Zoom lens and imaging device

Abstract

Disclosed is a zoom lens provided with, in order from the object side to the image plane side, a first lens group, which is closest to the object side, in which a negative meniscus lens is arranged with the convex surface toward the object side, and which has a negative refractive power, a second lens group, which has a negative refractive power, and which moves toward the image plane side during focusing, an aperture diaphragm serving as a main diaphragm, and a subsequent group containing at least one lens group having a positive refractive power, wherein, when zooming from the wide-angle end to the telephoto end, the interval between the adjacent lens groups changes, and satisfies a conditional formula (1), in which f1 is the focal distance of the first lens group and f2 is the focal distance of the second lens group.　(1): 0.2 < f1 / f2 < 0.9

Description

[Technical field]

[0001] The present disclosure relates to a zoom lens having a focusing function and an imaging device including such a zoom lens. [Background technology]

[0002] 2. Description of the Related Art Imaging devices using solid-state imaging elements require imaging optical systems that have a wide angle of view and high performance (high resolution) over the entire screen, and various optical systems have been proposed (see, for example, Patent Documents 1 to 3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-227124 A [Patent Document 2] JP 2007-94174 A [Patent Document 3] JP 2019-40219 A Summary of the Invention

[0004] In recent years, imaging optical systems used in imaging devices are strongly required to have not only a wide angle of view and high resolution, but also a reduction in fluctuation in the angle of view during focusing, which is important in fields such as moving images.

[0005] It is desirable to provide a zoom lens that allows for a smooth focusing operation while minimizing fluctuations in the angle of view and aberration during focusing, and an imaging device equipped with such a zoom lens.

[0006] A zoom lens according to an embodiment of the present disclosure includes, in order from the object side to the image surface side, a first lens group having a negative meniscus lens with a convex surface facing the object side disposed closest to the object side, the first lens group having negative refractive power, a second lens group having negative refractive power and moving toward the image surface side during focusing, an aperture stop as a main aperture, a third lens group having positive refractive power, and a fourth lens group having positive refractive power. the first lens group has a positive lens arranged closer to the image surface than the negative meniscus lens; When zooming from the wide-angle end to the telephoto end, the first and second lens groups move toward the image plane side, and the third and fourth lens groups move toward the object side so that the spacing between adjacent lens groups changes, and the following conditional expression is satisfied: 0.2 <f1 / f2<0.9 ……(1) however, f1: focal length of the first lens group f2: focal length of the second lens group Let us assume that.

[0007] An imaging device according to one embodiment of the present disclosure includes a zoom lens and an imaging element that outputs an imaging signal corresponding to an optical image formed by the zoom lens, and the zoom lens is configured by the zoom lens according to the embodiment of the present disclosure.

[0008] A zoom lens or an imaging device according to an embodiment of the present disclosure is configured with three or more groups as a whole, and the configuration of each lens group is optimized to enable a smooth focusing operation while minimizing fluctuations in the angle of view and fluctuations in aberration during focusing. [Brief description of the drawings]

[0009] [Figure 1] 1 is a lens cross-sectional view showing a first configuration example (Example 1) of a zoom lens according to an embodiment of the present disclosure. [Diagram 2] FIG. 4 is a lens cross-sectional view showing a second configuration example (Example 2) of a zoom lens according to an embodiment. [Diagram 3] FIG. 11 is a lens cross-sectional view showing a third configuration example (Example 3) of a zoom lens according to an embodiment. [Figure 4] 4 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 1 at the wide-angle end and when focused on infinity. FIG. [Diagram 5] 4 is an aberration diagram showing longitudinal aberration of the zoom lens according to Example 1 at the wide-angle end when focusing on a close object. FIG. [Figure 6] 4 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 1 when the zoom lens is at an intermediate focal length and focused on infinity. FIG. [Figure 7] 4 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 1 at an intermediate focal length and when focusing on a close object. FIG. [Figure 8] 4 is an aberration diagram illustrating longitudinal aberration at the telephoto end of the zoom lens according to Example 1 when focused on infinity. FIG. [Figure 9] 4 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 1 at the telephoto end when focusing on a close object. FIG. [Figure 10] 4 is an aberration diagram illustrating lateral aberration at the wide-angle end of the zoom lens according to Example 1 when focused on infinity. FIG. [Figure 11] 4 is an aberration diagram illustrating lateral aberration at the wide-angle end of the zoom lens according to Example 1 when focusing on a close object. FIG. [Figure 12] 4 is an aberration diagram illustrating lateral aberration of the zoom lens according to Example 1 when the zoom lens is at an intermediate focal length and focused on infinity. FIG. [Figure 13] 4 is an aberration diagram showing lateral aberration of the zoom lens according to Example 1 at an intermediate focal length and when focusing on a close object. FIG. [Figure 14] 4 is an aberration diagram illustrating lateral aberration at the telephoto end of the zoom lens according to Example 1 when focused on infinity. FIG. [Figure 15] 4 is an aberration diagram showing lateral aberration at the telephoto end of the zoom lens according to Example 1 when focusing on a close object. FIG. [Figure 16] 8A to 8C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 2 at the wide-angle end and when focused on infinity. [Figure 17] 8A to 8C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 2 at the wide-angle end when focusing on a close object. [Figure 18]10 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 2 when the zoom lens is at an intermediate focal length and focused on infinity. [Figure 19] 8A to 8C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 2 when the zoom lens has an intermediate focal length and is focused on a close object. [Figure 20] 8A to 8C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 2 at the telephoto end and when focused on infinity. [Figure 21] 8A to 8C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 2 at the telephoto end when focusing on a close object. [Figure 22] 7A to 7C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 2 at the wide-angle end and when focused on infinity. [Figure 23] 7A to 7C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 2 at the wide-angle end when focusing on a close object. [Figure 24] 7A to 7C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 2 when the zoom lens is at an intermediate focal length and focused on infinity. [Diagram 25] 6A to 6C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 2 when the zoom lens is at an intermediate focal length and focused on a close object. [Figure 26] 7A to 7C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 2 at the telephoto end and when focused on infinity. [Figure 27] 7A to 7C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 2 at the telephoto end when focusing on a close object. [Figure 28] 11 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 3 at the wide-angle end and when focused on infinity. FIG. [Figure 29] 11 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 3 at the wide-angle end when focusing on a close object. FIG. [Diagram 30] 11 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 3 when the zoom lens is at an intermediate focal length and focused on infinity. [Diagram 31] 11A to 11C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 3 at an intermediate focal length and when focusing on a close object. [Diagram 32]11 is an aberration diagram illustrating longitudinal aberration of the zoom lens according to Example 3 at the telephoto end and focused on infinity. FIG. [Diagram 33] 11A to 11C are aberration diagrams illustrating longitudinal aberration of the zoom lens according to Example 3 at the telephoto end when focusing on a close object. [Diagram 34] 11A to 11C are aberration diagrams illustrating lateral aberration at the wide-angle end of the zoom lens according to Example 3 when focused on infinity. [Diagram 35] 11A to 11C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 3 at the wide-angle end when focusing on a close object. [Diagram 36] 11A to 11C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 3 when the zoom lens is at an intermediate focal length and focused on infinity. [Figure 37] 10A to 10C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 3 when the zoom lens is at an intermediate focal length and focused on a close object. [Figure 38] 11A to 11C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 3 at the telephoto end and when focused on infinity. [Figure 39] 11A to 11C are aberration diagrams illustrating lateral aberration of the zoom lens according to Example 3 at the telephoto end when focusing on a close object. [Diagram 40] FIG. 1 is a block diagram showing an example of the configuration of an imaging device. [Diagram 41] 1 is a block diagram showing an example of a schematic configuration of a vehicle control system; [Diagram 42] 4 is an explanatory diagram showing an example of the installation positions of an outside-vehicle information detection unit and an imaging unit; FIG. [Diagram 43] 1 is a configuration diagram showing an example of a schematic configuration of an endoscopic surgery system. [Diagram 44] 44 is a block diagram showing an example of the functional configuration of the camera head and the CCU shown in FIG. 43. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The description will be made in the following order. 0. Comparative Example 1. Basic lens structure 2. Actions and Effects 3. Application examples to imaging devices 4. Numerical examples of lenses 5. Application Examples 6. Other embodiments

[0011] <0. Comparative Examples> As a wide-angle imaging optical system, a retrofocus imaging optical system is disclosed in Patent Document 1. Patent Document 1 discloses a retrofocus wide-angle lens with a single focal length and a photographing angle of view of 120 degrees, which is composed of, in order from the object side, a first lens group with negative refractive power, an aperture stop, and a second lens group with positive refractive power.

[0012] Patent Document 2 also discloses a negative-lead type zoom lens as a wide-angle imaging optical system, in which a lens group with negative refractive power is in the foreground (located closest to the object side). Patent Document 2 discloses a wide-angle zoom lens that is composed of, in order from the object side, a first lens group with negative refractive power and a second lens group with positive refractive power, and has a total shooting angle of 114.7 degrees at the wide-angle end and a zoom ratio of about 1.65. Patent Document 2 also discloses a wide-angle zoom lens that is composed of, in order from the object side, a first lens group with negative refractive power, a second lens group with positive refractive power, and a third lens group with positive refractive power, and has a total shooting angle of 114.7 degrees at the wide-angle end and a zoom ratio of about 1.65.

[0013] Meanwhile, in recent years, imaging optical systems used in imaging devices are strongly required to have not only a wide angle of view and high resolution, but also a reduction in the variation in the angle of view during focusing, which is important in fields such as video. In order to reduce the variation in the angle of view during focusing, it is preferable to select a lens group that has small variations in focal length and distortion during focusing as the focus group. In contrast, the ultra-wide-angle zoom lens disclosed in Patent Document 3 uses a group with a small degree of freedom and large focal length variation as the focus group, resulting in a zoom configuration with large variation in the angle of view.

[0014] Therefore, there is a demand for the development of a zoom lens that allows for smooth focusing operation, reduces fluctuations in the angle of view and aberration during focusing, and provides good aberration correction, as well as an imaging device equipped with such a zoom lens.

[0015] <1. Basic lens structure> Fig. 1 shows a first configuration example of a zoom lens according to an embodiment of the present disclosure, which corresponds to the configuration of Example 1 described later. Fig. 2 shows a second configuration example of a zoom lens according to an embodiment, which corresponds to the configuration of Example 2 described later. Fig. 3 shows a third configuration example of a zoom lens according to an embodiment, which corresponds to the configuration of Example 3 described later.

[0016] In Fig. 1 and other figures, Z1 indicates the optical axis. An optical member LF such as a cover glass for protecting an image sensor may be disposed between the image plane and the zoom lenses 1 to 3 according to the first to third configuration examples. In addition to the cover glass, various optical filters such as a low-pass filter and an infrared cut filter may be disposed as the optical member LF.

[0017] Below, the configuration of a zoom lens according to an embodiment of the present disclosure will be described in association with zoom lenses 1 to 3 according to each configuration example shown in FIG. 1 etc., as appropriate; however, the technology according to the present disclosure is not limited to the configuration examples shown in the drawings.

[0018] A zoom lens according to one embodiment includes, in order from the object side to the image plane side along an optical axis Z1, a first lens group GR1, an aperture stop St, a second lens group GR2, and a subsequent group including at least one lens group.

[0019] The first lens group GR1 has a negative refractive power as a whole. A negative meniscus lens with a convex surface facing the object side is disposed closest to the object side in the first lens group GR1. It is preferable that the first lens group GR1 has at least one positive lens disposed closer to the image plane than the negative meniscus lens.

[0020] The second lens group GR2 has a negative refractive power as a whole. The second lens group GR2 moves toward the image surface side during focusing as a focus group. The second lens group GR2 is preferably composed of a single lens component. Here, the single lens component may be a single lens or a cemented lens in which multiple lenses are cemented together.

[0021] The rear group includes at least one lens group having positive refractive power. Figures 1 to 3 show an example configuration in which the rear group is composed of a third lens group GR3 having positive refractive power and a fourth lens group GR4 having positive refractive power.

[0022] In a zoom lens according to an embodiment, when zooming from the wide-angle end to the telephoto end, the distance between adjacent lens groups changes along the optical axis Z1. Note that Figs. 1 to 3 show the lens arrangement at the wide-angle end and when focusing at infinity. Figs. 1 to 3 also show with arrows an outline of the movement locus of each lens group when zooming from the wide-angle end to the telephoto end. Figs. 1 to 3 also show the movement direction of the focus group when focusing from infinity to a close distance.

[0023] In addition, it is desirable for the zoom lens according to one embodiment to further satisfy certain conditional expressions, etc., which will be described later.

[0024] <2. Actions and Effects> Next, the operation and effects of the zoom lens according to the embodiment of the present disclosure will be described, along with a more desirable configuration of the zoom lens according to the embodiment of the present disclosure. It should be noted that the effects described in this specification are merely examples and are not limiting, and other effects may also be obtained.

[0025] A zoom lens according to one embodiment is configured with three or more lens groups overall, with the configuration of each lens group optimized, making it possible to realize a zoom lens and image pickup device that enables smooth focusing operation while minimizing fluctuations in the angle of view and aberration during focusing.

[0026] In a zoom lens according to one embodiment, a first lens group GR1 having negative refractive power, a second lens group GR2 having negative refractive power, and a subsequent group including one lens group having positive refractive power are arranged from the object side in a retrofocus type power arrangement, which makes it possible to configure a compact ultra-wide-angle lens.

[0027] Furthermore, in a zoom lens according to one embodiment, an aperture diaphragm St is disposed between the second lens group GR2 and the lens group (third lens group GR3) that is located closest to the object among the subsequent groups, thereby making it possible to cut out the amount of unnecessary light at intermediate image heights in a balanced manner, thereby making it possible to obtain higher optical performance.

[0028] Furthermore, in the zoom lens according to one embodiment, the second lens group GR2 has a minimum lens configuration of a single lens component, thereby making it possible to realize a smooth focusing operation.

[0029] Here, it is desirable for the zoom lens according to one embodiment to satisfy the following conditional expression (1). 0.2 <f1 / f2<0.9 ……(1) however, f1: focal length of the first lens group GR1 f2: Focal length of the second lens group GR2 Let us assume that.

[0030] Conditional formula (1) is a conditional formula for setting the relationship between the focal length of the first lens group GR1 and the focal length of the second lens group GR2. By satisfying conditional formula (1), it is possible to reduce the fluctuation in the angle of view and the fluctuation in aberration during focusing. If the lower limit of conditional formula (1) is not satisfied, the focal length of the second lens group GR2 becomes large, and the amount of movement required during focusing increases, resulting in an increase in the size of the optical system. On the other hand, if the upper limit of conditional formula (1) is exceeded, the focal length of the second lens group GR2 becomes small, and the fluctuation in aberration during focusing increases, making it difficult to achieve high image quality.

[0031] In order to more effectively realize the effect of the above-mentioned conditional expression (1), it is more desirable to set the numerical range of conditional expression (1) as shown in the following conditional expression (1A). 0.45 <f1 / f2<0.86 ……(1A)

[0032] Moreover, it is desirable for the zoom lens according to one embodiment to satisfy the following conditional expression (2). 0.7 <Bfw / fw<1.4 ……(2) however, Bfw: Back focus at the wide-angle end fw: focal length of the entire system at the wide-angle end Let us assume that.

[0033] Conditional formula (2) is stipulated so that the size of the optical system is small and lightweight, and is a conditional formula for appropriately setting the relationship between the focal length of the entire system at the wide-angle end and the back focus at the wide-angle end. If the lower limit of conditional formula (2) is not met, the focal length at the wide-angle end becomes long, making it difficult to achieve a wide angle. On the other hand, if the upper limit of conditional formula (2) is exceeded, the back focus becomes too long, and the asymmetry of the power arrangement required for widening the angle increases, making it difficult to correct various aberrations and thus difficult to achieve high image quality.

[0034] In order to more effectively realize the effect of the above-mentioned conditional expression (2), it is more desirable to set the numerical range of conditional expression (2) as shown in the following conditional expression (2A). 1.0 <Bfw / fw<1.3 ……(2A)

[0035] In addition, in a zoom lens according to an embodiment, it is preferable that the aperture diaphragm St moves independently of the second lens group GR2 and the lens group (third lens group GR3) located closest to the object among the succeeding groups, and that the aperture diameter changes, when zooming from the wide-angle end to the telephoto end. By moving the aperture diaphragm St independently of the second lens group GR2 and the third lens group GR3, and changing the aperture diameter, when zooming from the wide-angle end to the telephoto end, it is possible to cut out unnecessary light that is likely to enter at intermediate image heights, and it is possible to improve the optical performance over the entire zoom range, especially at the wide-angle end.

[0036] In addition, in the zoom lens according to the embodiment, it is preferable to further include a sub-diaphragm, which is arranged closer to the image surface than the aperture diaphragm St and whose aperture diameter changes when zooming from the wide-angle end to the telephoto end, as a flare cutter. For example, as in the configuration example shown in Figs. 1 to 3, it is preferable to arrange the first sub-diaphragm (first flare cutter FC1) or the second sub-diaphragm (second flare cutter FC2) on the most image surface side of the third lens group GR3. It is also preferable to arrange the second sub-diaphragm (second flare cutter FC2) in the lens group (fourth lens group GR4) arranged closest to the image surface side in the succeeding group. By arranging the sub-diaphragm, whose aperture diameter changes during zooming, on the image surface side than the aperture diaphragm St, it is possible to cut unnecessary light that is likely to enter at intermediate image heights and cannot be cut by the aperture diaphragm St alone, and it is possible to improve the optical performance in the entire zoom range, especially the optical performance on the wide-angle end side.

[0037] Moreover, it is desirable for the zoom lens according to one embodiment to satisfy the following conditional expression (3). 0.9<|R2f-R2r| / |R2f+R2r|<10.0 ……(3) however, R2f: radius of curvature of the surface of the second lens group GR2 closest to the object R2r: radius of curvature of the surface of the second lens group GR2 closest to the image plane Let us assume that.

[0038] Conditional formula (3) is stipulated to suppress the occurrence of various aberrations during focusing and to suppress fluctuations in the angle of view, and is a conditional formula for appropriately setting the relationship between the radius of curvature of the surface of the second lens group GR2 closest to the object side and the radius of curvature of the surface of the second lens group GR2 closest to the image plane side. If the lower limit of conditional formula (3) is not met, the focal length at the wide-angle end becomes long, making it difficult to achieve a wide angle. On the other hand, if the upper limit of conditional formula (3) is exceeded, the back focus becomes too long, and the asymmetry of the power arrangement required for a wide angle increases, making it difficult to correct various aberrations and achieve high image quality.

[0039] In order to more effectively realize the effect of the above-mentioned conditional expression (3), it is more desirable to set the numerical range of conditional expression (3) as shown in the following conditional expression (3A). 1.2<|R2f-R2r| / |R2f+R2r|<7.8 ……(3A)

[0040] <3. Application to imaging devices> Next, a specific example of application of the zoom lens according to an embodiment of the present disclosure to an imaging device will be described.

[0041] 40 shows an example of the configuration of an imaging device 100 to which a zoom lens according to an embodiment is applied. The imaging device 100 is, for example, a digital still camera, and includes a camera block 10, a camera signal processing unit 20, an image processing unit 30, an LCD (Liquid Crystal Display) 40, an R / W (Reader / Writer) 50, a CPU (Central Processing Unit) 60, an input unit 70, and a lens drive control unit 80.

[0042] The camera block 10 has an imaging function and includes a zoom lens including an imaging lens 11, and an imaging element 12 such as a CCD (Charge Coupled Devices) or a CMOS (Complementary Metal Oxide Semiconductor). The imaging element 12 converts an optical image formed by the imaging lens 11 into an electrical signal, thereby outputting an imaging signal (image signal) corresponding to the optical image. The zoom lenses 1 to 3 according to the configuration examples shown in FIGS. 1 to 3 can be used as the imaging lens 11.

[0043] The camera signal processing unit 20 performs various signal processing on the image signal output from the imaging element 12, such as analog-to-digital conversion, noise removal, image quality correction, and conversion to luminance and color difference signals.

[0044] The image processing unit 30 performs recording and playback processing of image signals, and performs compression, encoding, decompression and decoding processing of image signals based on a predetermined image data format, conversion processing of data specifications such as resolution, etc.

[0045] The LCD 40 has a function of displaying various data such as the operating status of the user on the input unit 70 and captured images. The R / W 50 writes image data encoded by the image processing unit 30 to the memory card 1000 and reads image data recorded on the memory card 1000. The memory card 1000 is, for example, a semiconductor memory that is detachable from a slot connected to the R / W 50.

[0046] The CPU 60 functions as a control processing unit that controls each circuit block provided in the imaging device 100, and controls each circuit block based on an instruction input signal from the input unit 70. The input unit 70 is composed of various switches and the like that are operated as required by the user. The input unit 70 is composed of, for example, a shutter release button for performing a shutter operation and a selection switch for selecting an operation mode, and is configured to output an instruction input signal to the CPU 60 according to the user's operation. The lens drive control unit 80 controls the drive of the lenses arranged in the camera block 10, and is configured to control a motor (not shown) that drives each lens of the imaging lens 11 based on a control signal from the CPU 60.

[0047] The operation of the imaging device 100 will be described below. In a standby state for photographing, under the control of the CPU 60, an image signal photographed by the camera block 10 is output to the LCD 40 via the camera signal processing unit 20 and displayed as a camera-through image. Also, when an instruction input signal for zooming or focusing is input from the input unit 70, the CPU 60 outputs a control signal to the lens drive control unit 80, and a predetermined lens of the imaging lens 11 moves under the control of the lens drive control unit 80.

[0048] When a shutter (not shown) of the camera block 10 is operated by an instruction input signal from the input unit 70, a captured image signal is output from the camera signal processing unit 20 to the image processing unit 30, where it is compressed and encoded and converted into digital data in a predetermined data format. The converted data is output to the R / W 50 and written to the memory card 1000.

[0049] Incidentally, focusing is performed by the lens drive control unit 80 moving a specified lens of the imaging lens 11 based on a control signal from the CPU 60, for example, when the shutter release button on the input unit 70 is half-pressed or fully pressed for recording (photographing).

[0050] When playing back image data recorded on memory card 1000, the R / W 50 reads out the specified image data from memory card 1000 in response to an operation on input unit 70, and after the image processing unit 30 performs an expansion / decoding process, the playback image signal is output to LCD 40 and the playback image is displayed.

[0051] In the above-described embodiment, an example in which the imaging device is applied to a digital still camera or the like has been shown, but the scope of application of the imaging device is not limited to digital still cameras, and the imaging device can be applied to various other imaging devices. For example, the imaging device can be applied to digital single-lens reflex cameras, digital non-reflex cameras, digital video cameras, and surveillance cameras. The imaging device can also be widely applied as a camera section of digital input / output devices such as mobile phones with built-in cameras and information terminals with built-in cameras. The imaging device can also be applied to interchangeable lens cameras. EXAMPLES

[0052] <4. Numerical examples of lenses> Next, specific numerical examples of the zoom lens according to an embodiment of the present disclosure will be described. Here, examples will be described in which specific numerical values ​​are applied to the zoom lenses 1 to 3 according to the configuration examples shown in FIGS.

[0053] The meanings of symbols used in the following tables and explanations are as follows. "Si" indicates the number of the i-th surface, with the symbols increasing from the object side. "ri" indicates the value (mm) of the paraxial radius of curvature of the i-th surface. "di" indicates the value (mm) of the distance on the optical axis between the i-th surface and the i+1-th surface. "ndi" indicates the value of the refractive index at the d-line (wavelength 587.6 nm) of the material of the optical element that has the i-th surface. "νdi" indicates the value of the Abbe number at the d-line of the material of the optical element that has the i-th surface. "φi" indicates the value (mm) of the effective diameter or diaphragm diameter of the i-th surface. The part where the value of "ri" is "∞" indicates a flat surface, a diaphragm surface, etc. "ASP" in the surface number (Si) column indicates that the surface is configured with an aspheric shape. "STO" in the surface number column indicates that the aperture diaphragm (primary diaphragm) St is located at the corresponding position. "FC1" in the surface number column indicates that the first flare cutter (first secondary aperture) FC1 is located at the corresponding position. "FC2" in the surface number column indicates that the second flare cutter (second secondary aperture) FC2 is located at the corresponding position. "OBJ" in the surface number column indicates that the corresponding surface is the object surface. "IMG" in the surface number column indicates that the corresponding surface is the image surface. "f" indicates the focal length of the entire system (unit: mm). "Fno" indicates the maximum aperture F-number. "ω" indicates the total angle of view (unit: °). "Y" indicates the image height (unit: mm). "L" indicates the total optical length (the distance on the optical axis from the surface closest to the object to the image surface IMG) (unit: mm).

[0054] In addition, some of the lenses used in the embodiments have aspheric lens surfaces. The aspheric shape is defined by the following formula. In each table showing the aspheric coefficients described later, "Ei" is an exponential expression with the base 10, that is, "10 -i " For example, "0.12345E-05" represents "0.12345 x 10 -5 " It represents.

[0055] (Aspheric formula) x=y 2 c 2 / (1+(1-(1+k)y 2c 2 ) 1 / 2 )+A4·y 4 +A6·y 6 +A8·y 8 +A10·y 10 +A12·y 12 Here, the distance from the apex of the lens surface in the direction of the optical axis (sag amount) is "x", the height in the direction perpendicular to the optical axis is "y", the paraxial curvature (the inverse of the radius of curvature) at the apex of the lens surface is "c", and the conic constant is "k". A4, A6, A8, A10, and A12 are the 4th, 6th, 8th, 10th, and 12th order aspheric coefficients, respectively.

[0056] [Example 1] [Table 1] shows basic lens data of the zoom lens 1 according to Example 1 shown in FIG. 1. [Table 2] shows the first surface and focal length (unit: mm) of each group of the zoom lens 1 according to Example 1. [Table 3] shows values ​​of the focal length f, F-number, total angle of view ω, image height Y, and total optical length L of the entire system in the zoom lens 1 according to Example 1. [Table 3] shows values ​​at infinity focusing for each of the wide-angle end (Wide), intermediate focal length (Mid), and telephoto end (Tele). [Table 4] shows data of surface spacing that is variable during zooming in the zoom lens 1 according to Example 1, and data of effective diameter (aperture diameter) that is variable during zooming. [Table 4] shows values ​​when the object distance (d0) is infinity and when it is close for each of the wide-angle end (Wide), intermediate focal length (Mid), and telephoto end (Tele). [Table 5] shows the values ​​of coefficients representing the shape of the aspheric surface in the zoom lens 1 according to the first embodiment.

[0057] The zoom lens 1 according to Example 1 includes, in order from the object side to the image plane side, a first lens group GR1, an aperture stop St, a second lens group GR2, and a subsequent group. The subsequent group is made up of a third lens group GR3 and a fourth lens group GR4. The zoom lens 1 according to Example 1 has a four-group configuration as a whole.

[0058] In the zoom lens 1 according to the first embodiment, when zooming from the wide-angle end to the telephoto end, the interval between the adjacent lens groups changes along the optical axis Z1. Image side and the third lens group GR3 and the fourth lens group GR4 move to object side Go to.

[0059] In addition, when zooming from the wide-angle end to the telephoto end, the distance between the second lens group GR2 and the aperture diaphragm St and the distance between the aperture diaphragm St and the third lens group GR3 also change. In addition, the aperture diaphragm St has a function of cutting out unnecessary light that tends to enter at intermediate image heights by changing the aperture diameter when zooming from the wide-angle end to the telephoto end.

[0060] When focusing from infinity to a close distance, the second lens group GR2 moves in the optical axis direction toward the image plane as a focusing group.

[0061] The first lens group GR1 has a negative refractive power as a whole. The first lens group GR1 is composed of lenses L11 to L14, in this order from the object side to the image side. The lens L11 is a negative meniscus lens with aspheric surfaces on both sides thereof, the convex surface facing the object side. The lens L12 is a negative meniscus lens with aspheric surfaces on both sides thereof, the convex surface facing the object side. The lens L13 is a negative lens with a biconcave shape. The lens L14 is a positive lens with a biconvex shape.

[0062] The second lens group GR2 has negative refractive power as a whole and is made up of a negative lens L21 having aspheric surfaces on both sides.

[0063] The third lens group GR3 has positive refractive power overall. The third lens group GR3 is composed of, in order from the object side to the image side, lenses L31 to L33. The lenses L31 and L32 form a cemented lens. The lens L31 is a negative meniscus lens with a convex surface facing the object side. The lens L32 is a positive lens with a convex surface facing the object side. The lens L33 is a negative meniscus lens with a concave surface facing the object side.

[0064] In addition, a first flare cutter FC1 (first sub-diaphragm) is disposed closest to the image plane of the third lens group GR3. The first flare cutter FC1 has the function of cutting out unnecessary light that is likely to enter at intermediate image heights and cannot be cut out by the aperture diaphragm St alone, as the diaphragm diameter changes when zooming from the wide-angle end to the telephoto end.

[0065] The fourth lens group GR4 has a positive refractive power as a whole. The fourth lens group GR4 is composed of lenses L41 to L47, in this order from the object side to the image side. The lenses L41 and L42 are cemented lenses. The lenses L44 and L45 are cemented lenses. The lens L41 is a negative meniscus lens with a convex surface facing the object side. The lens L42 is a positive lens with a convex surface facing the object side. The lens L43 is a biconvex positive lens with both sides aspheric. The lens L44 is a positive lens with a convex surface facing the image side. The lens L45 is a biconcave negative lens. The lens L46 is a biconcave negative lens with both sides aspheric. The lens L47 is a biconvex positive lens.

[0066] In addition, a second flare cutter FC2 (second secondary aperture) is disposed between the lens L43 and the lens L44. The second flare cutter FC2 has a function of cutting out unnecessary light that is likely to enter at intermediate image heights and cannot be cut out by the aperture aperture St alone, as the aperture diameter changes when zooming from the wide-angle end to the telephoto end.

[0067] With the above configuration, a zoom lens that has a wide angle, is small and lightweight, and further has little fluctuation in the angle of view and little fluctuation in aberration is realized.

[0068] [Table 1]

[0069] [Table 2]

[0070] [Table 3]

[0071] [Table 4]

[0072] [Table 5]

[0073] FIG. 4 shows longitudinal aberration of the zoom lens 1 according to Example 1 at the wide-angle end and when focusing on infinity. FIG. 5 shows longitudinal aberration of the zoom lens 1 according to Example 1 at the wide-angle end and when focusing on a close distance. FIG. 6 shows longitudinal aberration of the zoom lens 1 according to Example 1 at the intermediate focal length and when focusing on infinity. FIG. 7 shows longitudinal aberration of the zoom lens 1 according to Example 1 at the intermediate focal length and when focusing on a close distance. FIG. 8 shows longitudinal aberration of the zoom lens 1 according to Example 1 at the telephoto end and when focusing on infinity. FIG. 9 shows longitudinal aberration of the zoom lens 1 according to Example 1 at the telephoto end and when focusing on a close distance. FIG. 10 shows lateral aberration of the zoom lens 1 according to Example 1 at the wide-angle end and when focusing on infinity. FIG. 11 shows lateral aberration of the zoom lens 1 according to Example 1 at the wide-angle end and when focusing on a close distance. FIG. 12 shows lateral aberration of the zoom lens 1 according to Example 1 at the intermediate focal length and when focusing on infinity. Fig. 13 shows lateral aberration of the zoom lens 1 according to Example 1 at an intermediate focal length and when focusing on a close distance. Fig. 14 shows lateral aberration of the zoom lens 1 according to Example 1 at the telephoto end and when focusing on an infinity object. Fig. 15 shows lateral aberration of the zoom lens 1 according to Example 1 at the telephoto end and when focusing on a close distance.

[0074] As longitudinal aberrations, Figures 4 to 9 show spherical aberration, astigmatism (field curvature), and distortion. In the spherical aberration diagrams of Figures 4 to 9 and the lateral aberration diagrams of Figures 10 to 15, the solid line shows values ​​at the d-line (587.56 nm), the dashed line shows values ​​at the g-line (435.84 nm), and the dashed line shows values ​​at the C-line (656.27 nm). In the astigmatism diagrams, S shows values ​​at the sagittal image plane, and T shows values ​​at the tangential image plane. In the distortion diagrams, values ​​at the d-line are shown. The same applies to the aberration diagrams in the other examples that follow.

[0075] As can be seen from each aberration diagram, the zoom lens 1 according to Example 1 has excellent imaging performance with various aberrations being well corrected.

[0076] [Example 2] [Table 6] shows basic lens data of the zoom lens 2 according to Example 2 shown in FIG. 2. [Table 7] shows the initial surface and focal length (unit: mm) of each group of the zoom lens 2 according to Example 2. [Table 8] shows the focal length f, F value, total angle of view ω, image height Y, and total optical length L of the entire system in the zoom lens 2 according to Example 2. [Table 8] shows values ​​at infinity focusing for each of the wide-angle end (Wide), intermediate focal length (Mid), and telephoto end (Tele). [Table 9] shows data on surface spacing that is variable during zooming in the zoom lens 2 according to Example 2, and data on effective diameter (aperture diameter) that is variable during zooming. [Table 9] shows values ​​when the object distance (d0) is infinity and when it is close for each of the wide-angle end (Wide), intermediate focal length (Mid), and telephoto end (Tele). Table 10 shows the values ​​of coefficients representing the shape of the aspheric surface in the zoom lens 2 according to the second embodiment.

[0077] The zoom lens 2 according to Example 2 includes, in order from the object side to the image side, a first lens group GR1, an aperture stop St, a second lens group GR2, and a subsequent group. The subsequent group is made up of a third lens group GR3 and a fourth lens group GR4. The zoom lens 2 according to Example 2 has a four-group configuration as a whole.

[0078] In the zoom lens 2 according to the second embodiment, when zooming from the wide-angle end to the telephoto end, the interval between the adjacent lens groups changes along the optical axis Z1. Image side and the third lens group GR3 and the fourth lens group GR4 move to object side Go to.

[0079] In addition, when zooming from the wide-angle end to the telephoto end, the distance between the second lens group GR2 and the aperture diaphragm St and the distance between the aperture diaphragm St and the third lens group GR3 also change. In addition, the aperture diaphragm St has a function of cutting out unnecessary light that tends to enter at intermediate image heights by changing the aperture diameter when zooming from the wide-angle end to the telephoto end.

[0080] When focusing from infinity to a close distance, the second lens group GR2 moves in the optical axis direction toward the image plane as a focusing group.

[0081] The first lens group GR1 has a negative refractive power as a whole. The first lens group GR1 is composed of lenses L11 to L14, in this order from the object side to the image side. The lens L11 is a negative meniscus lens with aspheric surfaces on both sides thereof, the convex surface facing the object side. The lens L12 is a negative meniscus lens with aspheric surfaces on both sides thereof, the convex surface facing the object side. The lens L13 is a negative lens with a biconcave shape. The lens L14 is a positive lens with a biconvex shape.

[0082] The second lens group GR2 has negative refractive power as a whole and is made up of a negative lens L21 having aspheric surfaces on both sides.

[0083] The third lens group GR3 has positive refractive power overall. The third lens group GR3 is composed of, in order from the object side to the image side, lenses L31 to L33. The lenses L31 and L32 form a cemented lens. The lens L31 is a negative meniscus lens with a convex surface facing the object side. The lens L32 is a positive lens with a convex surface facing the object side. The lens L33 is a negative meniscus lens with a concave surface facing the object side.

[0084] In addition, a first flare cutter FC1 (first sub-diaphragm) is disposed closest to the image plane of the third lens group GR3. The first flare cutter FC1 has the function of cutting out unnecessary light that is likely to enter at intermediate image heights and cannot be cut out by the aperture diaphragm St alone, as the diaphragm diameter changes when zooming from the wide-angle end to the telephoto end.

[0085] The fourth lens group GR4 has a positive refractive power as a whole. The fourth lens group GR4 is composed of lenses L41 to L47, in this order from the object side to the image side. The lenses L41 and L42 are cemented lenses. The lenses L44 and L45 are cemented lenses. The lens L41 is a negative meniscus lens with a convex surface facing the object side. The lens L42 is a positive lens with a convex surface facing the object side. The lens L43 is a biconvex positive lens with both sides aspheric. The lens L44 is a positive lens with a convex surface facing the image side. The lens L45 is a biconcave negative lens. The lens L46 is a biconcave negative lens with both sides aspheric. The lens L47 is a biconvex positive lens.

[0086] In addition, a second flare cutter FC2 (second secondary aperture) is disposed between the lens L43 and the lens L44. The second flare cutter FC2 has a function of cutting out unnecessary light that is likely to enter at intermediate image heights and cannot be cut out by the aperture aperture St alone, as the aperture diameter changes when zooming from the wide-angle end to the telephoto end.

[0087] With the above configuration, a zoom lens that has a wide angle, is small and lightweight, and further has little fluctuation in the angle of view and little fluctuation in aberration is realized.

[0088] [Table 6]

[0089] [Table 7]

[0090] [Table 8]

[0091] [Table 9]

[0092] [Table 10]

[0093] FIG. 16 shows longitudinal aberration of the zoom lens 2 according to Example 2 at the wide-angle end and when focusing on infinity. FIG. 17 shows longitudinal aberration of the zoom lens 2 according to Example 2 at the wide-angle end and when focusing on a close distance. FIG. 18 shows longitudinal aberration of the zoom lens 2 according to Example 2 at the intermediate focal length and when focusing on infinity. FIG. 19 shows longitudinal aberration of the zoom lens 2 according to Example 2 at the intermediate focal length and when focusing on a close distance. FIG. 20 shows longitudinal aberration of the zoom lens 2 according to Example 2 at the telephoto end and when focusing on infinity. FIG. 21 shows longitudinal aberration of the zoom lens 2 according to Example 2 at the telephoto end and when focusing on a close distance. FIG. 22 shows lateral aberration of the zoom lens 2 according to Example 2 at the wide-angle end and when focusing on infinity. FIG. 23 shows lateral aberration of the zoom lens 2 according to Example 2 at the wide-angle end and when focusing on a close distance. FIG. 24 shows lateral aberration of the zoom lens 2 according to Example 2 at the intermediate focal length and when focusing on infinity. Fig. 25 shows lateral aberration of the zoom lens 2 according to Example 2 at an intermediate focal length and when focusing on a close distance. Fig. 26 shows lateral aberration of the zoom lens 2 according to Example 2 at the telephoto end and when focusing on an infinity object. Fig. 27 shows lateral aberration of the zoom lens 2 according to Example 2 at the telephoto end and when focusing on a close distance.

[0094] As can be seen from each aberration diagram, the zoom lens 2 according to Example 2 has excellent imaging performance with various aberrations being well corrected.

[0095] [Example 3] [Table 11] shows basic lens data of the zoom lens 3 according to Example 3 shown in FIG. 3. [Table 12] shows the first surface and focal length (unit: mm) of each group of the zoom lens 3 according to Example 3. [Table 13] shows the values ​​of the focal length f, F value, total angle of view ω, image height Y, and total optical length L of the entire system in the zoom lens 3 according to Example 3. [Table 13] shows values ​​at infinity focusing for each of the wide-angle end (Wide), intermediate focal length (Mid), and telephoto end (Tele). [Table 14] shows data on surface spacing that is variable during zooming in the zoom lens 3 according to Example 3, and data on the effective diameter (aperture diameter) that is variable during zooming. [Table 14] shows values ​​when the object distance (d0) is infinity and when it is close for each of the wide-angle end (Wide), intermediate focal length (Mid), and telephoto end (Tele). Table 15 shows the values ​​of coefficients representing the shape of the aspheric surface in the zoom lens 3 according to the third embodiment.

[0096] The zoom lens 3 according to Example 3 includes, in order from the object side to the image side, a first lens group GR1, an aperture stop St, a second lens group GR2, and a subsequent group. The subsequent group is made up of a third lens group GR3 and a fourth lens group GR4. The zoom lens 3 according to Example 3 has a four-group configuration as a whole.

[0097] In the zoom lens 3 according to the third embodiment, when zooming from the wide-angle end to the telephoto end, the interval between the adjacent lens groups changes along the optical axis Z1. Image side and the third lens group GR3 and the fourth lens group GR4 move to object side Go to.

[0098] The aperture diaphragm St changes its diameter when zooming from the wide-angle end to the telephoto end, thereby cutting out unnecessary light that tends to enter at intermediate image heights.

[0099] When focusing from infinity to a close distance, the second lens group GR2 moves in the optical axis direction toward the image plane as a focusing group.

[0100] The first lens group GR1 has a negative refractive power as a whole. The first lens group GR1 is composed of lenses L11 to L14, in this order from the object side to the image side. The lens L11 is a negative meniscus lens with aspheric surfaces on both sides thereof, the convex surface facing the object side. The lens L12 is a negative meniscus lens with aspheric surfaces on both sides thereof, the convex surface facing the object side. The lens L13 is a negative lens with a biconcave shape. The lens L14 is a positive lens with a biconvex shape.

[0101] The second lens group GR2 has negative refractive power as a whole and is made up of a negative lens L21 having aspheric surfaces on both sides.

[0102] In addition, a first flare cutter FC1 (first sub-aperture) is disposed between the second lens group GR2 and the aperture diaphragm St. The first flare cutter FC1 has the function of cutting out unnecessary light that is likely to enter at intermediate image heights and cannot be cut out by the aperture diaphragm St alone, as the aperture diameter changes when zooming from the wide-angle end to the telephoto end.

[0103] The third lens group GR3 has positive refractive power overall. The third lens group GR3 is composed of, in order from the object side to the image side, lenses L31 to L33. The lenses L31 and L32 form a cemented lens. The lens L31 is a negative meniscus lens with a convex surface facing the object side. The lens L32 is a positive lens with a convex surface facing the object side. The lens L33 is a negative meniscus lens with a concave surface facing the object side.

[0104] In addition, a second flare cutter FC2 (second secondary aperture) is disposed on the side closest to the image plane of the third lens group GR3. The second flare cutter FC2 has the function of cutting out unnecessary light that is likely to enter at intermediate image heights and cannot be cut out by the aperture aperture St alone, as the aperture diameter changes when zooming from the wide-angle end to the telephoto end.

[0105] The fourth lens group GR4 has a positive refractive power as a whole. The fourth lens group GR4 is composed of lenses L41 to L47, in this order from the object side to the image side. The lenses L41 and L42 are cemented lenses. The lenses L44 and L45 are cemented lenses. The lens L41 is a negative meniscus lens with a convex surface facing the object side. The lens L42 is a positive lens with a convex surface facing the object side. The lens L43 is a positive biconvex lens with both sides aspheric. The lens L44 is a positive lens with a convex surface facing the image side. The lens L45 is a negative biconcave lens. The lens L46 is a negative lens with both sides aspheric. The lens L47 is a positive biconvex lens.

[0106] With the above configuration, a zoom lens that has a wide angle, is small and lightweight, and further has little fluctuation in the angle of view and little fluctuation in aberration is realized.

[0107] [Table 11]

[0108] [Table 12]

[0109] [Table 13]

[0110] [Table 14]

[0111] [Table 15]

[0112] FIG. 28 shows longitudinal aberration of the zoom lens 3 according to Example 3 at the wide-angle end and when focusing on infinity. FIG. 29 shows longitudinal aberration of the zoom lens 3 according to Example 3 at the wide-angle end and when focusing on a close distance. FIG. 30 shows longitudinal aberration of the zoom lens 3 according to Example 3 at the intermediate focal length and when focusing on infinity. FIG. 31 shows longitudinal aberration of the zoom lens 3 according to Example 3 at the intermediate focal length and when focusing on a close distance. FIG. 32 shows longitudinal aberration of the zoom lens 3 according to Example 3 at the telephoto end and when focusing on infinity. FIG. 33 shows longitudinal aberration of the zoom lens 3 according to Example 3 at the telephoto end and when focusing on a close distance. FIG. 34 shows lateral aberration of the zoom lens 3 according to Example 3 at the wide-angle end and when focusing on infinity. FIG. 35 shows lateral aberration of the zoom lens 3 according to Example 3 at the wide-angle end and when focusing on a close distance. FIG. 36 shows lateral aberration of the zoom lens 3 according to Example 3 at the intermediate focal length and when focusing on infinity. Fig. 37 shows lateral aberration of the zoom lens 3 according to Example 3 at an intermediate focal length and when focusing on a close distance. Fig. 38 shows lateral aberration of the zoom lens 3 according to Example 3 at the telephoto end and when focusing on an infinity object. Fig. 39 shows lateral aberration of the zoom lens 3 according to Example 3 at the telephoto end and when focusing on a close distance.

[0113] As can be seen from each aberration diagram, the zoom lens 3 according to Example 3 has excellent imaging performance with various aberrations being well corrected.

[0114] [Other numerical data for each example] [Table 16] shows the values ​​for each of the above conditional expressions for each embodiment. As can be seen from [Table 16], the values ​​for each embodiment are within the numerical range for each conditional expression.

[0115] [Table 16]

[0116] <5. Application Examples> [5.1 First application example] The technology according to the present disclosure can be applied to various products. For example, the technology according to the present disclosure may be realized as a device mounted on any type of moving body such as an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, a personal mobility device, an airplane, a drone, a ship, a robot, a construction machine, an agricultural machine (tractor), etc.

[0117] Fig. 41 is a block diagram showing a schematic configuration example of a vehicle control system 7000 which is an example of a mobile object control system to which the technology according to the present disclosure can be applied. The vehicle control system 7000 includes a plurality of electronic control units connected via a communication network 7010. In the example shown in Fig. 41, the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, an outside-vehicle information detection unit 7400, an inside-vehicle information detection unit 7500, and an integrated control unit 7600. The communication network 7010 connecting these multiple control units may be an in-vehicle communication network conforming to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark).

[0118] Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores the programs executed by the microcomputer or parameters used in various calculations, and a drive circuit that drives various control target devices. Each control unit includes a network I / F for communicating with other control units via a communication network 7010, and a communication I / F for communicating with devices or sensors inside and outside the vehicle by wired communication or wireless communication. In FIG. 41, a microcomputer 7610, a general-purpose communication I / F 7620, a dedicated communication I / F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I / F 7660, an audio / video output unit 7670, an in-vehicle network I / F 7680, and a storage unit 7690 are illustrated as functional configurations of the integrated control unit 7600. Other control units also include a microcomputer, a communication I / F, a storage unit, and the like.

[0119] The drivetrain control unit 7100 controls the operation of devices related to the drivetrain of the vehicle according to various programs. For example, the drivetrain control unit 7100 functions as a control device for a drive force generating device for generating a drive force of the vehicle, such as an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting the drive force to the wheels, a steering mechanism for adjusting the steering angle of the vehicle, and a braking device for generating a braking force of the vehicle. The drivetrain control unit 7100 may also function as a control device such as an ABS (Antilock Brake System) or an ESC (Electronic Stability Control).

[0120] A vehicle state detection unit 7110 is connected to the drive system control unit 7100. The vehicle state detection unit 7110 includes at least one of a gyro sensor that detects the angular velocity of the axial rotational motion of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, or a sensor for detecting the amount of operation of an accelerator pedal, the amount of operation of a brake pedal, the steering angle of a steering wheel, the engine rotation speed, or the rotation speed of wheels, for example. The drive system control unit 7100 performs arithmetic processing using signals input from the vehicle state detection unit 7110, and controls the internal combustion engine, the drive motor, the electric power steering device, the brake device, etc.

[0121] The body system control unit 7200 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 7200 functions as a control device for a keyless entry system, a smart key system, a power window device, or various lamps such as head lamps, back lamps, brake lamps, turn signals, and fog lamps. In this case, radio waves or signals of various switches transmitted from a portable device that replaces a key may be input to the body system control unit 7200. The body system control unit 7200 receives the input of these radio waves or signals and controls the door lock device, power window device, lamps, and the like of the vehicle.

[0122] The battery control unit 7300 controls the secondary battery 7310, which is a power supply source for the drive motor, according to various programs. For example, information such as battery temperature, battery output voltage, or remaining capacity of the battery is input to the battery control unit 7300 from a battery device equipped with the secondary battery 7310. The battery control unit 7300 performs calculation processing using these signals, and controls the temperature regulation of the secondary battery 7310 or controls a cooling device or the like equipped in the battery device.

[0123] The outside-vehicle information detection unit 7400 detects information outside the vehicle equipped with the vehicle control system 7000. For example, at least one of an imaging unit 7410 and an outside-vehicle information detection unit 7420 is connected to the outside-vehicle information detection unit 7400. The imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras. The outside-vehicle information detection unit 7420 includes at least one of an environmental sensor for detecting the current weather or climate, or a surrounding information detection sensor for detecting other vehicles, obstacles, pedestrians, and the like around the vehicle equipped with the vehicle control system 7000.

[0124] The environmental sensor may be, for example, at least one of a raindrop sensor that detects rain, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall. The surrounding information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device. The imaging unit 7410 and the outside vehicle information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which multiple sensors or devices are integrated.

[0125] Here, FIG. 42 shows an example of the installation positions of the imaging unit 7410 and the vehicle exterior information detection unit 7420. The imaging units 7910, 7912, 7914, 7916, and 7918 are provided, for example, at least one of the front nose, side mirrors, rear bumper, back door, and upper part of the windshield in the vehicle interior of the vehicle 7900. The imaging unit 7910 provided on the front nose and the imaging unit 7918 provided on the upper part of the windshield in the vehicle interior mainly acquire images of the front of the vehicle 7900. The imaging units 7912 and 7914 provided on the side mirrors mainly acquire images of the sides of the vehicle 7900. The imaging unit 7916 provided on the rear bumper or back door mainly acquires images of the rear of the vehicle 7900. The imaging unit 7918 provided on the upper part of the windshield in the vehicle interior is mainly used to detect a preceding vehicle, a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like.

[0126] 42 shows an example of the imaging ranges of the imaging units 7910, 7912, 7914, and 7916. Imaging range a indicates the imaging range of the imaging unit 7910 provided on the front nose, imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided on the side mirrors, and imaging range d indicates the imaging range of the imaging unit 7916 provided on the rear bumper or back door. For example, image data captured by the imaging units 7910, 7912, 7914, and 7916 are superimposed to obtain an overhead image of the vehicle 7900.

[0127] The outside information detection units 7920, 7922, 7924, 7926, 7928, and 7930 provided on the front, rear, sides, and corners of the vehicle 7900 and on the upper part of the windshield inside the vehicle cabin may be, for example, ultrasonic sensors or radar devices. The outside information detection units 7920, 7926, and 7930 provided on the front nose, rear bumper, back door, and on the upper part of the windshield inside the vehicle cabin of the vehicle 7900 may be, for example, LIDAR devices. These outside information detection units 7920 to 7930 are mainly used to detect preceding vehicles, pedestrians, obstacles, and the like.

[0128] Returning to FIG. 41, the description will be continued. The outside-vehicle information detection unit 7400 causes the imaging unit 7410 to capture an image outside the vehicle, and receives the captured image data. The outside-vehicle information detection unit 7400 also receives detection information from the outside-vehicle information detection unit 7420 connected thereto. When the outside-vehicle information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device, the outside-vehicle information detection unit 7400 transmits ultrasonic waves or electromagnetic waves, and receives information on the received reflected waves. The outside-vehicle information detection unit 7400 may perform object detection processing or distance detection processing for people, cars, obstacles, signs, or characters on the road surface, based on the received information. The outside-vehicle information detection unit 7400 may perform environment recognition processing for recognizing rainfall, fog, road surface conditions, and the like, based on the received information. The outside-vehicle information detection unit 7400 may calculate the distance to an object outside the vehicle based on the received information.

[0129] Furthermore, the outside vehicle information detection unit 7400 may perform image recognition processing or distance detection processing to recognize people, cars, obstacles, signs, or characters on the road surface, based on the received image data. The outside vehicle information detection unit 7400 may perform processing such as distortion correction or position adjustment on the received image data, and may generate an overhead image or a panoramic image by synthesizing image data captured by different imaging units 7410. The outside vehicle information detection unit 7400 may perform viewpoint conversion processing using image data captured by different imaging units 7410.

[0130] The in-vehicle information detection unit 7500 detects information inside the vehicle. For example, a driver state detection unit 7510 that detects the state of the driver is connected to the in-vehicle information detection unit 7500. The driver state detection unit 7510 may include a camera that captures an image of the driver, a biosensor that detects the bioinformation of the driver, or a microphone that collects sound in the vehicle cabin. The biosensor is provided, for example, on the seat or steering wheel, and detects the bioinformation of a passenger sitting in the seat or a driver gripping the steering wheel. The in-vehicle information detection unit 7500 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 7510, or may determine whether the driver is dozing. The in-vehicle information detection unit 7500 may perform processing such as noise canceling processing on the collected sound signal.

[0131] The integrated control unit 7600 controls the overall operation of the vehicle control system 7000 according to various programs. The input unit 7800 is connected to the integrated control unit 7600. The input unit 7800 is realized by a device that can be operated by an occupant to input, such as a touch panel, a button, a microphone, a switch, or a lever. Data obtained by voice recognition of a voice input by a microphone may be input to the integrated control unit 7600. The input unit 7800 may be, for example, a remote control device using infrared or other radio waves, or an externally connected device such as a mobile phone or a PDA (Personal Digital Assistant) that supports the operation of the vehicle control system 7000. The input unit 7800 may be, for example, a camera, in which case the occupant can input information by gestures. Alternatively, data obtained by detecting the movement of a wearable device worn by the occupant may be input. Furthermore, the input unit 7800 may include, for example, an input control circuit that generates an input signal based on information input by the occupant using the above-mentioned input unit 7800 and outputs the input signal to the integrated control unit 7600. A passenger or the like operates the input unit 7800 to input various data to the vehicle control system 7000 and to instruct processing operations.

[0132] The storage unit 7690 may include a ROM (Read Only Memory) that stores various programs executed by the microcomputer, and a RAM (Random Access Memory) that stores various parameters, calculation results, sensor values, etc. The storage unit 7690 may be realized by a magnetic storage device such as an HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, or a magneto-optical storage device, etc.

[0133] The general-purpose communication I / F 7620 is a general-purpose communication I / F that mediates communication between various devices present in the external environment 7750. The general-purpose communication I / F 7620 may implement a cellular communication protocol such as GSM (registered trademark), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LTE-Advanced (LTE-A), or other wireless communication protocols such as wireless LAN (also called Wi-Fi (registered trademark)) and Bluetooth (registered trademark). The general-purpose communication I / F 7620 may connect to a device (e.g., an application server or a control server) present on an external network (e.g., the Internet, a cloud network, or a carrier-specific network) via, for example, a base station or an access point. The general-purpose communication I / F 7620 may also connect to a terminal (e.g., a driver's, pedestrian's, or store's terminal, or a Machine Type Communication (MTC) terminal) present in the vicinity of the vehicle using, for example, a Peer To Peer (P2P) technology.

[0134] The dedicated communication I / F 7630 is a communication I / F that supports a communication protocol designed for use in a vehicle. The dedicated communication I / F 7630 may implement a standard protocol such as WAVE (Wireless Access in Vehicle Environment), which is a combination of a lower layer IEEE802.11p and a higher layer IEEE1609, DSRC (Dedicated Short Range Communications), or a cellular communication protocol. The dedicated communication I / F 7630 typically performs V2X communication, which is a concept including one or more of vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication.

[0135] The positioning unit 7640 performs positioning by receiving, for example, a GNSS signal from a Global Navigation Satellite System (GNSS) satellite (for example, a GPS signal from a Global Positioning System (GPS) satellite) and generates position information including the latitude, longitude, and altitude of the vehicle. The positioning unit 7640 may identify the current position by exchanging signals with a wireless access point, or may obtain position information from a terminal such as a mobile phone, PHS, or smartphone having a positioning function.

[0136] The beacon receiving unit 7650 receives, for example, radio waves or electromagnetic waves transmitted from radio stations or the like installed on the road, and acquires information such as the current location, congestion, road closure, required time, etc. The function of the beacon receiving unit 7650 may be included in the dedicated communication I / F 7630 described above.

[0137] The in-vehicle device I / F 7660 is a communication interface that mediates a connection between the microcomputer 7610 and various in-vehicle devices 7760 present in the vehicle. The in-vehicle device I / F 7660 may establish a wireless connection using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB). The in-vehicle device I / F 7660 may also establish a wired connection such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface), or MHL (Mobile High-definition Link) via a connection terminal (and a cable, if necessary) not shown. The in-vehicle device 7760 may include at least one of a mobile device or a wearable device owned by a passenger, or an information device carried or attached to a vehicle. The in-vehicle device 7760 may also include a navigation device that searches for a route to an arbitrary destination. The in-vehicle equipment I / F 7660 exchanges control signals and data signals with these in-vehicle equipment 7760.

[0138] The in-vehicle network I / F 7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010. The in-vehicle network I / F 7680 transmits and receives signals in accordance with a predetermined protocol supported by the communication network 7010.

[0139] The microcomputer 7610 of the integrated control unit 7600 controls the vehicle control system 7000 according to various programs based on information acquired through at least one of the general-purpose communication I / F 7620, the dedicated communication I / F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle device I / F 7660, and the in-vehicle network I / F 7680. For example, the microcomputer 7610 may calculate a control target value of a driving force generating device, a steering mechanism, or a braking device based on the acquired information inside and outside the vehicle, and output a control command to the drive system control unit 7100. For example, the microcomputer 7610 may perform cooperative control for the purpose of realizing the functions of an ADAS (Advanced Driver Assistance System), including vehicle collision avoidance or impact mitigation, following driving based on the distance between vehicles, vehicle speed maintenance driving, vehicle collision warning, vehicle lane departure warning, etc. In addition, the microcomputer 7610 may perform cooperative control for the purpose of autonomous driving, in which the vehicle travels autonomously without relying on driver operation, by controlling a driving force generating device, a steering mechanism, a braking device, etc. based on information acquired about the vehicle's surroundings.

[0140] The microcomputer 7610 may generate three-dimensional distance information between the vehicle and objects such as surrounding structures and people, and create local map information including peripheral information of the current position of the vehicle, based on information acquired via at least one of the general-purpose communication I / F 7620, the dedicated communication I / F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle device I / F 7660, and the in-vehicle network I / F 7680. The microcomputer 7610 may also predict dangers such as vehicle collisions, the approach of pedestrians, or entry into a closed road, based on the acquired information, and generate a warning signal. The warning signal may be, for example, a signal for generating a warning sound or turning on a warning lamp.

[0141] The audio / image output unit 7670 transmits at least one of audio and image output signals to an output device capable of visually or audibly notifying the passengers of the vehicle or the outside of the vehicle of information. In the example of FIG. 41, an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are illustrated as output devices. The display unit 7720 may include, for example, at least one of an on-board display and a head-up display. The display unit 7720 may have an AR (Augmented Reality) display function. The output device may be other devices such as headphones, a wearable device such as a glasses-type display worn by the passenger, a projector, or a lamp, other than these devices. When the output device is a display device, the display device visually displays the results obtained by various processes performed by the microcomputer 7610 or information received from other control units in various formats such as text, image, table, graph, etc. When the output device is an audio output device, the audio output device converts an audio signal consisting of reproduced audio data or acoustic data into an analog signal and audibly outputs it.

[0142] In the example shown in FIG. 41, at least two control units connected via the communication network 7010 may be integrated into one control unit. Alternatively, each control unit may be composed of multiple control units. Furthermore, the vehicle control system 7000 may include another control unit not shown. In the above description, some or all of the functions performed by any control unit may be provided by another control unit. In other words, as long as information is transmitted and received via the communication network 7010, a predetermined arithmetic processing may be performed by any control unit. Similarly, a sensor or device connected to any control unit may be connected to another control unit, and multiple control units may transmit and receive detection information to each other via the communication network 7010.

[0143] In the vehicle control system 7000 described above, the zoom lens and imaging device of the present disclosure can be applied to the imaging unit 7410 and the imaging units 7910, 7912, 7914, 7916, and 7918.

[0144] [5.2 Second application example] The technology disclosed herein may be applied to an endoscopic surgery system.

[0145] Fig. 43 is a diagram showing an example of a schematic configuration of an endoscopic surgery system 5000 to which the technology according to the present disclosure can be applied. Fig. 43 shows a state in which an operator (doctor) 5067 performs surgery on a patient 5071 on a patient bed 5069 using the endoscopic surgery system 5000. As shown in the figure, the endoscopic surgery system 5000 is composed of an endoscope 5001, other surgical tools 5017, a support arm device 5027 that supports the endoscope 5001, and a cart 5037 on which various devices for endoscopic surgery are mounted.

[0146] In endoscopic surgery, instead of cutting the abdominal wall to open the abdomen, a cylindrical opening instrument called trocar 5025a to 5025d is punctured into the abdominal wall. Then, the lens barrel 5003 of the endoscope 5001 and other surgical instruments 5017 are inserted into the body cavity of the patient 5071 from the trocar 5025a to 5025d. In the illustrated example, as the other surgical instruments 5017, a pneumoperitoneum tube 5019, an energy treatment instrument 5021, and forceps 5023 are inserted into the body cavity of the patient 5071. The energy treatment instrument 5021 is a treatment instrument that performs incision and peeling of tissue, sealing of blood vessels, etc. by high-frequency current or ultrasonic vibration. However, the illustrated surgical instrument 5017 is merely an example, and various surgical instruments generally used in endoscopic surgery, such as a suction cup and a retractor, may be used as the surgical instrument 5017.

[0147] An image of the operation site in the body cavity of the patient 5071 photographed by the endoscope 5001 is displayed on the display device 5041. The surgeon 5067 performs treatment such as excising the affected area using the energy treatment tool 5021 and the forceps 5023 while viewing the image of the operation site displayed on the display device 5041 in real time. Although not shown in the figure, the pneumoperitoneum tube 5019, the energy treatment tool 5021, and the forceps 5023 are supported by the surgeon 5067 or an assistant during surgery.

[0148] (Support arm device) The support arm device 5027 includes an arm portion 5031 extending from a base portion 5029. In the example shown, the arm portion 5031 is composed of joint portions 5033a, 5033b, and 5033c and links 5035a and 5035b, and is driven under the control of an arm control device 5045. The arm portion 5031 supports the endoscope 5001, and controls its position and attitude. This allows the endoscope 5001 to be stably fixed in position.

[0149] (Endoscopy) The endoscope 5001 is composed of a lens barrel 5003, a region of a predetermined length from the tip of which is inserted into a body cavity of a patient 5071, and a camera head 5005 connected to the base end of the lens barrel 5003. In the illustrated example, the endoscope 5001 is configured as a so-called rigid lens barrel having a rigid lens barrel 5003, but the endoscope 5001 may be configured as a so-called flexible lens barrel having a flexible lens barrel 5003.

[0150] An opening into which an objective lens is fitted is provided at the tip of the lens barrel 5003. A light source device 5043 is connected to the endoscope 5001, and light generated by the light source device 5043 is guided to the tip of the lens barrel by a light guide extending inside the lens barrel 5003, and is irradiated via the objective lens toward an observation target in the body cavity of the patient 5071. The endoscope 5001 may be a direct-viewing endoscope, an oblique-viewing endoscope, or a side-viewing endoscope.

[0151] An optical system and an imaging element are provided inside the camera head 5005, and reflected light (observation light) from an observation target is collected on the imaging element by the optical system. The imaging element photoelectrically converts the observation light to generate an electrical signal corresponding to the observation light, i.e., an image signal corresponding to an observation image. The image signal is transmitted to a camera control unit (CCU) 5039 as RAW data. The camera head 5005 is equipped with a function for adjusting the magnification and focal length by appropriately driving the optical system.

[0152] For example, to support stereoscopic vision (3D display), a plurality of imaging elements may be provided in the camera head 5005. In this case, a plurality of relay optical systems are provided inside the lens barrel 5003 to guide observation light to each of the plurality of imaging elements.

[0153] (Various devices mounted on the cart) The CCU 5039 is configured with a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), etc., and performs overall control of the operations of the endoscope 5001 and the display device 5041. Specifically, the CCU 5039 performs various image processing, such as development processing (demosaic processing), on the image signal received from the camera head 5005 in order to display an image based on the image signal. The CCU 5039 provides the image signal that has been subjected to the image processing to the display device 5041. The CCU 5039 also transmits a control signal to the camera head 5005 to control its drive. The control signal may include information on imaging conditions, such as magnification and focal length.

[0154] The display device 5041 displays an image based on an image signal that has been subjected to image processing by the CCU 5039 under the control of the CCU 5039. When the endoscope 5001 is compatible with high-resolution imaging such as 4K (3840 horizontal pixels x 2160 vertical pixels) or 8K (7680 horizontal pixels x 4320 vertical pixels) and / or compatible with 3D display, the display device 5041 may be capable of displaying high resolution and / or 3D display, respectively. When compatible with high-resolution imaging such as 4K or 8K, a display device 5041 with a size of 55 inches or more can be used to provide a more immersive feeling. In addition, multiple display devices 5041 with different resolutions and sizes may be provided depending on the application.

[0155] The light source device 5043 is composed of a light source such as an LED (light emitting diode) and supplies the endoscope 5001 with irradiation light when photographing the surgical site.

[0156] The arm control device 5045 is constituted by a processor such as a CPU, and operates according to a prescribed program to control the driving of the arm portion 5031 of the support arm device 5027 according to a prescribed control method.

[0157] The input device 5047 is an input interface for the endoscopic surgery system 5000. A user can input various information and instructions to the endoscopic surgery system 5000 via the input device 5047. For example, the user inputs various information related to surgery, such as physical information of a patient and information about a surgical procedure, via the input device 5047. In addition, for example, the user inputs, via the input device 5047, an instruction to drive the arm unit 5031, an instruction to change the imaging conditions (type of irradiation light, magnification, focal length, etc.) of the endoscope 5001, an instruction to drive the energy treatment tool 5021, etc.

[0158] The type of the input device 5047 is not limited, and the input device 5047 may be any of various known input devices. For example, a mouse, a keyboard, a touch panel, a switch, a foot switch 5057, and / or a lever may be applied as the input device 5047. When a touch panel is used as the input device 5047, the touch panel may be provided on a display surface of the display device 5041.

[0159] Alternatively, the input device 5047 is a device worn by the user, such as a glasses-type wearable device or a head mounted display (HMD), and various inputs are made according to the user's gestures and gaze detected by these devices. The input device 5047 also includes a camera capable of detecting the user's movements, and various inputs are made according to the user's gestures and gaze detected from the image captured by the camera. The input device 5047 also includes a microphone capable of collecting the user's voice, and various inputs are made by voice via the microphone. In this way, the input device 5047 is configured to be able to input various information in a non-contact manner, and thus it becomes possible for a user (e.g., the surgeon 5067) belonging to a clean area to operate a device belonging to an unclean area in a non-contact manner. In addition, the user can operate the device without taking his / her hands off the surgical tool he / she is holding, which improves the user's convenience.

[0160] The treatment tool control device 5049 controls the driving of the energy treatment tool 5021 for cauterizing tissue, incising, sealing blood vessels, etc. The insufflation device 5051 sends gas into the body cavity of the patient 5071 through the insufflation tube 5019 in order to secure the field of view of the endoscope 5001 and the working space of the surgeon. The recorder 5053 is a device capable of recording various information related to the surgery. The printer 5055 is a device capable of printing various information related to the surgery in various formats such as text, image, or graph.

[0161] Below, the particularly characteristic configuration of the endoscopic surgery system 5000 will be described in further detail.

[0162] (Support arm device) The support arm device 5027 includes a base 5029, which is a base, and an arm 5031 extending from the base 5029. In the illustrated example, the arm 5031 includes a plurality of joints 5033a, 5033b, and 5033c, and a plurality of links 5035a and 5035b connected by the joint 5033b. However, in FIG. 43, for the sake of simplicity, the configuration of the arm 5031 is simplified. In practice, the shapes, number, and arrangement of the joints 5033a to 5033c and the links 5035a and 5035b, as well as the directions of the rotation axes of the joints 5033a to 5033c, can be appropriately set so that the arm 5031 has a desired degree of freedom. For example, the arm 5031 can be preferably configured to have six or more degrees of freedom. This allows the endoscope 5001 to be moved freely within the movable range of the arm portion 5031, making it possible to insert the lens barrel 5003 of the endoscope 5001 into the body cavity of the patient 5071 from a desired direction.

[0163] The joints 5033a to 5033c are provided with actuators, and the joints 5033a to 5033c are configured to be rotatable around a predetermined rotation axis by driving the actuators. The drive of the actuators is controlled by the arm control device 5045, whereby the rotation angles of the joints 5033a to 5033c are controlled, and the drive of the arm unit 5031 is controlled. This allows control of the position and attitude of the endoscope 5001. At this time, the arm control device 5045 can control the drive of the arm unit 5031 by various known control methods such as force control or position control.

[0164] For example, the surgeon 5067 may appropriately input an operation via the input device 5047 (including the foot switch 5057), and the drive of the arm unit 5031 may be appropriately controlled by the arm control device 5045 in response to the operation input, thereby controlling the position and posture of the endoscope 5001. Through this control, the endoscope 5001 at the tip of the arm unit 5031 may be moved from one position to another, and then fixedly supported at the position after the movement. The arm unit 5031 may be operated in a so-called master-slave manner. In this case, the arm unit 5031 may be remotely operated by a user via the input device 5047 installed in a location away from the operating room.

[0165] Furthermore, when force control is applied, the arm control device 5045 may perform so-called power assist control, in which the actuators of the joints 5033a to 5033c are driven so that the arm unit 5031 moves smoothly in response to an external force from the user. This allows the arm unit 5031 to be moved with a relatively light force when the user moves the arm unit 5031 while directly touching the arm unit 5031. This makes it possible to move the endoscope 5001 more intuitively and with a simpler operation, improving user convenience.

[0166] Generally, in endoscopic surgery, the endoscope 5001 is supported by a doctor called a scopist. By contrast, by using the support arm device 5027, the position of the endoscope 5001 can be fixed more reliably without relying on human hands, so that an image of the surgical site can be obtained stably and the surgery can be performed smoothly.

[0167] The arm control device 5045 does not necessarily have to be provided on the cart 5037. Also, the arm control device 5045 does not necessarily have to be one device. For example, the arm control device 5045 may be provided on each of the joints 5033a to 5033c of the arm section 5031 of the support arm device 5027, and the drive control of the arm section 5031 may be realized by the multiple arm control devices 5045 cooperating with each other.

[0168] (Light source device) The light source device 5043 supplies the endoscope 5001 with irradiation light for photographing the surgical site. The light source device 5043 is composed of a white light source composed of, for example, an LED, a laser light source, or a combination of these. In this case, when the white light source is composed of a combination of RGB laser light sources, the output intensity and output timing of each color (each wavelength) can be controlled with high precision, so that the light source device 5043 can adjust the white balance of the captured image. In this case, it is also possible to capture images corresponding to each of the RGB colors in a time-division manner by irradiating the observation target with laser light from each of the RGB laser light sources in a time-division manner and controlling the driving of the image sensor of the camera head 5005 in synchronization with the irradiation timing. According to this method, a color image can be obtained without providing a color filter to the image sensor.

[0169] Furthermore, the light source device 5043 may be controlled to change the intensity of the light it outputs at predetermined time intervals. By controlling the driving of the image sensor of the camera head 5005 in synchronization with the timing of the change in the light intensity to obtain images in a time-division manner and synthesizing the images, it is possible to generate an image with a high dynamic range that is free of so-called blocked-up shadows and blown-out highlights.

[0170] The light source device 5043 may be configured to supply light of a predetermined wavelength band corresponding to the special light observation. In the special light observation, for example, by utilizing the wavelength dependency of light absorption in body tissue, a narrow band light is irradiated compared to the irradiated light (i.e., white light) during normal observation, and a predetermined tissue such as blood vessels on the mucous membrane surface is photographed with high contrast, so-called narrow band imaging is performed. Alternatively, in the special light observation, a fluorescent observation may be performed in which an image is obtained by fluorescence generated by irradiating an excitation light. In the fluorescent observation, an excitation light is irradiated to a body tissue and the fluorescence from the body tissue is observed (autofluorescence observation), or a reagent such as indocyanine green (ICG) is locally injected into the body tissue and an excitation light corresponding to the fluorescence wavelength of the reagent is irradiated to the body tissue to obtain a fluorescent image. The light source device 5043 may be configured to supply narrow band light and / or excitation light corresponding to such special light observation.

[0171] (Camera head and CCU) The functions of the camera head 5005 and the CCU 5039 of the endoscope 5001 will be described in more detail with reference to Fig. 44. Fig. 44 is a block diagram showing an example of the functional configuration of the camera head 5005 and the CCU 5039 shown in Fig. 43.

[0172] 44, the camera head 5005 has, as its functions, a lens unit 5007, an imaging unit 5009, a drive unit 5011, a communication unit 5013, and a camera head control unit 5015. The CCU 5039 has, as its functions, a communication unit 5059, an image processing unit 5061, and a control unit 5063. The camera head 5005 and the CCU 5039 are connected by a transmission cable 5065 so as to be able to communicate in both directions.

[0173] First, the functional configuration of the camera head 5005 will be described. The lens unit 5007 is an optical system provided at a connection portion with the lens barrel 5003. Observation light taken in from the tip of the lens barrel 5003 is guided to the camera head 5005 and enters the lens unit 5007. The lens unit 5007 is configured by combining a plurality of lenses including a zoom lens and a focus lens. The optical characteristics of the lens unit 5007 are adjusted so as to focus the observation light on the light receiving surface of the image pickup element of the image pickup section 5009. In addition, the zoom lens and the focus lens are configured so that their positions on the optical axis can be moved in order to adjust the magnification and focus of the captured image.

[0174] The imaging unit 5009 is composed of an imaging element, and is disposed after the lens unit 5007. Observation light passing through the lens unit 5007 is collected on the light receiving surface of the imaging element, and an image signal corresponding to the observed image is generated by photoelectric conversion. The image signal generated by the imaging unit 5009 is provided to the communication unit 5013.

[0175] The imaging element constituting the imaging unit 5009 is, for example, a CMOS (Complementary Metal Oxide Semiconductor) type image sensor capable of color imaging having a Bayer array. The imaging element may be capable of capturing high-resolution images of, for example, 4K or higher. By obtaining a high-resolution image of the surgical site, the surgeon 5067 can grasp the state of the surgical site in more detail, and the surgery can proceed more smoothly.

[0176] The imaging element constituting the imaging unit 5009 is configured to have a pair of imaging elements for acquiring image signals for the right eye and the left eye corresponding to 3D display. The 3D display enables the surgeon 5067 to more accurately grasp the depth of the biological tissue in the surgical site. When the imaging unit 5009 is configured as a multi-plate type, multiple lens units 5007 are provided corresponding to the respective imaging elements.

[0177] Furthermore, the imaging unit 5009 does not necessarily have to be provided in the camera head 5005. For example, the imaging unit 5009 may be provided inside the lens barrel 5003, immediately behind the objective lens.

[0178] The driving section 5011 is configured by an actuator, and moves the zoom lens and focus lens of the lens unit 5007 by a predetermined distance along the optical axis under the control of the camera head control section 5015. This allows the magnification and focus of the image captured by the imaging section 5009 to be appropriately adjusted.

[0179] The communication unit 5013 is configured by a communication device for transmitting and receiving various information to and from the CCU 5039. The communication unit 5013 transmits the image signal obtained from the imaging unit 5009 as RAW data to the CCU 5039 via the transmission cable 5065. At this time, in order to display the captured image of the operation site with low latency, it is preferable that the image signal is transmitted by optical communication. During surgery, the surgeon 5067 performs surgery while observing the condition of the affected area using the captured image, so that a moving image of the operation site is required to be displayed as quickly as possible in real time for a safer and more reliable surgery. When optical communication is performed, the communication unit 5013 is provided with a photoelectric conversion module that converts an electrical signal into an optical signal. The image signal is converted into an optical signal by the photoelectric conversion module and then transmitted to the CCU 5039 via the transmission cable 5065.

[0180] The communication unit 5013 also receives a control signal for controlling the driving of the camera head 5005 from the CCU 5039. The control signal includes information on imaging conditions, such as information for specifying a frame rate of an image to be captured, information for specifying an exposure value at the time of capturing an image, and / or information for specifying a magnification and a focus of an image to be captured. The communication unit 5013 provides the received control signal to the camera head control unit 5015. The control signal from the CCU 5039 may also be transmitted by optical communication. In this case, the communication unit 5013 is provided with a photoelectric conversion module for converting an optical signal into an electrical signal, and the control signal is converted into an electrical signal by the photoelectric conversion module and then provided to the camera head control unit 5015.

[0181] The image capturing conditions such as the frame rate, exposure value, magnification, and focus are automatically set by the control unit 5063 of the CCU 5039 based on the acquired image signal. That is, the endoscope 5001 is equipped with so-called AE (Auto Exposure) function, AF (Auto Focus) function, and AWB (Auto White Balance) function.

[0182] The camera head control unit 5015 controls the driving of the camera head 5005 based on a control signal received from the CCU 5039 via the communication unit 5013. For example, the camera head control unit 5015 controls the driving of the image sensor of the imaging unit 5009 based on information specifying the frame rate of the captured image and / or information specifying the exposure during imaging. Also, for example, the camera head control unit 5015 appropriately moves the zoom lens and focus lens of the lens unit 5007 via the drive unit 5011 based on information specifying the magnification and focus of the captured image. The camera head control unit 5015 may further include a function of storing information for identifying the lens barrel 5003 and the camera head 5005.

[0183] Incidentally, by arranging the components such as the lens unit 5007 and the imaging unit 5009 in a sealed structure that is highly airtight and waterproof, the camera head 5005 can be made resistant to autoclave sterilization.

[0184] Next, the functional configuration of the CCU 5039 will be described. The communication unit 5059 is configured by a communication device for transmitting and receiving various information to and from the camera head 5005. The communication unit 5059 receives an image signal transmitted from the camera head 5005 via the transmission cable 5065. At this time, as described above, the image signal can be suitably transmitted by optical communication. In this case, in correspondence with the optical communication, the communication unit 5059 is provided with a photoelectric conversion module that converts an optical signal into an electrical signal. The communication unit 5059 provides the image signal converted into an electrical signal to the image processing unit 5061.

[0185] Furthermore, the communication unit 5059 transmits, to the camera head 5005, a control signal for controlling the driving of the camera head 5005. This control signal may also be transmitted by optical communication.

[0186] The image processing unit 5061 performs various types of image processing on the image signal, which is RAW data transmitted from the camera head 5005. The image processing includes various known signal processing such as development processing, high image quality processing (band enhancement processing, super-resolution processing, NR (Noise reduction) processing, and / or camera shake correction processing, etc.), and / or enlargement processing (electronic zoom processing), etc. The image processing unit 5061 also performs detection processing on the image signal to perform AE, AF, and AWB.

[0187] The image processing unit 5061 is configured with a processor such as a CPU or a GPU, and the processor operates according to a predetermined program to perform the above-mentioned image processing and detection processing. When the image processing unit 5061 is configured with multiple GPUs, the image processing unit 5061 appropriately divides information related to the image signal and performs image processing in parallel using the multiple GPUs.

[0188] The control unit 5063 performs various controls related to the imaging of the surgical site by the endoscope 5001 and the display of the captured image. For example, the control unit 5063 generates a control signal for controlling the driving of the camera head 5005. At this time, if the imaging conditions are input by the user, the control unit 5063 generates the control signal based on the input by the user. Alternatively, if the endoscope 5001 is equipped with an AE function, an AF function, and an AWB function, the control unit 5063 appropriately calculates an optimal exposure value, focal length, and white balance according to the result of the detection process by the image processing unit 5061, and generates a control signal.

[0189] The control unit 5063 also displays an image of the surgical site on the display device 5041 based on the image signal that has been image-processed by the image processing unit 5061. At this time, the control unit 5063 recognizes various objects in the surgical site image using various image recognition techniques. For example, the control unit 5063 can recognize surgical tools such as forceps, specific living body parts, bleeding, mist when the energy treatment tool 5021 is used, and the like, by detecting the shape and color of the edges of objects included in the surgical site image. When the control unit 5063 displays the image of the surgical site on the display device 5041, it uses the recognition result to superimpose various types of surgery support information on the image of the surgical site. The surgery support information is superimposed and presented to the surgeon 5067, making it possible to proceed with the surgery more safely and reliably.

[0190] The transmission cable 5065 connecting the camera head 5005 and the CCU 5039 is an electrical signal cable corresponding to communication of electrical signals, an optical fiber corresponding to optical communication, or a composite cable of these.

[0191] In the illustrated example, the communication is performed by wire using the transmission cable 5065, but the communication between the camera head 5005 and the CCU 5039 may be performed wirelessly. When the communication between them is performed wirelessly, it becomes unnecessary to lay the transmission cable 5065 in the operating room, and therefore the situation in which the transmission cable 5065 impedes the movement of medical staff in the operating room can be eliminated.

[0192] An example of an endoscopic surgery system 5000 to which the technology according to the present disclosure can be applied has been described above. Note that, although the endoscopic surgery system 5000 has been described here as an example, the system to which the technology according to the present disclosure can be applied is not limited to this example. For example, the technology according to the present disclosure may be applied to a flexible endoscope system for inspection or a microsurgery system.

[0193] Of the configurations described above, the technology according to the present disclosure can be suitably applied to the camera head 5005. In particular, the zoom lens according to the present disclosure can be suitably applied to the lens unit 5007 of the camera head 5005.

[0194] <6. Other embodiments> The technology according to the present disclosure is not limited to the above-described embodiment and examples, and various modifications are possible.

[0195] For example, the shapes and numerical values ​​of each part shown in the above embodiment and examples are merely examples of implementations for implementing the present technology, and the technical scope of the present technology should not be interpreted in a limiting manner based on these.

[0196] In addition, while the embodiment and example described above are configured to substantially include four lens groups as a whole, the lens may be configured to include three, five or more lens groups as a whole.Furthermore, the lens may be configured to further include a lens that has substantially no refractive power.

[0197] For example, the present technology can be configured as follows. According to the present technology having the following configuration, a zoom lens and an image pickup device can be realized that are configured with three or more lens groups overall and have an optimized configuration for each lens group, thereby enabling smooth focusing operation while minimizing fluctuations in the angle of view and aberration during focusing.

[0198] [1] From the object side to the image plane side, a first lens group having a negative meniscus lens with a convex surface facing the object side and having negative refractive power, a second lens group having negative refractive power and moving toward the image plane during focusing; The aperture stop as the main aperture, a subsequent group including at least one lens group having positive refractive power; Equipped with When zooming from the wide-angle end to the telephoto end, the spacing between adjacent lens groups changes, and the following condition must be satisfied: Zoom lens. 0.2 <f1 / f2<0.9 ……(1) however, f1: focal length of the first lens group f2: focal length of the second lens group Let us assume that. [2] The first lens group includes a positive lens disposed closer to the image surface than the negative meniscus lens. The zoom lens according to [1] above. [3] The second lens group is composed of a single lens component. The zoom lens according to the above [1] or [2]. [4] The following condition is satisfied: A zoom lens according to any one of the above items [1] to [3]. 0.7 <Bfw / fw<1.4 ……(2) however, Bfw: Back focus at the wide-angle end fw: focal length of the entire system at the wide-angle end Let us assume that. [5] The aperture diaphragm moves independently of the second lens group and the lens group disposed closest to the object side among the subsequent lens groups during zooming from the wide-angle end to the telephoto end, and the aperture diameter changes. A zoom lens according to any one of [1] to [4] above. [6] a sub-diaphragm that is disposed closer to the image plane than the aperture diaphragm and whose diameter changes when zooming from the wide-angle end to the telephoto end. A zoom lens according to any one of [1] to [5] above. [7] The following condition is satisfied: A zoom lens according to any one of the above items [1] to [6]. 0.9<|R2f-R2r| / |R2f+R2r|<10.0 ……(3) however, R2f: radius of curvature of the surface of the second lens group closest to the object R2r: radius of curvature of the surface of the second lens group closest to the image surface Let us assume that. [8] a zoom lens and an image sensor that outputs an image signal corresponding to an optical image formed by the zoom lens; The zoom lens comprises: From the object side to the image plane side, a first lens group having a negative meniscus lens with a convex surface facing the object side and having negative refractive power, a second lens group having negative refractive power and moving toward the image plane during focusing; The aperture stop as the main aperture, a subsequent group including at least one lens group having positive refractive power; Equipped with When zooming from the wide-angle end to the telephoto end, the spacing between adjacent lens groups changes, and the following condition must be satisfied: Imaging device. 0.2 <f1 / f2<0.9 ……(1) however, f1: focal length of the first lens group f2: focal length of the second lens group Let us assume that. [9] Further comprising a lens having substantially no refractive power. A zoom lens according to any one of the above items [1] to [7].

[10] The zoom lens further comprises a lens having substantially no refractive power. The imaging device according to [8] above.

[0199] This application claims priority based on Japanese Patent Application No. 2020-64020, filed on March 31, 2020 in the Japan Patent Office, the entire contents of which are incorporated herein by reference.

[0200] Those skilled in the art will recognize that various modifications, combinations, subcombinations, and variations may occur to those skilled in the art depending on design requirements and other factors, and that such modifications are within the scope of the appended claims and their equivalents.

Claims

1. From the object side to the image plane side, a first lens group having a negative meniscus lens with a convex surface facing the object side and having negative refractive power, a second lens group having negative refractive power and moving toward the image surface side during focusing; The aperture stop as the main aperture, a third lens group having a positive refractive power; a fourth lens group having a positive refractive power; It consists of: the first lens group includes a positive lens disposed closer to an image surface than the negative meniscus lens, When zooming from the wide-angle end to the telephoto end, the first lens group and the second lens group move toward the image plane side, and the third lens group and the fourth lens group move toward the object side so that the interval between adjacent lens groups changes, and the following conditional expression is satisfied: Zoom lens. 0.2<f1 / f2<0.9...(1) however, f1: focal length of the first lens group f2: focal length of the second lens group Let us assume that.

2. The second lens group is composed of a single lens component.

2. The zoom lens according to claim 1.

3. The following condition is satisfied:

2. The zoom lens according to claim 1. 0.7<Bfw / fw<1.4...(2) however, Bfw: Back focus at the wide-angle end fw: focal length of the entire system at the wide-angle end Let us assume that.

4. The aperture diaphragm moves independently of the second lens group and the third lens group during zooming from the wide-angle end to the telephoto end, and the aperture diameter changes.

2. The zoom lens according to claim 1.

5. a sub-diaphragm that is disposed closer to the image plane than the aperture diaphragm and whose diameter changes when zooming from the wide-angle end to the telephoto end.

2. The zoom lens according to claim 1.

6. The following condition is satisfied:

2. The zoom lens according to claim 1. 0.9<|R2f-R2r| / |R2f+R2r|<10.0...(3) however, R2f: radius of curvature of the surface of the second lens group closest to the object R2r: the radius of curvature of the surface of the second lens group closest to the image surface Let us assume that.

7. a zoom lens and an image sensor that outputs an image signal corresponding to an optical image formed by the zoom lens; The zoom lens comprises: From the object side to the image plane side, a first lens group having a negative meniscus lens with a convex surface facing the object side and having negative refractive power, a second lens group having negative refractive power and moving toward the image surface side during focusing; The aperture stop as the main aperture, a third lens group having a positive refractive power; a fourth lens group having a positive refractive power; It consists of: the first lens group includes a positive lens disposed closer to an image surface than the negative meniscus lens, When zooming from the wide-angle end to the telephoto end, the first lens group and the second lens group move toward the image plane side, and the third lens group and the fourth lens group move toward the object side so that the interval between adjacent lens groups changes, and the following conditional expression is satisfied: Imaging device. 0.2<f1 / f2<0.9...(1) however, f1: focal length of the first lens group f2: focal length of the second lens group Let us assume that.

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