a relatively small value.
  • the reflection member 116 pressed by the plate spring 150 resonates due to the vibration of the imaging device 100 depending on the environment in which the imaging device 100 is used. For example, when the imaging system 10 is mounted on a moving body such as a UAV, the reflection member 116 may resonate due to vibration generated by the driving of the moving body.
  • the gimbal 50 corrects image shake at a frequency of 1 kHz to 10 kHz
  • the reflection mechanism 110 corrects image shake at a frequency of 10 kHz to 150 kHz that cannot be corrected by the gimbal 50
  • the reflection mechanism 110 oscillates the reflection member 116 in order to correct image shake at a frequency of the second frequency band higher than the first frequency band corrected by the gimbal 50 .
  • the spring constant of the leaf spring 150 needs to be relatively large. Then, in order to prevent resonance of the reflection member 116 , it is also necessary to adjust the force of the leaf spring 150 to press the movable member 114 against the balls 122 with a certain degree of precision.
  • the member supporting the balls 122 is constituted by the adjustment screws 124 . Accordingly, by adjusting the amount by which the adjustment screw 124 is screwed into the base member 130, the position of the ball 122 relative to the base member 130 can be easily adjusted. Therefore, the leaf spring 150 can more precisely adjust the force for pressing the movable member 114 to the ball 122 .
  • the spring constant of the leaf spring 150 is a value which makes the primary resonance frequency of the reflection member 116 pressed by the leaf spring 150 be 200 kHz or more. Accordingly, it is possible to prevent the reflection member 116 pressed by the plate spring 150 from resonating due to vibrations generated by the image stabilization of the gimbal 50 and the image stabilization of the reflection mechanism 110 .
  • the reflection member 116 may resonate due to vibration generated when the moving body is driven. Therefore, the spring constant of the leaf spring 150 is a value that makes the primary resonance frequency of the reflection member 116 pressed by the leaf spring 150 higher than the frequency caused by the vibration of the moving body when the moving body is driven.
  • a value is selected such that the primary resonance frequency of the reflection member 116 pressed by the leaf spring 150 is higher than the frequency caused by the vibration generated in the UAV 1000 when at least one rotor rotates.
  • the reflection member 116 can be prevented from resonating under the vibration of the moving body. Without performing OSI control, when the current does not flow through the coil 114, the reflection member 116 can be prevented from unintentionally vibrating.
  • FIG. 7A , 7B, and 7C are diagrams illustrating an assembly process of the reflection mechanism 110 .
  • the reflection member 116 is assembled to the base member 130 in a state where the coils 144 are arranged in the four concave portions of the bearing surface of the base member 130 .
  • the leaf spring 150 is fitted into the groove 114 b on the side surface of the movable member 114 .
  • FIG. 7C from the back side of the base member 130 , the balls 122 , the spacer 126 , and the adjustment screw 124 are attached to the base member 130 .
  • the screwing amount of the adjustment screw 124 can be finely adjusted to adjust the force with which the plate spring 150 presses the reflecting member 116 .
  • the force with which the plate spring 150 presses the reflecting member 116 can be adjusted by changing the thickness of the spacer 126 .
  • the force with which the plate spring 150 presses the reflecting member 116 can be appropriately adjusted, and image stabilization can be achieved with higher accuracy without being affected by the use environment of the imaging device 100 .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Adjustment Of Camera Lenses (AREA)
  • Lens Barrels (AREA)
  • Structure And Mechanism Of Cameras (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种镜头装置，可以包括：光学***；反射部件，其具有弯折光学***的光路的反射面；支撑部件，其包括支撑与反射部件的反射面相反侧的底面的支撑部分；保持部件，其保持反射部件和支撑部件使得反射部件能够支撑部分为支点摆动；弹性部件，其将具有向支撑部分按压反射部件的方向的分量的力施加到反射部件上；驱动电路，其包括设于反射部件以及保持部件中的一个的磁铁以及设于反射部件以及保持部件中的另一个上的与磁铁相对的线圈，并构成通过电流流经线圈以支撑部分为支点使反射部件摆动。支撑部件为了调整弹性部件施加到反射部件的力的大小，可以调整支撑部分相对于保持部件的位置。

Description

镜头装置、摄像装置、摄像***及移动体 【技术领域】
本发明涉及一种镜头装置、摄像装置、摄像***及移动体。
【背景技术】
专利文献1中记载了包括磁铁以及线圈的致动器，通过倾斜弯折光路的反射镜，补偿用户的手部活动。
[现有技术文献]
[专利文献]
[专利文献1]美国专利申请公开第2019/0146238号说明书
【发明内容】
【发明所要解决的技术问题】
在通过上述的倾斜反射镜以校正图像抖动的摄像装置中，根据使用摄像装置的环境，有时无法充分执行图像抖动校正。
【用于解决问题的技术手段】
本发明的一个方面所涉及的镜头装置可以包括光学***。镜头装置可以包括反射部件，其具有弯折光学***的光路的反射面。镜头装置可以包括支撑部件，其包括支撑与反射部件的反射面相反侧的底面的支撑部分。镜头装置可以包括保持部件，其保持反射部件和支撑部件使得反射部件能够以支撑部分为支点摆动。镜头装置可以包括弹性部件，其将具有向支撑部分按压反射部件的方向的分量的力施加到反射部件。镜头装置可以包括驱动电路，其包括设于反射部件以及保持部件中的一个的磁铁以及设于反射部件以及保持部件中的另一个上的与磁铁相对的线圈，并构成通过电流流经线圈以支撑部分为支点使反射部件摆动。支撑部件为了调整弹性部件施加到反射部件的力的大小，调整支撑部分相对于保持部件的位置。
支撑部件可以在外周面包括螺纹槽。保持部件可以包括与支撑部件的螺纹槽配合的螺孔。可以通过调整支撑部件旋入保持部件的量，调整支撑部分相对于保持部件的位置，调整弹性部件施加到反射部件的力的大小。
镜头装置还可以包括调整支撑部件旋入保持部件的量的垫片。
支撑部分可以是可旋转地支撑支撑部件的滚珠。
驱动电路可以包括多个磁铁和多个线圈。多个磁铁以及多个线圈可以布置于支撑部件的周围。
多个磁铁可以包括：第一磁铁；第二磁铁，其隔着支撑部件，布置在第一磁铁的第一方向的相对侧；第三磁铁；以及第四磁铁，其隔着支撑部件，布置在第三磁铁的第二方向的相对侧。多个线圈可以包括：第一线圈，其与第一磁铁相对布置；第二线圈，其与第二磁铁相对布置；第三线圈，其与第三磁铁相对布置；以及第四线圈，其与第四磁铁相对布置。
第一磁铁、第二磁铁、第三磁铁以及第四磁铁可以布置在反射部件的底面。第一线圈、第二线圈、第三线圈以及第四线圈可以分别与第一磁铁、第二磁铁、第三磁铁 以及第四磁铁相对地并布置于保持部件。
镜头装置可以包括多个弹性部件。多个弹性部件可以包括第一弹性部件；第二弹性部件，其隔着支撑部分，布置在第一弹性部件的第一方向的相对侧；第三弹性部件；以及第四弹性部件，其隔着支撑部分，布置在第三弹性部件的第二方向的相对侧。
反射部件可以包括具有反射面的光学元件。
弹性部件的弹簧常数可以是使被弹性部件按压的反射部件的一次共振频率在200kHz以上的值。
本发明的一个方面所涉及的摄像装置可以包括上述镜头装置以及接收来自镜头装置的光的图像传感器。
根据本发明的一个方面的摄像***可以包括上述摄像装置以及可控制摄像装置的姿势地支撑摄像装置的支撑机构。为了校正第一频带的图像抖动，支撑机构可以控制摄像装置的姿势。驱动电路可以构成为：为了校正高于第一频带的第二频带的图像抖动，电流流经线圈使反射部件摆动。
本发明一个方面所涉及的移动体可以是包括上述摄像***并移动的移动体。
弹性部件的弹簧常数可以是使被弹性部件按压的反射部件的一次共振频率高于移动体驱动时移动体产生的振动引起的的频率的值。
移动体可以是包括至少一个旋翼的飞行体。弹性部件的弹簧常数可以是使被弹性部件按压的反射部件的一次共振频率高于至少一个旋翼旋转时飞行体产生的振动引起的频率的值。
根据本发明的一个方面，可以更高精度地实现图像防抖。
另外，上述发明概要并未列举出本发明的全部特征。此外，这些特征组的子组合也可以构成发明。
【附图说明】
图1是示出无人驾驶航空器和远程操作装置的外观的一个示例的图。
图2是摄像装置的外观立体图。
图3是图1的A-A剖面图。
图4是摄像装置的内部构造的立体图。
图5是反射机构的外观立体图。
图6是反射机构的剖面图。
图7A是示出反射机构的组装过程的图。
图7B是示出反射机构的组装过程的图。
图7C是示出反射机构的组装过程的图。
【具体实施方式】
以下，通过发明的实施方式来对本发明进行说明，但是以下实施方式并非限制权利要求书所涉及的发明。此外，实施方式中说明的特征的组合并非全部是发明的解决方案所必须的。
权利要求书、说明书、说明书附图以及说明书摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人则不会提出异议。但是，在除此以外的情况下，保留一切的著作权。
图1表示无人驾驶航空器(UAV)1000及远程操作装置300的外观的一个示例。UAV1000包括UAV主体20、多个摄像装置60、以及摄像***10。摄像***10包括 万向节50和摄像装置100。UAV1000，即移动体，是指包括在空中移动的飞行体、在地面上移动的车辆、在水上移动的船舶等的概念。在空中移动的飞行体是指不仅包括UAV、还包括在空中移动的其它的飞行器、飞艇、直升机等的概念。
UAV主体20包括多个旋翼。多个旋翼为推进部的一个示例。UAV主体20通过控制多个旋翼的旋转而使UAV1000飞行。UAV本体20例如采用4个旋转翼，使UAV1000飞行。旋翼的数量不限于四个。另外，UAV1000也可以是没有旋翼的固定翼机。
摄像装置100是对包含在所期望的摄像范围内的被摄体进行摄像的摄像用相机。万向节50可旋转地支撑摄像装置100。万向节50为支撑机构的一个示例。例如，万向节50使用致动器以俯仰轴可旋转地支撑摄像装置100。万向节50使用致动器进一步分别以滚转轴和偏航轴为中心可旋转地支撑摄像装置100。万向节50可通过使摄像装置100以偏航轴、俯仰轴以及滚转轴中的至少一个为中心旋转，来改变摄像装置100的姿势。
多个摄像装置60是为了控制UAV1000的飞行而对UAV1000的周围进行拍摄的传感用相机。两个摄像装置60可以设置于UAV1000的机头、即正面。并且，其它两个摄像装置60可以设置于UAV1000的底面。正面侧的两个摄像装置60可以成对，起到所谓的立体相机的作用。底面侧的两个摄像装置60也可以成对，起到立体相机的作用。可以根据由多个摄像装置60所摄像的图像来生成UAV1000周围的三维空间数据。UAV1000所包括的摄像装置60的数量不限于四个。UAV1000包括至少一个摄像装置60即可。UAV1000也可以在UAV1000的机头、机尾、侧面、底面及顶面分别包括至少一个摄像装置60。摄像装置60中可设定的视角可大于摄像装置100中可设定的视角。摄像装置60也可以具有单焦点镜头或鱼眼镜头。
远程操作装置300与UAV1000通信，对UAV1000进行远程操作。远程操作装置300可以与UAV1000进行无线通信。远程操作装置300向UAV1000发送表示上升、下降、加速、减速、前进、后退、旋转等与UAV1000的移动有关的各种指令的指示信息。指示信息包括例如使UAV1000的高度上升的指示信息。指示信息可以表示UAV1000应该位于的高度。UAV1000进行移动，以位于从远程操作装置300接收的指示信息所表示的高度。指示信息可以包括使UAV1000上升的上升指令。UAV1000在接受上升指令的时段上升。在UAV1000的高度已达到上限高度时，即使接受上升指令，也可以限制UAV1000上升。
图2是摄像装置100的外观立体图。图3是图1的A-A剖面图。图4是摄像装置100的内部构造的立体图。
摄像装置100包括第一透镜组101、第二透镜组102、反射机构110以及图像传感器103。反射机构110布置在第一透镜组101和第二透镜组102之间。反射机构110弯折包括第一透镜组101以及第二透镜组102的光学***的光路。自第一透镜组101入射的光线，经反射机构110反射，入射至第二透镜组102由图像传感器103接收。反射机构110改变自第一透镜组101射出的光线的方向为不同的方向，使来自第一透镜组101的光线入射至第二透镜组102。
反射机构110起到光学式图像防抖机构(OIS)的作用。摄像装置100基于振动传感器检测出的表示摄像装置100的振动的振动信号，驱动反射机构110，执行图像防抖。振动传感器可以是检测摄像装置100振动的加速度传感器。陀螺仪传感器检测例如角度抖动和旋转抖动。加速度传感器检测例如X方向和Y方向的位移抖动。陀 螺仪传感器也可以将角度和旋转变换为X方向的分量和Y方向的分量。加速度传感器也可以将X方向和Y方向的位移抖动变换为角度抖动和旋转抖动。振动传感器可以是加速度传感器和陀螺仪传感器组合而成。振动传感器可以设于万向节50上。
这样构成的摄像***10，可以组合万向节50以及反射机构110来执行图像防抖。万向节50可以校正第一频带的图像抖动。反射机构110可以校正不同于第一频带的第二频带的图像抖动。万向节50可以校正1kHz至10kHz左右的频带的图像抖动。反射机构110可以校正10kHz至150kHz左右的频带的图像抖动。
图5是反射机构110的外观立体图。图6是反射机构110的剖面图。反射机构110包括反射部件116、支撑部件120以及底座部件130。反射部件116具有弯折第一透镜组101以及第二透镜组102的光路的反射面112a。反射部件116包括具有反射面112a的光学元件112以及保持光学元件112的活动部件114。在图5中，第一方向70以及与第一方向70相反的第二方向72是沿着具有反射面112a的平面的方向。第三方向74以及与第三方向74相反的第四方向76是沿着具有反射面112a的平面的方向，且是与第一方向70以及第二方向72垂直的方向。第五方向78以及与第五方向78相反的第六方向80是与具有反射面112a的平面垂直的方向。
支撑部件120支撑与反射部件116的反射面112a相反侧的底面。支撑部件120包括滚珠122、调整螺丝124以及垫片126。滚珠122可旋转地支撑在调整螺丝124的前端。
活动部件114的底面包括滚珠122可旋转地嵌入的半球状的槽114a。底座部件130保持反射部件116和支撑部件120使得反射部件116能够以滚珠122为支点摆动。底座部件130是保持部件的一个示例。
反射机构110还包括板簧150。反射机构110可以包括四个板簧150。板簧150将具有向滚珠122按压方向(第六方向80)的分量的力施加到反射部件116。活动部件114从反射面112a侧观察呈矩形。板簧150布置于分别设于活动部件114的四个侧面的槽114b内。板簧150是弹性部件的一个示例。
四个板簧150包括第一板簧、第二板簧、第三板簧以及第四板簧。第一板簧可以布置于活动部件114的第一方向70的侧面槽114b内。第二板簧可以隔着支撑部件120，布置于第一板簧的第二方向72的相对侧的活动部件114的侧面槽114b内。第三板簧可以布置于活动部件114的第三方向74的侧面槽114b内。第四板簧可以布置于第三板簧的第四方向76的相对侧的活动部件114的侧面的槽114b内。
反射机构110还包括以滚珠122为支点使反射部件116摆动的驱动电路140。驱动电路140包括四个磁铁142和四个线圈144。四个磁铁142布置于活动部件114的底面的四边的边缘。四个线圈144布置于与底座部件130的活动部件114的底面相对的承载面上，与四个磁铁142分别相对。
四个磁铁142包括第一磁铁、第二磁铁、第三磁铁以及第四磁铁。第一磁铁可以布置为沿着活动部件114的底面的第一方向70的边。第二磁铁可以配置为隔着支撑部件120，沿着第一磁铁的第二方向72的相对侧的活动部件114的底面的边。第三磁铁可以配置为沿着活动部件114的底面的第三方向74的边。第四磁铁可以隔着支撑部件120，配置为沿着第三磁铁的第四方向76的相对侧的活动部件114的底面的边。
四个线圈144包括第一线圈、第二线圈、第三线圈以及第四线圈。第一线圈与第一磁铁相对布置。第一线圈可以布置为沿着底座部件130的承载面的第一方向70的边。第二线圈布置为和第二磁铁相对。第二线圈可以布置为隔着支撑部件120，沿着 第一线圈的第二方向72的相对侧的底座部件130的承载面的边。第三线圈布置为与第三磁铁相对。第三线圈可以布置为沿着底座部件130的承载面的第三方向74的边。第四线圈配置为和第四磁铁相对。第四线圈可以隔着支撑部件120，配置为沿着第三线圈的第四方向76的相对侧的底座部件130的承载面的边。此外，线圈144可以设于活动部件114上，磁铁142可以设于底座部件130上。
驱动电路140为了执行图像防抖，电流流经四个线圈144中的至少一个线圈144，使线圈144的周围产生磁场，使反射部件116摆动。
调整螺丝124包括外周面的螺纹槽。底座部件130包括与调整螺丝124的螺纹槽配合的螺孔。支撑部件120为了调整板簧150施加在反射部件116上的具有第六方向80的分量的力的大小，调整滚珠122相对于底座部件130的位置。更具体地，通过调整调整螺丝124旋入底座部件130的量，调整滚珠122相对于底座部件130的位置，调整板簧150施加在反射部件116上的力的大小。垫片126可以用于调整调整螺丝124旋入底座部件130的量。可以通过调整使用的垫片126的厚度，调整调整螺丝124旋入底座部件130的量。此外，板簧150施加在反射部件116上的力的大小仅可以由调整螺丝124来调节时，可以没有垫片126。
反射机构110在1kHz至10kHz的频率下使反射部件116摆动，反射部件116的驱动量变大。反射部件116的驱动量变大，则作用于磁铁142和线圈144之间的洛伦兹力和反射部件116的位移的线性变差。因此，OIS驱动控制需要设置霍尔元件等的位置检测传感器进行反馈控制。但是，当打算在10kHz至150kHz下使反射部件116驱动时，OIS驱动控制的分辨率和1kHz至10kHz下的分辨率相比，需要从1/20精细至约1/30以下。但是，位置检测传感器难以实现这个分辨率。但是，反射机构110在10kHz至150kHz的频率下使反射部件116摆动时，反射部件116的驱动量相对较小。例如，反射机构110可以在纳米微米量级下使反射部件116振动。因此，易于维持作用于磁铁142和线圈144之间的洛伦兹力和反射部件116的位移的线性。因此，在本实施方式中，反射机构110基于检测反射部件116的位置的位置检测传感器的检测结果，不执行反馈控制。也就是说，反射机构110不包括检测反射部件116的位置的位置检测传感器。
此外，为了增大反射部件116的驱动量，板簧150将活动部件114按压到滚珠122的力无法那样大。也就是说，为了便于板簧150一定程度的变形，板簧150的弹簧常数是相对较小的值。但是，板簧150的弹簧常数小时，根据使用摄像装置100的环境，被板簧150按压的反射部件116由于摄像装置100的振动产生共振。例如，摄像***10搭载在UAV等移动体上时，有时在移动体的驱动下产生的振动使得反射部件116产生共振。
因此，在本实施方式中，万向节50校正1kHz至10kHz的频率的图像抖动，且反射机构110校正万向节50无法校正的10kHz至150kHz的频率的图像抖动。反射机构110为了校正高于万向节50校正的第一频带的第二频带的频率的图像抖动，使反射部件116摆动。
反射机构110为了校正较高的频带下的图像抖动，板簧150的弹簧常数需要相对较大。然后，为了防止反射部件116的共振，也需要对板簧150将活动部件114按压到滚珠122的力进行一定程度精度的调整。
因此，在本实施方式中，为了调整滚珠122相对于底座部件130的位置，支撑滚珠122的部件由调整螺丝124构成。由此，可以通过调整调整螺丝124旋入底座部件 130的量，容易地调整滚珠122的相对于底座部件130的位置。所以，板簧150可以更精确的调整将活动部件114按压到滚珠122的力。
此外，板簧150的弹簧常数是使被板簧150按压的反射部件116的一次共振频率在200kHz以上的值。由此，可以防止因万向节50的图像防抖以及反射机构110的图像防抖所产生的振动使被板簧150按压的反射部件116共振的情况。
摄像装置100经由万向节50，搭载在UAV1000等移动体上时，在移动体驱动时产生的振动下，反射部件116可能共振。因此，板簧150的弹簧常数是使被板簧150按压在的反射部件116的一次共振频率高于移动体驱动时移动体产生的振动引起的频率的值。
摄像装置100经由万向节50搭载在UAV1000上时，选择使被板簧150按压的反射部件116的一次共振频率高于至少一个旋翼旋转时的UAV1000处产生的振动引起的频率的值。
由此，可以防止由于使用摄像装置100的环境无法充分校正图像抖动的情况。此外，例如，可以防止摄像装置100搭载在UAV1000等移动体上时，在移动体的振动下，反射部件116共振。不执行OSI控制，电流未流经线圈114时，可以防止反射部件116无意的振动。
图7A、图7B以及7C是示出反射机构110的组装过程的图。如图7A所示，在线圈144布置于底座部件130的承载面的四个凹部的状态下，反射部件116组装到底座部件130上。接着，如图7B所示，板簧150嵌入到活动部件114的侧面的槽114b内。此外，如图7C所示，自底座部件130的背侧，滚珠122、垫片126以及调整螺丝124安装在底座部件130上。其中，可以微调调整螺丝124的旋入量，调整板簧150按压反射部件116的力。可以通过改变垫片126的厚度，调整板簧150按压反射部件116的力。
如上所述，根据本实施方式，可以适度调整板簧150按压反射部件116的力，从而能够不受摄像装置100的使用环境的影响，更高精度地实现图像防抖。
以上使用实施方式对本发明进行了说明，但是本发明的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。
应该注意的是，权利要求书、说明书以及说明书附图中所示的装置、***、程序以及方法中的动作、过程、步骤以及阶段等各项处理的执行顺序，只要没有特别明示“在...之前”、“事先”等，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及说明书附图中的操作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。
【附图标记】
10 摄像***
20 UAV主体
50 万向节
60 摄像装置
100 摄像装置
101 第一镜头组
102 第二镜头组
103 图像传感器
110 反射机构
112 光学元件
112a 反射面
114 活动部件
114a，114b 槽
116 反射部件
120 支撑部件
122 滚珠
124 调整螺丝
126 垫片
130 底座部件
140 驱动电路
142 磁铁
144 线圈
150 板簧
300 远程操作装置
1000 UAV

Claims (15)

  1. 一种镜头装置，其特征在于，包括：
    光学***；
    反射部件，其具有弯折所述光学***的光路的反射面；
    支撑部件，其包括支撑与所述反射部件的所述反射面相反侧的底面的支撑部分；
    保持部件，其保持所述反射部件和所述支撑部件使得所述反射部件能够以所述支撑部分为支点摆动；
    弹性部件，其将具有向所述支撑部分按压所述反射部件的方向的分量的力施加到所述反射部件；以及
    驱动电路，其包括设于所述反射部件以及所述保持部件中的一个的磁铁以及设于所述反射部件以及所述保持部件中的另一个上的与所述磁铁相对的线圈，并构成通过电流流经所述线圈以所述支撑部分为支点使所述反射部件摆动，
    所述支撑部件为了调整所述弹性部件施加在所述反射部件上的力的大小，调整所述支撑部分相对于所述保持部件的位置。
  2. 根据权利要求1所述的镜头装置，其特征在于，所述支撑部件在外周面包括螺纹槽，
    所述保持部件包括与所述支撑部件的螺纹槽配合的螺孔，
    通过调整所述支撑部件旋入所述保持部件的量，调整所述支撑部分相对于所述保持部件的位置，调整所述弹性部件施加到所述反射部件的力的大小。
  3. 根据权利要求2所述的镜头装置，其特征在于，还包括调整所述支撑部件旋入所述保持部件的量的垫片。
  4. 根据权利要求1所述的镜头装置，其特征在于，所述支撑部分是可旋转地支撑于所述支撑部件的滚珠。
  5. 根据权利要求1所述的镜头装置，其特征在于，所述驱动电路包括多个所述磁铁和多个所述线圈，
    所述多个磁铁以及所述多个线圈布置于所述支撑部件的周围。
  6. 根据权利要求5所述的镜头装置，其特征在于，所述多个磁铁包括：
    第一磁铁；
    第二磁铁，其隔着所述支撑部件，布置在所述第一磁铁的第一方向的相对侧；
    第三磁铁；以及
    第四磁铁，其隔着所述支撑部件，布置在所述第三磁铁的第二方向的相对侧，
    所述多个线圈包括：
    第一线圈，其与所述第一磁铁相对布置；
    第二线圈，其与所述第二磁铁相对布置；
    第三线圈，其与所述第三磁铁相对布置；以及
    第四线圈，其与所述第四磁铁相对布置。
  7. 根据权利要求6所述的镜头装置，其特征在于，所述第一磁铁、所述第二磁铁、所述第三磁铁以及所述第四磁铁布置在所述反射部件的所述底面，
    所述第一线圈、所述第二线圈、所述第三线圈以及所述第四线圈分别与所述第一磁铁、所述第二磁铁、所述第三磁铁以及所述第四磁铁相对地布置于所述保持部件。
  8. 根据权利要求1所述的镜头装置，其特征在于，包括多个所述弹性部件，
    所述多个弹性部件包括：
    第一弹性部件；
    第二弹性部件，其隔着所述支撑部分，布置在所述第一弹性部件的第一方向的相对侧；
    第三弹性部件；以及
    第四弹性部件，其隔着所述支撑部分，布置在所述第三弹性部件的第二方向的相对侧。
  9. 根据权利要求1所述的镜头装置，其特征在于，所述反射部件包括具有所述反射面的光学元件。
  10. 根据权利要求1所述的镜头装置，其特征在于，所述弹性部件的弹簧常数是使被所述弹性部件按压的所述反射部件的一次共振频率在200kHz以上的值。
  11. 一种摄像装置，其特征在于，包括：根据权利要求1至10中任一项所述的镜头装置；以及接收来自所述镜头装置的光的图像传感器。
  12. 一种摄像***，其特征在于，包括：根据权利要求11所述的摄像装置；以及
    可控制所述摄像装置的姿势地支撑所述摄像装置的支撑机构，
    为了校正第一频带的图像抖动，所述支撑机构控制所述摄像装置的姿势，
    所述驱动电路构成为：为了校正高于所述第一频带的第二频带的图像抖动，电流流经所述线圈使所述反射部件摆动。
  13. 一种移动体，其特征在于，包括根据权利要求12所述的摄像***并移动。
  14. 根据权利要求13所述的移动体，其特征在于，所述弹性部件的弹簧常数是使被所述弹性部件按压的所述反射部件的一次共振频率高于所述移动体驱动时所述移动体产生的振动引起的的频率的值。
  15. 根据权利要求14所述的移动体，其特征在于，所述移动体是包括至少一个旋翼的飞行体，
    所述弹性部件的弹簧常数是使被所述弹性部件按压的所述反射部件的一次共振频率高于所述至少一个旋翼旋转时所述飞行体产生的振动引起的频率的值。
PCT/CN2021/128982 2020-11-27 2021-11-05 镜头装置、摄像装置、摄像***及移动体 WO2022111253A1 (zh)

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