Imaging lens and imaging device

Abstract

To provide an imaging lens which is compact, has a large aperture, and yet has successfully corrected aberrations and high optical performance on an entire screen over a range from an object at infinity to a nearby object, and to provide an imaging apparatus.SOLUTION: An imaging lens disclosed herein comprises a first lens group having positive refractive power, a second lens group having negative refractive power and including a positive lens and a negative lens, a third lens group, a fourth lens group having positive refractive power, and a fifth lens group, and is configured to shift focus by moving the second lens group toward the image plane side along an optical axis and moving the fourth lens group toward the object side when the object distance changes from infinity to a short distance. The first lens group has a negative lens as the most object-side lens or the second most object-side lens, the negative lens satisfying the following conditional expression (1): |S|<1.00 ...(1), where S represents a shape factor.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In recent years, the number of pixels in the image sensors used in interchangeable lens digital cameras has been increasing. In order to capture images with higher image quality, imaging lenses with higher image rendering performance are required. Meanwhile, imaging lenses that use two lens groups as a moving focus group have been proposed (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-214380 A [Patent Document 2] JP 2016-118770 A Summary of the Invention [Problem to be solved by the invention]

[0004] When designing a small, large-aperture imaging lens, it is necessary to correct various aberrations to a high degree in order to achieve high optical performance across the entire screen, from objects at infinity to close objects.

[0005] It is desirable to provide an imaging lens that is small and has a large aperture, yet satisfactorily corrects various aberrations and has high optical performance across the entire screen from objects at infinity to close objects, and an imaging device equipped with such an imaging lens. [Means for solving the problem]

[0006] An imaging 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 positive refractive power, a second lens group having a positive lens and a negative lens and having negative refractive power, a third lens group, and a fourth lens group having positive refractive power. Has negative refractive power The fifth lens group Consists of When the subject distance changes from infinity to a close distance, the second lens group moves toward the image plane along the optical axis, and the fourth lens group moves toward the object, thereby performing focusing. The first lens group is the lens closest to the object, or the second lens from the object, and satisfies the following conditional expression: (1a) The negative lens satisfies the following: |S|< 0.40 …… (1a) where S is the condition (1a) When the radius of curvature of the lens surface on the object side of a negative lens that satisfies the above condition is R1 and the radius of curvature of the lens surface on the image side is R2, S = (R1 + R2) / (R1 - R2) Here, we denote the shape factor defined as

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

[0008] In an imaging lens or an imaging device according to an embodiment of the present disclosure, the configuration of each lens group is optimized so that, while being small and having a large aperture, various aberrations are effectively corrected and high optical performance is obtained across the entire screen, from objects at infinity to close objects. [Brief description of the drawings]

[0009] [Figure 1] 1 is a lens cross-sectional view showing a first configuration example (Example 1) of an imaging lens according to an embodiment of the present disclosure. [Diagram 2] 4 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 1 when focused on an object at infinity. FIG. [Diagram 3] 4 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 1 when focusing on a close object. FIG. [Figure 4] 4 is an aberration diagram showing lateral aberration of the imaging lens according to Example 1 when focused on an object at infinity. FIG. [Diagram 5] 4 is an aberration diagram showing lateral aberration of the imaging lens according to Example 1 when focusing on a close object. FIG. [Figure 6] 1 is a lens cross-sectional view showing a second configuration example (Example 2) of an imaging lens according to an embodiment. [Figure 7] 7 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 2 when focused on an object at infinity. FIG. [Figure 8] 10 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 2 when focusing on a close object. FIG. [Figure 9] 6 is an aberration diagram showing lateral aberration of the imaging lens according to Example 2 when focused on an object at infinity. FIG. [Figure 10] 6 is an aberration diagram showing lateral aberration of the imaging lens according to Example 2 when focusing on a close object. FIG. [Figure 11] FIG. 11 is a lens cross-sectional view showing a third configuration example (Example 3) of the imaging lens according to the embodiment. [Figure 12] 11 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 3 when focused on an object at infinity. FIG. [Figure 13] 10 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 3 when focusing on a close object. [Figure 14] 11 is an aberration diagram showing lateral aberration of the imaging lens according to Example 3 when focused on an object at infinity. [Figure 15] 10 is an aberration diagram showing lateral aberration of the imaging lens according to Example 3 when focusing on a close object. [Figure 16] FIG. 11 is a lens cross-sectional view showing a fourth configuration example (Example 4) of the imaging lens according to the embodiment. [Figure 17] 11 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 4 when focused on an object at infinity. [Figure 18] 11 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 4 when focusing on a close object. FIG. [Figure 19] 11 is an aberration diagram showing lateral aberration of the imaging lens according to Example 4 when focused on an object at infinity. [Figure 20] 11 is an aberration diagram showing lateral aberration of the imaging lens according to Example 4 when focusing on a close object. FIG. [Figure 21] FIG. 11 is a lens cross-sectional view showing a fifth configuration example (Example 5) of the imaging lens according to an embodiment. [Figure 22] 13 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 5 when focused on an object at infinity. FIG. [Diagram 23] 13 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 5 when focusing on a close object. FIG. [Figure 24] 13 is an aberration diagram showing lateral aberration of the imaging lens according to Example 5 when focused on an object at infinity. FIG. [Diagram 25] 13 is an aberration diagram showing lateral aberration of the imaging lens according to Example 5 when focusing on a close object. FIG. [Figure 26] FIG. 13 is a lens cross-sectional view showing a sixth configuration example (Example 6) of the imaging lens according to an embodiment. [Figure 27] 13 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 6 when focused on an object at infinity. FIG. [Figure 28] 13 is an aberration diagram showing longitudinal aberration of the imaging lens according to Example 6 when focusing on a close object. FIG. [Figure 29] 13 is an aberration diagram showing lateral aberration of the imaging lens according to Example 6 when focused on an object at infinity. FIG. [Diagram 30] 13 is an aberration diagram showing lateral aberration of the imaging lens according to Example 6 when focusing on a close object. FIG. [Diagram 31] FIG. 1 is a block diagram showing an example of the configuration of an imaging device. [Diagram 32] 1 is a block diagram showing an example of a schematic configuration of a vehicle control system; [Diagram 33] 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 34] 1 is a configuration diagram showing an example of a schematic configuration of an endoscopic surgery system. [Diagram 35]35 is a block diagram showing an example of the functional configuration of the camera head and the CCU shown in FIG. 34. 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> Patent Document 1 (JP 2000-214380 A) proposes an imaging lens including, in order from the object side to the image surface side, a first lens group having positive refractive power, a second lens group having negative refractive power, a third lens group having positive refractive power, a fourth lens group having positive refractive power, and a fifth lens group having negative refractive power. It also proposes that, when focusing from infinity to a close distance, at least the second lens group is moved on the optical axis toward the image surface side, and the fourth lens group is moved on the optical axis toward the object side.

[0012] Patent Document 2 (JP 2016-118770 A) proposes an imaging lens having a front group including a first focus lens group that moves relative to the image plane when focusing from infinity to a close distance, and a rear group including a second focus lens group.

[0013] The imaging lens described in Patent Document 1 achieves both compactness and high optical performance even in close-up photography by moving two focus lens groups during focusing. However, the F-number is about 2.8, and if the aperture is increased further, it becomes difficult to correct various aberrations, particularly off-axis aberrations such as lateral chromatic aberration, astigmatism, and curvature of field.

[0014] The imaging lens described in Patent Document 2 achieves both compactness and high optical performance even during close-up shooting by moving two focus lens groups during focusing, similar to the imaging lens described in Patent Document 1. However, the image height is about 5 mm, and when applied to a large sensor used in a 35 mm lens, it is difficult to correct various aberrations, particularly fluctuations in axial chromatic aberration during focusing.

[0015] <1. Basic lens structure> An embodiment of the present disclosure relates to a large-aperture imaging lens having a focusing function suitable for digital still cameras, digital video cameras, and the like, and an imaging device including such an imaging lens.

[0016] FIG. 1 shows a first configuration example of an imaging lens according to an embodiment of the present disclosure, which corresponds to the configuration of Example 1 described later. FIG. 6 shows a second configuration example of an imaging lens according to an embodiment, which corresponds to the configuration of Example 2 described later. FIG. 11 shows a third configuration example of an imaging lens according to an embodiment, which corresponds to the configuration of Example 3 described later. FIG. 16 shows a fourth configuration example of an imaging lens according to an embodiment, which corresponds to the configuration of Example 4 described later. FIG. 21 shows a fifth configuration example of an imaging lens according to an embodiment, which corresponds to the configuration of Example 5 described later. FIG. 26 shows a sixth configuration example of an imaging lens according to an embodiment, which corresponds to the configuration of Example 6 described later.

[0017] In Fig. 1 etc., Z1 indicates the optical axis. An optical member FL such as a cover glass for protecting the imaging element may be disposed between the imaging lenses 1 to 6 according to the first to sixth configuration examples and the image plane. 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 FL.

[0018] The configuration of an imaging lens according to an embodiment of the present disclosure will be described below in association with imaging lenses 1 to 6 according to the respective configuration examples 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.

[0019] An imaging lens according to one embodiment includes, in order from the object side to the image surface side, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5.

[0020] In the imaging lens according to one embodiment, when the subject distance changes from infinity to a close distance, the second lens group GR2 moves toward the image plane side along the optical axis direction, and the fourth lens group GR4 moves toward the object side, thereby performing focusing. That is, the second lens group GR2 and the fourth lens group GR4 are the focus group. Figure 1 and other figures show the lens arrangement when focusing at infinity. In Figure 1 and other figures, the movement direction of the focus group when focusing from infinity to a close distance is indicated by an arrow.

[0021] In an imaging lens according to one embodiment, the second lens group GR2 has a positive lens and a negative lens, and the first lens group GR1 has a negative lens that satisfies the following conditional expression (1) as the lens closest to the object side or the second lens from the object side. |S|<1.00 ……(1) where S is the radius of curvature of the lens surface on the object side of the negative lens that satisfies conditional formula (1) as R1 and the radius of curvature of the lens surface on the image side as R2. S = (R1 + R2) / (R1 - R2) Here, we denote the shape factor defined as

[0022] In addition, the imaging lens according to one embodiment may further satisfy certain conditional expressions, which will be described later.

[0023] <2. Actions and Effects> Next, the operation and effects of the imaging lens according to the embodiment of the present disclosure will be described, along with a more preferable configuration of the imaging lens according to the embodiment of the present disclosure, and the operation and effects thereof. 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.

[0024] According to an embodiment of the imaging lens, the configuration of each lens group is optimized so that, while being small and having a large aperture, various aberrations are well corrected and high optical performance is obtained across the entire screen from objects at infinity to objects at close ranges. This makes it possible to provide an imaging lens and an imaging device that, while being small and having a large aperture, are well corrected for various aberrations and have high optical performance across the entire screen from objects at infinity to objects at close ranges.

[0025] In the imaging lens according to one embodiment, by moving two or more lens groups in conjunction with focusing, various aberrations from an object at infinity to an object at a close distance, particularly curvature aberration, distortion aberration, and lateral chromatic aberration, can be easily corrected. Furthermore, since the second lens group GR2 has a positive lens and a negative lens, axial chromatic aberration can be easily corrected. Furthermore, since the lens closest to the object side or the second lens from the object side in the first lens group GR1 has a negative refractive power, distortion aberration can be easily corrected.

[0026] The above conditional formula (1) specifies the condition for the shape factor S that must be satisfied by the negative lens closest to the object in the first lens group GR1, or the second or subsequent negative lens from the object side. Conditional formula (1) is specified for the purpose of correcting distortion. If the absolute value of the shape factor S is greater than 1, the lens will have a negative meniscus shape, making it difficult to correct distortion.

[0027] In order to obtain better optical performance, the numerical range of conditional expression (1) may be set as in the following conditional expression (1a), which makes it possible to realize a small, lightweight imaging lens in which aberrations are well corrected over the entire focus range. |S|<0.40 ……(1a)

[0028] In the imaging lens according to one embodiment, the third lens group GR3 may have at least one positive lens and at least one negative lens. This makes it easier to correct axial chromatic aberration. In addition, by arranging a positive lens and a negative lens in the third lens group GR3, it also makes it easier to correct the Petzval sum.

[0029] In the imaging lens according to one embodiment, the third lens group GR3 may have a positive refractive power, which makes it easier to control the sensitivity of the focus group and makes it easier to achieve both compactness and aberration correction.

[0030] Moreover, the imaging lens according to an embodiment may satisfy the following conditional expression (2). -4.5 <f2 / f4<-1.0 ……(2) however, f2: Focal length of the second lens group GR2 f4: Focal length of the fourth lens group GR4 Let us assume that.

[0031] If the lower limit of conditional expression (2) is not satisfied, the refractive power of the second lens group GR2 becomes small, so that the amount of movement of the second lens group GR2 during focusing becomes large, making it difficult to achieve compactness. Alternatively, the refractive power of the fourth lens group GR4 becomes too large, so that the spherical aberration generated in the fourth lens group GR4 increases, making it difficult to achieve sufficient aberration correction in the entire optical system. Also, if the upper limit of conditional expression (2) is not satisfied, the refractive power of the fourth lens group GR4 becomes small, so that the amount of movement of the fourth lens group GR4 during focusing becomes large, making it difficult to achieve compactness. Alternatively, the refractive power of the second lens group GR2 becomes too large, so that the spherical aberration generated in the second lens group GR2 increases, making it difficult to achieve sufficient aberration correction in the entire optical system.

[0032] In order to obtain better optical performance, the numerical range of conditional expression (2) may be set as in the following conditional expression (2a). -4.2 <f2 / f4<-1.5 ……(2a)

[0033] Moreover, the imaging lens according to an embodiment may satisfy the following conditional expression (3). 10.0<νd(2G)<21.0 ……(3) however, νd(2G): Abbe number of the positive lens in the second lens group GR2 Let us assume that.

[0034] If the upper limit of condition (3) is not satisfied, it becomes difficult to correct axial chromatic aberration and the fluctuation of axial chromatic aberration during focusing. Also, if the lower limit of condition (3) is not satisfied, the secondary spectrum of axial chromatic aberration tends to be overcorrected, making it difficult to correct axial chromatic aberration.

[0035] In order to obtain better optical performance, the numerical range of conditional expression (3) may be set as in the following conditional expression (3a). 15.0<νd(2G)<20.0 ……(3a)

[0036] Moreover, the imaging lens according to an embodiment may satisfy the following conditional expression (4). 0.20 <Bf / f<1.00 ……(4) however, Bf: The air-equivalent length from the lens surface closest to the image plane that has refractive power to the image plane f: focal length of the entire optical system when focused at infinity Let us assume that.

[0037] If the lower limit of condition (4) is not satisfied, the back focal length becomes too short relative to the focal length, making it difficult to configure the mechanism on the image pickup surface side, and if the upper limit of condition (4) is not satisfied, the back focal length becomes too large relative to the focal length, making it difficult to correct the curvature of field because the refractive power of each lens group becomes small.

[0038] In order to obtain better optical performance, the numerical range of conditional expression (4) may be set as in the following conditional expression (4a). 0.23 <Bf / f<0.70 ……(4a)

[0039] Moreover, the imaging lens according to an embodiment may satisfy the following conditional expression (5). 1.75 <n(ave)<2.00 ……(5) however, n(ave): the average refractive index of all positive lenses in the first lens group GR1 Let us assume that.

[0040] If the lower limit of conditional expression (5) is not satisfied, the number of lenses constituting the first lens group GR1 will increase, making it difficult to achieve compactness. Also, if the upper limit of conditional expression (5) is not satisfied, glass materials with high refractive indices generally tend to have large dispersion, making it difficult to correct axial chromatic aberration.

[0041] In order to obtain better optical performance, the numerical range of conditional expression (5) may be set as in the following conditional expression (5a). 1.80 <n(ave)<1.95 ……(5a)

[0042] Moreover, the imaging lens according to one embodiment may satisfy the following conditional expression (6). 1.65 <n(3G)<2.00 ……(6) however, n(3G): Refractive index of the positive lens in the third lens group GR3 Let us assume that.

[0043] If the lower limit of conditional expression (6) is not satisfied, it becomes difficult to correct the Betzval sum, and therefore, it becomes difficult to correct the curvature of field.Also, if the upper limit of conditional expression (6) is not satisfied, it becomes difficult to correct the axial chromatic aberration, since glass materials with high refractive indices generally tend to have large dispersion.

[0044] In order to obtain better optical performance, the numerical range of conditional expression (6) may be set as in the following conditional expression (6a). 1.70 <n(3G)<1.90 ……(6a)

[0045] In the imaging lens according to one embodiment, the fifth lens group GR5 may have a positive lens that satisfies the following conditional expression (7). 10.0<νd(5G)<21.0 ……(7) however, νd(5G): Abbe number of the positive lens in the fifth lens group GR5 Let us assume that.

[0046] If the upper limit of condition (7) is not satisfied, it becomes difficult to correct lateral chromatic aberration. Also, if the lower limit of condition (7) is not satisfied, the secondary spectrum of lateral chromatic aberration tends to be overcorrected, making it difficult to correct lateral chromatic aberration.

[0047] In order to obtain better optical performance, the numerical range of conditional expression (7) may be set as in the following conditional expression (7a). 15.0<νd(5G)<20.0 ……(7a)

[0048] <3. Application to imaging devices> Next, a specific example of application of the imaging lens according to an embodiment of the present disclosure to an imaging device will be described.

[0049] 31 shows an example of the configuration of an imaging device 100 to which an imaging 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.

[0050] The camera block 10 has an imaging function and includes an imaging lens 11 and an imaging element 12 such as a CCD (Charge Coupled Device) 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 imaging lenses 1 to 6 according to the configuration examples shown in FIG. 1 and the like can be used as the imaging lens 11.

[0051] The camera signal processing unit 20 performs various signal processing such as analog-to-digital conversion, noise removal, image quality correction, and conversion to luminance and color difference signals on the image signal output from the imaging element 12 .

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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).

[0058] 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.

[0059] 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

[0060] <4. Numerical examples of lenses> Next, specific numerical examples of the imaging 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 imaging lenses 1 to 6 according to the configuration examples shown in FIG.

[0061] The meanings of the symbols used in the following tables and explanations are as follows. "Si" indicates the number of the i-th surface, with the numbers 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. The part where the value of "ri" is "∞" indicates a plane, 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 St is located at the corresponding position. "OBJ" in the surface number column indicates that the surface is an object surface (subject surface). "IMG" in the surface number column indicates that the surface is an image surface. "f" indicates the focal length of the entire system (unit: mm). "Fno" indicates the maximum aperture (F-number). "ω" indicates the half 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 plane IMG) (unit: mm).

[0062] 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.

[0063] (Aspheric formula) x=cy 2 / (1+(1-(1+k)c 2 y 2 ) 1 / 2 )+A4·y 4 +A6·y 6 +A8·y 8 +A10·y 10 +A12·y 12 +A14·y 14+A16·y 16 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, A12, A14, and A16 are the 4th, 6th, 8th, 10th, 12th, 14th, and 16th order aspheric coefficients, respectively.

[0064] [Example 1] [Table 1] shows basic lens data of the imaging lens 1 according to Example 1 shown in Fig. 1. [Table 2] shows values ​​of the focal length f, F-number, half angle of view ω, image height Y, and total optical length L of the entire system in the imaging lens 1 according to Example 1. [Table 3] shows data on surface spacing that is variable during focusing in the imaging lens 1 according to Example 1. [Table 4] shows values ​​of coefficients that represent the shape of an aspheric surface in the imaging lens 1 according to Example 1. [Table 5] shows the starting surface and focal length (unit: mm) of each lens group in the imaging lens 1 according to Example 1.

[0065] The imaging lens 1 of Example 1 includes, in order from the object side toward the image plane, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3 having positive refractive power, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5 having negative refractive power.

[0066] The first lens group GR1 is composed of lenses G1 to G4, in that order from the object side to the image side. Lens G1 is a negative biconcave lens. Lens G2 is a positive biconvex lens. Lens G3 is a negative meniscus lens with its convex surface facing the image side. Lenses G2 and G3 are cemented together to form a cemented lens. Lens G4 is a positive biconvex lens. Lens G4 is an aspheric lens with aspheric surfaces formed on both sides.

[0067] The second lens group GR2 is composed of, in order from the object side to the image side, a lens G5 and a lens G6. The lens G5 is a positive meniscus lens with a convex surface facing the image side. The lens G6 is a negative biconcave lens.

[0068] The third lens group GR3 is composed of, in order from the object side to the image side, a lens G7 and a lens G8. The lens G7 is a negative meniscus lens with a convex surface facing the object side. The lens G8 is a positive biconvex lens. The lenses G7 and G8 are cemented together to form a cemented lens.

[0069] The fourth lens group GR4 is composed of lenses G9 to G11, in that order from the object side to the image surface side. Lens G9 is a negative biconcave lens. Lens G10 is a positive biconvex lens. Lenses G9 and G10 are cemented together to form a cemented lens. Lens G11 is a positive biconvex lens. Lens G11 is an aspheric lens with aspheric surfaces formed on both sides.

[0070] The fifth lens group GR5 is composed of lenses G12 to G14, in that order from the object side to the image side. The lens G12 is a positive biconvex lens. The lens G13 is a negative biconcave lens. The lenses G12 and G13 are cemented together to form a cemented lens. The lens G14 is a negative meniscus lens with a convex surface facing the image side. The lens G14 is an aspheric lens with aspheric shapes formed on both sides.

[0071] The aperture diaphragm St is disposed between the second lens group GR2 and the third lens group GR3, and is fixed with respect to the image plane.

[0072] When focusing from an object at infinity to an object at a close distance, the second lens group GR2 moves toward the image plane side along the optical axis, and the fourth lens group GR4 moves toward the object side.

[0073] [Table 1]

[0074] [Table 2]

[0075] [Table 3]

[0076] [Table 4]

[0077] [Table 5]

[0078] Fig. 2 shows longitudinal aberration of the imaging lens 1 according to Example 1 when focusing on infinity. Fig. 3 shows longitudinal aberration of the imaging lens 1 according to Example 1 when focusing on a close distance. Fig. 4 shows lateral aberration of the imaging lens 1 according to Example 1 when focusing on infinity. Fig. 5 shows lateral aberration of the imaging lens 1 according to Example 1 when focusing on a close distance.

[0079] As longitudinal aberrations, Figures 2 and 3 show spherical aberration, astigmatism (field curvature), and distortion. In the spherical aberration diagrams of Figures 2 and 3 and the lateral aberration diagrams of Figures 4 and 5, 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. In the lateral aberration diagrams of Figures 4 and 5, the left side shows values ​​at the tangential image plane, and the right side shows values ​​at the sagittal image plane. The same applies to the aberration diagrams in the other examples that follow.

[0080] As can be seen from each aberration diagram, the imaging lens 1 according to Example 1 is small and has a large aperture, yet corrects various aberrations well and has high optical performance over the entire screen, from objects at infinity to close objects.

[0081] [Example 2] [Table 6] shows basic lens data of the imaging lens 2 according to Example 2 shown in Fig. 6. [Table 7] shows values ​​of the focal length f, F-number, total angle of view 2ω, image height Y, and total optical length L of the entire system in the imaging lens 2 according to Example 2. [Table 8] shows data on surface spacing that is variable during focusing in the imaging lens 2 according to Example 2. [Table 9] shows values ​​of coefficients that represent the shape of an aspheric surface in the imaging lens 2 according to Example 2. [Table 10] shows the starting surface and focal length (unit: mm) of each lens group in the imaging lens 2 according to Example 2.

[0082] The imaging lens 2 of Example 2 includes, in order from the object side toward the image plane, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3 having positive refractive power, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5 having negative refractive power.

[0083] The first lens group GR1 is composed of lenses G1 to G4, in that order from the object side to the image side. Lens G1 is a negative biconcave lens. Lens G2 is a positive biconvex lens. Lens G3 is a negative meniscus lens with a convex surface facing the image side. Lens G4 is a positive meniscus lens with a convex surface facing the object side. Lenses G2 and G4 are aspheric lenses with aspheric surfaces formed on both sides.

[0084] The second lens group GR2 is composed of, in order from the object side to the image side, a lens G5 and a lens G6. The lens G5 is a positive meniscus lens with a convex surface facing the image side. The lens G6 is a negative meniscus lens with a convex surface facing the object side.

[0085] The third lens group GR3 is composed of, in order from the object side to the image side, a lens G7 and a lens G8. The lens G7 is a positive biconvex lens. The lens G8 is a negative biconcave lens. The lenses G7 and G8 are cemented together to form a cemented lens.

[0086] The fourth lens group GR4 is composed of lenses G9 to G11, in that order from the object side to the image surface side. Lens G9 is a biconvex positive lens. Lens G10 is a biconcave negative lens. Lenses G9 and G10 are cemented together to form a cemented lens. Lens G11 is a biconvex positive lens. Lens G11 is an aspheric lens with aspheric surfaces formed on both sides.

[0087] The fifth lens group GR5 is composed of lenses G12 to G15, in that order from the object side to the image side. The lens G12 is a negative meniscus lens with a convex surface facing the object side. The lens G13 is a positive meniscus lens with a convex surface facing the object side. The lens G14 is a negative meniscus lens with a convex surface facing the object side. The lenses G13 and G14 are cemented together to form a cemented lens. The lens G15 is a negative meniscus lens with a convex surface facing the object side. The lens G15 is an aspheric lens with aspheric shapes formed on both sides.

[0088] The aperture diaphragm St is disposed between the second lens group GR2 and the third lens group GR3, and is fixed with respect to the image plane.

[0089] When focusing from an object at infinity to an object at a close distance, the second lens group GR2 moves toward the image plane side along the optical axis, and the fourth lens group GR4 moves toward the object side.

[0090] [Table 6]

[0091] [Table 7]

[0092] [Table 8]

[0093] [Table 9]

[0094] [Table 10]

[0095] Fig. 7 shows longitudinal aberration of the imaging lens 2 according to Example 2 when focusing on infinity. Fig. 8 shows longitudinal aberration of the imaging lens 2 according to Example 2 when focusing on a close distance. Fig. 9 shows lateral aberration of the imaging lens 2 according to Example 2 when focusing on infinity. Fig. 10 shows lateral aberration of the imaging lens 2 according to Example 2 when focusing on a close distance.

[0096] As can be seen from each aberration diagram, the imaging lens 2 according to Example 2 is small and has a large aperture, yet corrects various aberrations well and has high optical performance over the entire screen from objects at infinity to close objects.

[0097] [Example 3] [Table 11] shows basic lens data of the imaging lens 3 according to Example 3 shown in Fig. 11. [Table 12] shows values ​​of the focal length f, F-number, total angle of view 2ω, image height Y, and total optical length L of the entire system in the imaging lens 3 according to Example 3. [Table 13] shows data on surface spacing that is variable during focusing in the imaging lens 3 according to Example 3. [Table 14] shows values ​​of coefficients that represent the shape of the aspheric surface in the imaging lens 3 according to Example 3. [Table 15] shows the starting surface and focal length (unit: mm) of each lens group in the imaging lens 3 according to Example 3.

[0098] The imaging lens 3 of Example 3 includes, in order from the object side toward the image plane, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3 having negative refractive power, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5 having negative refractive power.

[0099] The first lens group GR1 is composed of lenses G1 to G5, in that order from the object side to the image side. Lens G1 is a negative lens with a biconcave shape. Lens G2 is a positive lens with a biconvex shape. Lens G3 is a positive lens with a biconvex shape. Lens G4 is a positive meniscus lens with a convex surface facing the image side. Lens G5 is a negative meniscus lens with a convex surface facing the image side. Lenses G4 and G5 are bonded together to form a cemented lens. Lens G2 is an aspheric lens with an aspheric shape formed on the surface facing the object side. Lens G3 is an aspheric lens with an aspheric shape formed on both sides.

[0100] The second lens group GR2 is composed of, in order from the object side to the image side, a lens G6 and a lens G7. The lens G6 is a positive biconvex lens. The lens G7 is a negative meniscus lens with a convex surface facing the object side.

[0101] The third lens group GR3 is composed of, in order from the object side to the image side, lenses G8 and G9. Lens G8 is a negative meniscus lens with a convex surface facing the object side. Lens G9 is a positive meniscus lens with a convex surface facing the object side. Lenses G8 and G9 are cemented together to form a cemented lens.

[0102] The fourth lens group GR4 is composed of lenses G10 to G12, in that order from the object side to the image surface side. The lens G10 is a biconvex positive lens. The lens G11 is a biconcave negative lens. The lenses G10 and G11 are bonded together to form a cemented lens. The lens G12 is a biconvex positive lens. The lens G12 is an aspheric lens with an aspheric shape formed on the surface on the object side.

[0103] The fifth lens group GR5 is composed of lenses G13 to G15, in that order from the object side to the image side. The lens G13 is a positive biconvex lens. The lens G14 is a negative biconcave lens. The lenses G13 and G14 are cemented together to form a cemented lens. The lens G15 is a negative meniscus lens with a convex surface facing the object side. The lens G15 is an aspheric lens with aspheric surfaces formed on both sides.

[0104] The aperture diaphragm St is disposed between the second lens group GR2 and the third lens group GR3, and is fixed with respect to the image plane.

[0105] When focusing from an object at infinity to an object at a close distance, the second lens group GR2 moves toward the image plane side along the optical axis, and the fourth lens group GR4 moves toward the object side.

[0106] [Table 11]

[0107] [Table 12]

[0108] [Table 13]

[0109] [Table 14]

[0110] [Table 15]

[0111] Fig. 12 shows longitudinal aberration of the imaging lens 3 according to Example 3 when focusing on infinity. Fig. 13 shows longitudinal aberration of the imaging lens 3 according to Example 3 when focusing on a close distance. Fig. 14 shows lateral aberration of the imaging lens 3 according to Example 3 when focusing on infinity. Fig. 15 shows lateral aberration of the imaging lens 3 according to Example 3 when focusing on a close distance.

[0112] As can be seen from each aberration diagram, the imaging lens 3 according to Example 3 is small and has a large aperture, yet corrects various aberrations well and has high optical performance over the entire screen from objects at infinity to close objects.

[0113] [Example 4] [Table 16] shows basic lens data of the imaging lens 4 according to Example 4 shown in Fig. 16. [Table 17] shows values ​​of the focal length f of the entire system, the F-number, the total angle of view 2ω, the image height Y, and the total optical length L in the imaging lens 4 according to Example 4. [Table 18] shows data on surface spacing that is variable during focusing in the imaging lens 4 according to Example 4. [Table 19] shows values ​​of coefficients that represent the shape of the aspheric surface in the imaging lens 4 according to Example 4. [Table 20] shows the starting surface and focal length (unit: mm) of each lens group in the imaging lens 4 according to Example 4.

[0114] The imaging lens 4 of Example 4 includes, in order from the object side toward the image plane, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3 having positive refractive power, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5 having negative refractive power.

[0115] The first lens group GR1 is composed of lenses G1 to G4, in that order from the object side to the image side. Lens G1 is a negative biconcave lens. Lens G2 is a positive biconvex lens. Lens G3 is a negative meniscus lens with its convex surface facing the image side. Lenses G2 and G3 are cemented together to form a cemented lens. Lens G4 is a positive biconvex lens. Lens G4 is an aspheric lens with aspheric surfaces formed on both sides.

[0116] The second lens group GR2 is composed of, in order from the object side to the image side, a lens G5 and a lens G6. The lens G5 is a positive meniscus lens with a convex surface facing the image side. The lens G6 is a negative biconcave lens.

[0117] The third lens group GR3 is composed of lenses G7 to G10, in that order from the object side to the image surface side. Lens G7 is a negative meniscus lens with a convex surface facing the object side. Lens G8 is a positive biconvex lens. Lenses G7 and G8 are cemented together to form a cemented lens. Lens G9 is a negative biconcave lens. Lens G10 is a positive biconvex lens. Lens G10 is an aspheric lens with aspheric surfaces formed on both sides.

[0118] The fourth lens group GR4 is made up of the lens G11, which is a positive biconvex lens.

[0119] The fifth lens group GR5 is composed of lenses G12 to G14, in that order from the object side to the image side. The lens G12 is a positive biconvex lens. The lens G13 is a negative biconcave lens. The lenses G12 and G13 are cemented together to form a cemented lens. The lens G14 is a negative meniscus lens with a convex surface facing the image side. The lens G14 is an aspheric lens with aspheric shapes formed on both sides.

[0120] The aperture diaphragm St is disposed between the second lens group GR2 and the third lens group GR3, and is fixed with respect to the image plane.

[0121] When focusing from an object at infinity to an object at a close distance, the second lens group GR2 moves toward the image plane side along the optical axis, and the fourth lens group GR4 moves toward the object side.

[0122] [Table 16]

[0123] [Table 17]

[0124] [Table 18]

[0125] [Table 19]

[0126] [Table 20]

[0127] Fig. 17 shows longitudinal aberration of the imaging lens 4 according to Example 4 when focusing on infinity. Fig. 18 shows longitudinal aberration of the imaging lens 4 according to Example 4 when focusing on a close distance. Fig. 19 shows lateral aberration of the imaging lens 4 according to Example 4 when focusing on infinity. Fig. 20 shows lateral aberration of the imaging lens 4 according to Example 4 when focusing on a close distance.

[0128] As can be seen from each aberration diagram, the imaging lens 4 according to Example 4 is small and has a large aperture, yet corrects various aberrations well and has high optical performance over the entire screen from objects at infinity to close objects.

[0129] [Example 5] [Table 21] shows basic lens data of the imaging lens 5 according to Example 5 shown in Fig. 21. [Table 22] shows values ​​of the focal length f, F-number, total angle of view 2ω, image height Y, and total optical length L of the entire system in the imaging lens 5 according to Example 5. [Table 23] shows data on surface spacing that is variable during focusing in the imaging lens 5 according to Example 5. [Table 24] shows values ​​of coefficients that represent the shape of the aspheric surface in the imaging lens 5 according to Example 5. [Table 25] shows the starting surface and focal length (unit: mm) of each lens group in the imaging lens 5 according to Example 5.

[0130] The imaging lens 5 of Example 5 includes, in order from the object side toward the image plane, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3 having positive refractive power, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5 having negative refractive power.

[0131] The first lens group GR1 is composed of lenses G1 to G3, in that order from the object side to the image surface side. Lens G1 is a negative biconcave lens. Lens G2 is a positive biconvex lens. Lens G3 is a positive biconvex lens. Lens G2 is an aspheric lens with an aspheric shape formed on the object side surface.

[0132] The second lens group GR2 is composed of, in order from the object side to the image side, a lens G4 and a lens G5. The lens G4 is a positive meniscus lens with a convex surface facing the image side. The lens G5 is a negative biconcave lens.

[0133] The third lens group GR3 is composed of lenses G6 to G9, in that order from the object side to the image surface side. Lens G6 is a negative biconcave lens. Lens G7 is a positive biconvex lens. Lenses G6 and G7 are cemented together to form a cemented lens. Lens G8 is a positive biconvex lens. Lens G9 is a negative biconcave lens. Lenses G8 and G9 are cemented together to form a cemented lens.

[0134] The fourth lens group GR4 is made up of a lens G10. The lens G10 is a biconvex positive lens. The lens G10 is an aspheric lens having an aspheric shape formed on the object side surface.

[0135] The fifth lens group GR5 is composed of lenses G11 to G13, in that order from the object side to the image surface side. The lens G11 is a positive biconvex lens. The lens G12 is a negative biconcave lens. The lenses G11 and G12 are bonded together to form a cemented lens. The lens G13 is a negative biconcave lens. The lens G13 is an aspheric lens with aspheric surfaces formed on both sides.

[0136] The aperture diaphragm St is disposed between the second lens group GR2 and the third lens group GR3, and is fixed with respect to the image plane.

[0137] When focusing from an object at infinity to an object at a close distance, the second lens group GR2 moves toward the image plane side along the optical axis, and the fourth lens group GR4 moves toward the object side.

[0138] [Table 21]

[0139] [Table 22]

[0140] [Table 23]

[0141] [Table 24]

[0142] [Table 25]

[0143] Fig. 22 shows longitudinal aberration of the imaging lens 5 according to Example 5 when focusing on infinity. Fig. 23 shows longitudinal aberration of the imaging lens 5 according to Example 5 when focusing on a close distance. Fig. 24 shows lateral aberration of the imaging lens 5 according to Example 5 when focusing on infinity. Fig. 25 shows lateral aberration of the imaging lens 5 according to Example 5 when focusing on a close distance.

[0144] As can be seen from each aberration diagram, the imaging lens 5 according to Example 5 is small and has a large aperture, yet corrects various aberrations well and has high optical performance over the entire screen from objects at infinity to close objects.

[0145] [Example 6] [Table 26] shows basic lens data of the imaging lens 6 according to Example 6 shown in Fig. 26. [Table 27] shows values ​​of the focal length f, F-number, total angle of view 2ω, image height Y, and total optical length L of the entire system in the imaging lens 6 according to Example 6. [Table 28] shows data on surface spacing that is variable during focusing in the imaging lens 6 according to Example 6. [Table 29] shows values ​​of coefficients that represent the shape of the aspheric surface in the imaging lens 6 according to Example 6. [Table 30] shows the starting surface and focal length (unit: mm) of each lens group in the imaging lens 6 according to Example 6.

[0146] The imaging lens 6 of Example 6 includes, in order from the object side toward the image plane, a first lens group GR1 having positive refractive power, a second lens group GR2 having negative refractive power, a third lens group GR3 having positive refractive power, a fourth lens group GR4 having positive refractive power, and a fifth lens group GR5 having negative refractive power.

[0147] The first lens group GR1 is composed of lenses G1 to G4, in that order from the object side to the image side. Lens G1 is a positive biconvex lens. Lens G2 is a negative biconcave lens. Lens G3 is a positive meniscus lens with a convex surface facing the object side. Lens G4 is a positive meniscus lens with a convex surface facing the image side. Lens G3 is an aspheric lens with aspheric shapes formed on both sides.

[0148] The second lens group GR2 is composed of, in order from the object side to the image side, a lens G5 and a lens G6. The lens G5 is a positive biconvex lens. The lens G6 is a negative meniscus lens with a convex surface facing the object side.

[0149] The third lens group GR3 is composed of, in order from the object side to the image side, a lens G7 and a lens G8. The lens G7 is a negative biconcave lens. The lens G8 is a positive biconvex lens. The lenses G7 and G8 are cemented together to form a cemented lens.

[0150] The fourth lens group GR4 is composed of lenses G9 to G11, in that order from the object side to the image side. Lens G9 is a positive meniscus lens with a convex surface facing the object side. Lens G10 is a negative meniscus lens with a convex surface facing the object side. Lenses G9 and G10 are cemented together to form a cemented lens. Lens G11 is a positive lens with a biconvex shape. Lens G11 is an aspheric lens with an aspheric shape formed on the surface facing the object side.

[0151] The fifth lens group GR5 is composed of lenses G12 to G14, in that order from the object side to the image surface side. The lens G12 is a positive biconvex lens. The lens G13 is a negative biconcave lens. The lenses G12 and G13 are cemented together to form a cemented lens. The lens G14 is a negative meniscus lens with a convex surface facing the object side. The lens G14 is an aspheric lens with aspheric surfaces formed on both sides.

[0152] The aperture diaphragm St is disposed between the second lens group GR2 and the third lens group GR3, and is fixed with respect to the image plane.

[0153] When focusing from an object at infinity to an object at a close distance, the second lens group GR2 moves toward the image plane side along the optical axis, and the fourth lens group GR4 moves toward the object side.

[0154] [Table 26]

[0155] [Table 27]

[0156] [Table 28]

[0157] [Table 29]

[0158] [Table 30]

[0159] Fig. 27 shows longitudinal aberration of the imaging lens 6 according to Example 6 when focusing on infinity. Fig. 28 shows longitudinal aberration of the imaging lens 6 according to Example 6 when focusing on a close distance. Fig. 29 shows lateral aberration of the imaging lens 6 according to Example 6 when focusing on infinity. Fig. 30 shows lateral aberration of the imaging lens 6 according to Example 6 when focusing on a close distance.

[0160] As can be seen from each aberration diagram, the imaging lens 6 according to Example 6 is small and has a large aperture, yet corrects various aberrations well and has high optical performance over the entire screen from objects at infinity to close objects.

[0161] [Other numerical data for each example] [Table 31] shows the values ​​for each of the above conditional expressions for each embodiment. As can be seen from [Table 31], the values ​​for each embodiment are within the numerical range for each conditional expression.

[0162] [Table 31]

[0163] <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.

[0164] 32 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. 32, 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, for example, a Controller Area Network (CAN), a Local Interconnect Network (LIN), a Local Area Network (LAN), or FlexRay (registered trademark).

[0165] 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 devices to be controlled. 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. 32, 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 the functional configuration of the integrated control unit 7600. Other control units also include a microcomputer, a communication I / F, a storage unit, and the like.

[0166] 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).

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] Here, FIG. 33 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.

[0173] 33 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.

[0174] 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.

[0175] Returning to FIG. 32, 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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. 32, 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.

[0189] In the example shown in FIG. 32, 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.

[0190] In the vehicle control system 7000 described above, the imaging lens and imaging device of the present disclosure can be applied to the imaging section 7410 and the imaging sections 7910, 7912, 7914, 7916, and 7918.

[0191] [5.2 Second application example] The technology disclosed herein may be applied to an endoscopic surgery system.

[0192] Fig. 34 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. 34 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.

[0193] 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.

[0194] 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.

[0195] (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.

[0196] (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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] (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.

[0201] 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.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] Below, the particularly characteristic configuration of the endoscopic surgery system 5000 will be described in further detail.

[0209] (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. 34, 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.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] (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.

[0216] 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.

[0217] 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.

[0218] (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. 35. Fig. 35 is a block diagram showing an example of the functional configuration of the camera head 5005 and the CCU 5039 shown in Fig. 34.

[0219] 35, 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.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] 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.

[0230] 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.

[0231] 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.

[0232] 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.

[0233] 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.

[0234] 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.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] Of the configurations described above, the technology according to the present disclosure can be suitably applied to the camera head 5005. In particular, the imaging lens of the present disclosure can be suitably applied to the lens unit 5007 of the camera head 5005.

[0241] <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.

[0242] 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.

[0243] For example, the optical system may be configured to include a number of lenses different from the number of lenses shown in the above embodiment and example. Furthermore, the optical system may be configured to further include a lens that has substantially no refractive power.

[0244] For example, the present technology can be configured as follows. According to the present technology having the following configuration, the configuration of each lens group is optimized so that, while being small and having a large aperture, various aberrations are well corrected and high optical performance is obtained over the entire screen from objects at infinity to objects at close ranges. This makes it possible to provide an imaging lens and an imaging device that, while being small and having a large aperture, are well corrected for various aberrations and have high optical performance over the entire screen from objects at infinity to objects at close ranges.

[0245] [1] From the object side to the image plane side, a first lens group having positive refractive power; a second lens group having a positive lens and a negative lens and having negative refractive power; A third lens group; and a fourth lens group having positive refractive power; and The fifth lens group Equipped with When the subject distance changes from infinity to a close distance, the second lens group moves toward the image plane along the optical axis direction, and the fourth lens group moves toward the object side, thereby performing focusing; The first lens group has a negative lens that satisfies the following condition (1) as the lens closest to the object side or the second lens from the object side: Imaging lens. |S|<1.00 ……(1) where S is the radius of curvature of the lens surface on the object side of the negative lens that satisfies the conditional expression (1) as R1 and the radius of curvature of the lens surface on the image side as R2. S = (R1 + R2) / (R1 - R2) Here, we denote the shape factor defined as [2] The third lens group includes at least one positive lens and at least one negative lens. The imaging lens according to the above [1]. [3] The third lens group has a positive refractive power. The imaging lens according to the above [1] or [2]. [4] The following condition is satisfied: The imaging lens according to any one of the above [1] to [3]. -4.5 <f2 / f4<-1.0 ……(2) however, f2: focal length of the second lens group f4: focal length of the fourth lens group Let us assume that. [5] The following condition is satisfied: The imaging lens according to any one of the above items [1] to [4]. 10.0<νd(2G)<21.0 ……(3) however, νd(2G): Abbe number of the positive lens in the second lens group Let us assume that. [6] The following condition is satisfied: The imaging lens according to any one of the above [1] to [5]. 0.20 <Bf / f<1.00 ……(4) however, Bf: The air-equivalent length from the lens surface closest to the image plane that has refractive power to the image plane f: focal length of the entire optical system when focused at infinity Let us assume that. [7] The following condition is satisfied: The imaging lens according to any one of the above items [1] to [6]. 1.75 <n(ave)<2.00 ……(5) however, n(ave): the average refractive index of all the positive lenses in the first lens group Let us assume that. [8] The following condition is satisfied: The imaging lens according to the above [2]. 1.65 <n(3G)<2.00 ……(6) however, n(3G): the refractive index of the positive lens in the third lens group Let us assume that. [9] The fifth lens group has a positive lens that satisfies the following condition (7): The imaging lens according to any one of the above items [1] to [8]. 10.0<νd(5G)<21.0 ……(7) however, νd(5G): the refractive index of the positive lens in the fifth lens group Let us assume that.

[10] an imaging element that outputs an imaging signal corresponding to an optical image formed by the imaging lens; The imaging lens is From the object side to the image plane side, a first lens group having positive refractive power; a second lens group having a positive lens and a negative lens and having negative refractive power; A third lens group; and a fourth lens group having positive refractive power; and The fifth lens group Equipped with When the subject distance changes from infinity to a close distance, the second lens group moves toward the image plane along the optical axis direction, and the fourth lens group moves toward the object side, thereby performing focusing; The first lens group has a negative lens that satisfies the following condition (1) as the lens closest to the object side or the second lens from the object side: Imaging device. |S|<1.00 ……(1) where S is the radius of curvature of the lens surface on the object side of the negative lens that satisfies the conditional expression (1) as R1 and the radius of curvature of the lens surface on the image side as R2. S = (R1 + R2) / (R1 - R2) Here, we denote the shape factor defined as

[11] Further comprising a lens having substantially no refractive power. The imaging lens according to any one of the above [1] to [9].

[12] The imaging lens further comprises a lens having substantially no refractive power. The imaging device according to

[10] above. [Explanation of symbols]

[0246] GR1...first lens group, GR2...second lens group, GR3...third lens group, GR4...fourth lens group, GR5...fifth lens group, FL...optical member, G1 to G15...lenses, St...aperture diaphragm, Z1...optical axis, 1 to 6...imaging lenses, 10...camera block, 11...imaging lens, 12...imaging element, 20...camera signal processing unit, 30...image processing unit, 40...LCD, 50...R / W (reader / writer), 60...CPU, 70...input unit, 80...lens drive control unit, 100...imaging device, 1000...memory card, 5005...camera head, 5007...lens unit, 5009...imaging unit, 7410...imaging unit, 7910, 7912, 7914, 7916, 7918...imaging unit.

Claims

1. From the object side to the image plane side, a first lens group having a positive refractive power; a second lens group having a positive lens and a negative lens and having negative refractive power; A third lens group; and a fourth lens group having a positive refractive power; and a fifth lens group having negative refractive power; and It consists of: When the subject distance changes from infinity to a close distance, the second lens group moves toward the image plane along the optical axis direction, and the fourth lens group moves toward the object side, thereby performing focusing, The first lens group has a negative lens that satisfies the following condition (1a) as the lens closest to the object side or the second lens from the object side: Imaging lens. |S|<0.40...(1a) where S is the radius of curvature of the lens surface on the object side of the negative lens that satisfies the conditional formula (1a) as R1 and the radius of curvature of the lens surface on the image side as R2. S=(R1+R2) / (R1-R2) Here, we denote the shape factor defined as

2. The third lens group includes at least one positive lens and at least one negative lens. The imaging lens according to claim 1 .

3. The third lens group has a positive refractive power. The imaging lens according to claim 1 .

4. The following condition is satisfied: The imaging lens according to claim 1 . -4.5<f2 / f4<-1.0...(2) however, f2: the focal length of the second lens group f4: focal length of the fourth lens group Let us assume that.

5. The following condition is satisfied: The imaging lens according to claim 1 . 10.0<νd(2G)<21.0...(3) however, νd(2G): Abbe number of the positive lens in the second lens group Let us assume that.

6. The following condition is satisfied: The imaging lens according to claim 1 . 0.20<Bf / f<1.00...(4) however, Bf: Air-equivalent length from the image-side lens surface of the lens having refractive power arranged closest to the image surface to the image surface f: focal length of the entire optical system when focused at infinity Let us assume that.

7. The following condition is satisfied: The imaging lens according to claim 1 . 1.75<n(ave)<2.00...(5) however, n(ave): average value of refractive index of all the positive lenses in the first lens group Let us assume that.

8. The following condition is satisfied: The imaging lens according to claim 2 . 1.65<n(3G)<2.00...(6) however, n(3G): the refractive index of the positive lens in the third lens group Let us assume that.

9. The fifth lens group has a positive lens that satisfies the following condition (7): The imaging lens according to claim 1 . 10.0<νd(5G)<21.0...(7) however, νd(5G): Abbe number of the positive lens in the fifth lens group Let us assume that.

10. an imaging element that outputs an imaging signal corresponding to an optical image formed by the imaging lens; The imaging lens is From the object side to the image plane side, a first lens group having a positive refractive power; a second lens group having a positive lens and a negative lens and having negative refractive power; A third lens group; and a fourth lens group having a positive refractive power; and a fifth lens group having negative refractive power; and It consists of: When the subject distance changes from infinity to a close distance, the second lens group moves toward the image plane along the optical axis direction, and the fourth lens group moves toward the object side, thereby performing focusing, The first lens group has a negative lens that satisfies the following condition (1a) as the lens closest to the object side or the second lens from the object side: Imaging device. |S|<0.40...(1a) where S is the radius of curvature of the lens surface on the object side of the negative lens that satisfies the conditional formula (1a) as R1 and the radius of curvature of the lens surface on the image side as R2. S=(R1+R2) / (R1-R2) Here, we denote the shape factor defined as

Images