Stereo camera device

Abstract

To provide a camera device of which displacement of the optical axis of the camera can be reduced.SOLUTION: The stereo camera device includes: a first mirror with the largest size of mirrors included in a first optical path; a second mirror with the largest size of mirrors included in a second optical path different from the first optical path; a camera module for receiving light reflected by the first mirror and light reflected by the second mirror at one imaging element; a first adjusting mechanism for adjusting the direction of the first mirror by adjusting the angle of the first direction; and a second adjusting mechanism for adjusting the direction of the second mirror by adjusting the angle of a second direction perpendicular to the first direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a stereo camera device that captures stereo images using one camera module. [Background technology]

[0002] In recent years, with the aim of realizing a safe and comfortable automotive society, driver assistance systems have been increasingly installed in actual vehicles. Among these, development is progressing on systems that pursue safety, convenience, and comfort for drivers and passengers, such as collision mitigation braking systems that automatically stop the vehicle before a collision, automatic vehicle distance control systems that automatically track the vehicle in front, lane departure prevention systems, and sign recognition systems. Sensors used in such systems include, for example, external recognition sensors that recognize vehicles, pedestrians, etc. and measure the distance to the target object.

[0003] In a stereo camera device, which is one type of external recognition sensor, feature points common to both images are extracted from a pair of left and right images, and the integrated circuit performs processing to determine the number of pixels where the feature points are shifted between the pair of left and right images (parallax), and calculates the distance. Therefore, if there is any shift other than the actual parallax between the pair of left and right images, an error will occur in the distance measurement results. Causes of this shift include shifts such as tilt due to component accuracy or installation accuracy.

[0004] Here, as a conventional technique for correcting misalignment of the optical axis of a camera device, for example, the abstract of Patent Document 1 discloses an infrared camera device comprising: "an optical scanning mechanism consisting of a first folding mirror arranged to be movable in the vertical direction, a first support pillar that supports the folding mirror and is provided with a vertical fine adjustment mechanism that finely adjusts the tilt angle in the vertical direction, an oscillating mirror that oscillates vertically at a predetermined angle, a rotating mirror that scans the infrared rays scanned vertically by the oscillating mirror in the horizontal direction, and a second support pillar that supports a second folding mirror that reflects the horizontally and vertically scanned infrared rays toward the infrared detector and is provided with a vertical (note: believed to be "horizontal") fine adjustment mechanism that finely adjusts the tilt angle in the vertical (note: believed to be "horizontal") direction, and an infrared detector that receives this scanning light and outputs it as a thermal image signal." [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 5-241260 Summary of the Invention [Problem to be solved by the invention]

[0006] In the above-mentioned Patent Document 1, a vertical adjustment mechanism and a horizontal adjustment mechanism are provided on one optical path, making it possible to adjust the tilt of the optical axis caused by component accuracy or component installation accuracy in two directions, vertically and horizontally. If this configuration is applied to a stereo camera device with two optical paths, the length in the optical axis direction on one optical path side where the vertical adjustment mechanism and the horizontal adjustment mechanism are provided will be longer by the length of the adjustment mechanism compared to the other optical path side where the vertical adjustment mechanism and the horizontal adjustment mechanism are not provided, which tends to increase the size of the device and becomes an obstacle to making the stereo camera smaller and lighter (details will be described later using FIG. 4).

[0007] The present invention has been made in view of the above, and aims to provide a stereo camera device that is compact and lightweight while being equipped with a vertical adjustment mechanism and a horizontal adjustment mechanism for reducing the optical axis misalignment between two optical axes. [Means for solving the problem]

[0008] An example of a camera device that solves the above problem is a stereo camera device having: a first mirror that is the largest among the mirrors included in a first optical path; a second mirror that is the largest among the mirrors included in a second optical path different from the first optical path; a camera module that receives light reflected by the first mirror and light reflected by the second mirror with a single image sensor; a first adjustment mechanism that adjusts the orientation of the first mirror by adjusting the angle in a first direction; and a second adjustment mechanism that adjusts the orientation of the second mirror by adjusting the angle in a second direction perpendicular to the first direction. [Effects of the Invention]

[0009] According to the stereo camera device of the present invention, it is possible to achieve a reduction in size and weight while being provided with a vertical adjustment mechanism and a horizontal adjustment mechanism for reducing the optical axis misalignment between the two optical axes. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is an external perspective view of a camera device according to a first embodiment. [Figure 2] A top view of the main components in Figure 1. [Figure 3] A top view of the mirror adjustment mechanism in Figure 1. [Figure 4] FIG. 10 is a top view of the main components when an adjustment mechanism is provided in one optical path of a camera device. [Figure 5] FIG. 10 is a perspective view of a mirror adjustment mechanism according to a second embodiment. [Figure 6] FIG. 10 is a perspective view of a mirror adjustment mechanism according to a third embodiment. [Figure 7] FIG. 10 is a perspective view of a mirror adjustment mechanism according to a fourth embodiment. [Figure 8] FIG. 10 is a perspective view of a mirror adjustment mechanism according to a fifth embodiment. [Figure 9] FIG. 13 is a perspective view of a mirror adjustment mechanism according to a sixth embodiment. [Figure 10] FIG. 13 is an external perspective view of a camera device according to a seventh embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of a stereo camera device (hereinafter simply referred to as a "camera device") of the present invention will be described with reference to the drawings. Components with the same reference numerals have the same functions, and therefore, unless otherwise specified, descriptions of those components that have already been described will be omitted. In addition, in the necessary drawings, Cartesian coordinate axes consisting of x-axis, y-axis, and z-axis are shown to clarify the description of the position of each component. [Example]

[0012] First, a camera device 101 according to a first embodiment of the present invention and a camera device 100 as a comparative example will be described with reference to FIGS.

[0013] Fig. 1 is an external perspective view of a camera device 101 according to this embodiment (however, the housing forming the outer shell of the camera device 101 is not shown), Fig. 2 is a diagram of the main components of Fig. 1 seen from above, and Fig. 3 is a diagram of the mirror adjustment mechanism of Fig. 1 seen from above. Also, Fig. 4 is a diagram of the main components of a camera device 100 of a comparative example, in which two mirror adjustment mechanisms are provided in one optical path, seen from above.

[0014] As shown in each figure, a Cartesian coordinate system is set for the camera devices 101 and 100, with the forward direction of the camera device being the positive direction of the x-axis, the upward direction being the positive direction of the y-axis, and the rightward direction being the positive direction of the z-axis. These camera devices 101 and 100 are then set on the vehicle with the positive direction of the x-axis facing the direction in which imaging is desired. For example, when imaging the area in front of the vehicle, the camera device is installed on the vehicle with the positive direction of the x-axis facing the forward direction of the vehicle (the direction of travel), the positive direction of the y-axis facing upward (opposite the direction of gravity) of the vehicle, and the positive direction of the z-axis facing to the right of the vehicle. Similarly, when imaging the area behind the vehicle, the camera device is installed on the vehicle with the positive direction of the x-axis facing to the rear of the vehicle, or when imaging the area to the left or right of the vehicle, the camera device is installed on the vehicle with the positive direction of the x-axis facing to the left or right of the vehicle. In Figures 2 and 4, the optical axis OA, which is the central axis of the optical path through which light passes, is shown in a simplified manner assuming that it is arranged on the same plane, and correspondingly, each mirror M is also shown in a simplified manner assuming that it is arranged in an orientation along the y axis (i.e., vertically).

[0015] <Camera device 101 of this embodiment> As shown in FIG. 1, the camera device 101 of this embodiment includes a frame 1a, a camera module 2, and four mirrors M (M1 to M4).

[0016] Frame 1a is a metal skeleton having a portion for attaching camera module 2, a portion for attaching first mirror M1, a portion for attaching second mirror M2, and portions for attaching third mirror M3 and fourth mirror M4. Note that camera device 101 is completed by covering frame 1a, on which each component is attached, with a resin housing (not shown).

[0017] The camera module 2 is a module equipped with an imaging element circuit board that mounts an imaging element (CMOS, etc.) and a camera holder that mounts a lens, and is attached to approximately the center of the frame 1a with the imaging direction of the imaging element facing in the positive direction of the x-axis.

[0018] The four mirrors M are reflecting mirrors that form two optical axes OA in the imaging direction of the camera module 2, and together form a first optical axis OA1 and a second optical axis OA2 shown in Fig. 2. Here, the first optical axis OA1 is the central axis of an optical path that passes through the camera module 2, the third mirror M3, and the first mirror M1 to image an image of an imaging target, and the second optical axis OA2 is the central axis of an optical path that passes through the camera module 2, the fourth mirror M4, and the second mirror M2 to image an image of an imaging target.

[0019] 1, the third mirror M3 and fourth mirror M4 in the imaging direction of the camera module 2 are arranged side by side, one above the other, so as to divide the field of view of the camera module 2 into upper and lower halves, so that the object to be imaged via the first optical axis OA1 is imaged on the upper side of the imaging element of the camera module 2, and the object to be imaged via the second optical axis OA2 is imaged on the lower side. That is, in the camera module 2 of this embodiment, the right image of the stereo camera can be imaged on the upper side of one imaging element, and the left image of the stereo camera can be imaged on the lower side of the same imaging element.

[0020] As shown in FIG. 1, the camera device 101 of this embodiment also includes a first adjustment mechanism 17a that adjusts the angle of the first mirror M1, and a second adjustment mechanism 18a that adjusts the angle of the second mirror M2.

[0021] The first adjustment mechanism 17a is composed of three elements arranged near the first mirror M1: a support point 11, a movable pin 12, and a spring 13. The first adjustment mechanism 17a adjusts the angle of the first mirror M1 in a rotational direction θ1 around the vertical dashed-dotted line in FIG. 1. Therefore, the left side of the back surface of the first mirror M1 is supported by support points 11a and 11b provided at two locations on the vertical dashed-dotted line, and the right side of the back surface of the first mirror M1 is supported by a first movable pin 12 (e.g., a screw or eccentric screw) whose position can be adjusted in the front-to-back direction of the first mirror M1. Meanwhile, the surface of the first mirror M1 is pressed toward the frame 1a by the first spring 13. The angle of the first mirror M1 can be adjusted around the axis connecting the two support points 11a and 11b by moving the first movable pin 12 forward or backward.

[0022] Similarly, the second adjustment mechanism 18a is composed of three elements arranged near the second mirror M2: a support point 14, a movable pin 15, and a spring 16. The second adjustment mechanism 18a adjusts the angle of the second mirror M2 in a rotational direction θ2 around the horizontal dashed-dotted line in FIG. 1. Therefore, the lower back surface of the second mirror M2 is supported by support points 14a and 14b provided at two locations on the horizontal dashed-dotted line, and the upper back surface of the second mirror M2 is supported by a second movable pin 15 (e.g., a screw or eccentric screw) whose position can be adjusted in the front-to-back direction of the second mirror M2. Meanwhile, the surface of the second mirror M2 is pressed toward the frame 1a by a second spring 16. The angle of the second mirror M2 can be adjusted around the axis connecting the two support points 14a and 14b by moving the second movable pin 15 forward or backward.

[0023] 1, the rotation axis of the first mirror M1 (indicated by the dashed line on the left side of the figure) and the rotation axis of the second mirror M2 (indicated by the dashed line on the right side of the figure) are orthogonal to each other. In the camera device 101 of this embodiment, the first adjustment mechanism 17a and the second adjustment mechanism 18a can be set in any orientation as long as the orthogonal relationship between the two rotation axes is maintained.

[0024] <Reason for providing adjustment mechanisms for the first mirror M1 and the second mirror M2> 1 and 2, the first mirror M1 provided with the first adjustment mechanism 17a is the largest mirror and is closest to the object to be imaged on the first optical axis OA1. When the first adjustment mechanism 17a is disposed on the first mirror M1 with such characteristics, the adjustment accuracy of the first optical axis OA1 is improved and the adjustment mechanism can be simplified compared to a configuration in which the first adjustment mechanism 17a is disposed on the third mirror M3, which does not have the above characteristics, making it possible to achieve both improved imaging accuracy on the first optical axis OA1 side and reduced size and weight.

[0025] Similarly, the second mirror M2 provided with the second adjustment mechanism 18a is the largest mirror and is closest to the object to be imaged on the second optical axis OA2. When the second adjustment mechanism 18a is disposed on the second mirror M2 with such characteristics, the adjustment accuracy of the second optical axis OA2 is improved and the adjustment mechanism can be simplified compared to a configuration in which the second adjustment mechanism 18a is disposed on the fourth mirror M4, which does not have the above-mentioned characteristics. Therefore, it is possible to improve the imaging accuracy on the second optical axis OA2 side while also achieving a compact and lightweight structure.

[0026] <Detailed structure of the first spring 13 and the second spring 16> Here, the detailed structure of the first spring 13, which is a component of the first adjustment mechanism 17a, will be described using Figures 1 and 3. Note that the second adjustment mechanism 18a is simply a modification of the first adjustment mechanism 17a, with the orientation changed, and therefore a diagram providing a detailed explanation of the second spring 16, which is a component of the second adjustment mechanism 18a, will be omitted.

[0027] Figure 3 is an enlarged view of the first mirror M1 and first adjustment mechanism 17a in Figure 1, viewed from above. As shown here, first spring 13 presses first mirror M1 toward frame 1a at a position (the position indicated by the dashed line in Figure 3) that passes through the centers of three points: support points 11a, 11b, and movable pin 12. As a result, first adjustment mechanism 17a stably supports the first mirror M1 at two points, top and bottom, on the front surface with first spring 13, and stably supports the first mirror M1 at three points on the back surface with support points 11a, 11b, and movable pin 12 (see Figure 1).

[0028] Similarly, the second spring 16 presses the second mirror M2 toward the frame 1a at a position that passes through the center of the three points: the support points 14a, 14b and the movable pin 15. As a result, the second adjustment mechanism 18a can stably support the second mirror M2 at two points on the left and right sides of the front surface with the second spring 16, and can stably support the second mirror M2 at three points on the back surface with the support points 14a, 14b and the movable pin 15 (see FIG. 1).

[0029] 1 and 2, the first mirror M1 is larger than the third mirror M3, and the second mirror M2 is larger than the fourth mirror M4, so the first mirror M1 and the second mirror M2 are more susceptible to the effects of an external force (such as an impact or vibration) applied to the camera device 101. Therefore, the first mirror M1 and the second mirror M2 are more likely to fall off than the third mirror M3 and the fourth mirror M4.

[0030] Therefore, in this embodiment, the first spring 13 has portions 13a to 13c shaped to embrace the three surfaces other than the surface of the first mirror M1, and the second spring 16 has portions 16a to 16c shaped to embrace the three surfaces other than the surface of the second mirror M2.

[0031] 1, portion 13a of first spring 13 is configured to support the top surface (positive in the y direction) of first mirror M1, portion 13b is configured to support the bottom surface (negative in the y direction) of first mirror M1, and portion 13c is configured to support the right side surface (negative in the z direction) of first mirror M1. As a result, first springs 13 are disposed on all four surfaces of first mirror M1, which makes it possible to prevent first mirror M1 from falling off due to external forces (such as impacts or vibrations) applied to camera device 101.

[0032] Similarly, portion 16a of second spring 16 is adapted to support the right side (negative in the z direction) of second mirror M2, portion 16b is adapted to support the left side (positive in the z direction) of second mirror M2, and portion 16c is adapted to support the bottom surface (negative in the y direction) of second mirror M2. As a result, second springs 16 are arranged on all four sides of second mirror M2, making it possible to prevent second mirror M2 from falling off due to external forces (such as impacts or vibrations) applied to camera device 101.

[0033] <Camera device 100 of comparative example> If the camera device does not have a mirror adjustment mechanism, variations in parts such as mirrors or variations in the installation of parts can cause the optical axis of the camera device's two fields of view to tilt, resulting in a difference between the two fields of view and optical axis misalignment. This optical axis misalignment reduces the accuracy of measuring the distance and direction to the target object, so it is necessary to suppress the optical axis misalignment.

[0034] The problems with a configuration in which two adjustment mechanisms are concentrated on one optical axis side will be explained using the example of camera device 100 of the comparative example shown in Fig. 4. In camera device 100 of Fig. 4, a first adjustment mechanism 17o that adjusts the angle of first mirror M1 and a second adjustment mechanism 18o that adjusts the angle of third mirror M3 are provided on first optical axis OA1, and misalignment of the optical axis can be eliminated by using both adjustment mechanisms together.

[0035] Considering the need to reduce the size and weight of camera device 100, it would be better to place third mirror M3 as close as possible to camera module 2 and make third mirror M3 as small as possible. However, in that case, in order to ensure a predetermined accuracy in adjusting the angle of third mirror M3, second adjustment mechanism 18o using an enlargement mechanism (i.e., increasing the distance between support point 14 and movable pin 15) would be necessary, which would result in an increase in the size and mass of adjustment mechanism 18o, making it difficult to achieve a reduction in size and weight of camera device 100.

[0036] <Advantages of the camera device 101 of this embodiment> To address these issues, the configuration of the camera device 101 of this embodiment can be adopted, namely, the camera device 101 has the largest first mirror M1 on the first optical axis OA1, the largest second mirror M2 on the second optical axis OA2, a camera module 2 that receives the reflected light from the first mirror M1 and the reflected light from the second mirror M2 with a single image sensor, a first adjustment mechanism 17a that adjusts the orientation of the first mirror M1 by adjusting the angle in the first direction, and a second adjustment mechanism 18a that adjusts the orientation of the second mirror M2 by adjusting the angle in the second direction perpendicular to the first direction. This makes it possible to easily align the two optical axes, thereby achieving high measurement accuracy and high reliability.

[0037] Furthermore, by adopting the configuration of camera device 101 of this embodiment, the adjustment mechanism for third mirror M3 can be omitted by providing first adjustment mechanism 17a and second adjustment mechanism 18a that separate the adjustment directions of first optical axis OA1 and second optical axis OA2, and therefore camera device 101 can be made smaller and lighter by the distance A shown in FIG. 4.

[0038] Furthermore, by orthogonally adjusting the first adjustment mechanism 17a and the second adjustment mechanism 18a, independent adjustment is possible, eliminating coupling between the adjustment mechanisms, allowing for simple adjustment and improving adjustment accuracy. Furthermore, because there is no coupling between the adjustment mechanisms, simultaneous adjustment in two directions is possible, shortening the adjustment time. Furthermore, it is possible to prevent the first mirror M1 and the second mirror M2 from falling off due to external forces (such as shocks and vibrations) applied to the camera device 101, resulting in a highly shock-resistant, vibration-resistant, and highly reliable camera device 101.

[0039] As described above, the camera device of this embodiment can be made smaller and lighter while being provided with two adjustment mechanisms for reducing the optical axis misalignment between the two optical axes. [Example]

[0040] Next, a camera device 102 according to a second embodiment of the present invention will be described with reference to Fig. 5. Note that a duplicated description of points common to the first embodiment will be omitted.

[0041] 5 is a perspective view of the vicinity of the first adjustment mechanism 17b of the camera device 102 according to this embodiment. As shown in this figure, a feature of this embodiment is that a groove 20 that serves as an adhesive reservoir is provided in a position facing the first mirror M1 of the frame 1b, and the first mirror M1 and the first movable pin 12 after angle adjustment can be fixed to the frame 1b with the adhesive poured into the groove 20.

[0042] In addition, a groove similar to that shown in Figure 5 is also provided near the second adjustment mechanism 18b in this embodiment. Furthermore, instead of the groove 20 shown in the figure, a hemispherical depression or the like that functions as an adhesive reservoir may be provided in the frame 1b.

[0043] In this embodiment, the mirror and the movable pin are fixed with an adhesive poured into the groove, thereby making it possible to further improve the shock resistance and vibration resistance compared to the first embodiment. [Example]

[0044] Next, a camera device 103 according to a third embodiment of the present invention will be described with reference to Fig. 6. Note that a duplicated description of points common to the first embodiment will be omitted.

[0045] 6 is a perspective view of the vicinity of first adjustment mechanism 17c of camera device 103 according to this embodiment. As shown here, this embodiment is characterized in that first adjustment mechanism 17c, which adjusts the angle of first mirror M1, is configured by supporting the right side surface (negative in the z direction) of first mirror M1 with protrusion 30 of frame 1c, inserting angle adjustment spacer 31 between first mirror M1 and frame 1c, and adjusting the position of spacer 31 with position-adjustable adjustment pin 32.

[0046] The second adjustment mechanism 18c of this embodiment is also provided with protrusions, spacers, and adjustment pins similar to those in Fig. 6. Although the spacer 31 is wedge-shaped in Fig. 6, spacers of other shapes may be used as long as they change the angle of the first mirror M1.

[0047] In this embodiment, the angle of the mirror is adjusted using a spacer that makes line contact with the mirror, so compared to the configuration of embodiment 1 in which the angle of the mirror is adjusted using a support point or movable pin that makes point contact with the mirror, the stability of the first mirror M1 and the second mirror M2 is improved when an external force (such as an impact or vibration) is applied to the camera device 103, and they can be more reliably prevented from falling off. [Example]

[0048] Next, a camera device 104 according to a fourth embodiment of the present invention will be described with reference to Fig. 7. Note that a duplicated description of points common to the first embodiment will be omitted.

[0049] FIG. 7 is a perspective view of the vicinity of the first adjustment mechanism 17d of the camera device 104 according to this embodiment. As shown in this figure, a feature of this embodiment is that protrusions 40a, 40b, 40c, and 40d on the frame 1d prevent the first mirror M1 from falling off. Specifically, the protrusion 40a on the frame 1d supports the top surface (positive in the y direction) of the first mirror M1, the protrusion 40b supports the bottom surface (negative in the y direction) of the first mirror M1, the protrusion 40c supports the right side surface (negative in the z direction) of the first mirror M1, and the protrusion 40d supports the left side surface (positive in the z direction) of the first mirror M1. The provision of these four protrusions prevents the first mirror M1 from falling off due to external forces (such as impacts or vibrations) applied to the camera device 104.

[0050] 7 is also provided near second adjustment mechanism 18d in this embodiment. Furthermore, in this embodiment, four protrusions provided on four sides of the mirror prevent the mirror from falling off, so the portions of first spring 13 and second spring 16 in embodiment 1 that are shaped to embrace the three sides other than the front surface of the mirror may be omitted.

[0051] In this embodiment, the first mirror M1 and the second mirror M2 can be more reliably prevented from falling off due to an external force (such as an impact or vibration) applied to the camera device 104.

[0052] Additionally, shock resistance and vibration resistance can be further improved by applying adhesive between the protrusions 40a-40d of the frame 1d and the first mirror M1 and holding the mirror with springs and adhesive. If adhesive is applied over a wide area of ​​the mirror surface, as in Example 2, the mirror surface may deform when the adhesive cures and shrinks, causing distortion in the reflected light and potentially reducing the accuracy of measuring the distance and direction to the target object. In contrast, if the side surface of the mirror is used as the adhesive surface, as in this example, the mechanical strength in the thickness direction is increased, making it possible to suppress deformation of the mirror. [Example]

[0053] Next, a camera device 105 according to a fifth embodiment of the present invention will be described with reference to Fig. 8. Note that a duplicated description of points common to the fourth embodiment will be omitted.

[0054] 8 is a perspective view of the vicinity of the first adjustment mechanism 17e of the camera device 105 according to this embodiment. As shown here, a feature of this embodiment is that slits 50a, 50b for attaching the first spring 13 are provided in the upper and lower protrusions 40a, 40b of the frame 1e. With this configuration, the first spring 13 can be attached in an appropriate position simply by inserting the upper and lower ends of the first spring 13, which is formed in a substantially flat shape, into the slits 50a, 50b of the frame 1e, thereby improving the workability during assembly and reducing the cost of the first spring 13.

[0055] In addition, a slit similar to that shown in FIG. 8 is also provided near the second adjustment mechanism 18e of this embodiment.

[0056] In this embodiment, it is possible to improve the workability during assembly and reduce the cost of the spring. [Example]

[0057] Next, a camera device 106 according to a sixth embodiment of the present invention will be described with reference to Fig. 9. Note that a duplicated description of points common to the first embodiment will be omitted.

[0058] 9 is a perspective view of the vicinity of the first adjustment mechanism 17f of the camera device 106 according to this embodiment. As shown here, a feature of this embodiment is that the shape of the first spring 13 is such that it presses against the four corners of the surface of the first mirror M1. Specifically, the portion 13e of the first spring 13 presses the upper left portion of the first mirror M1 against the frame 1f, the portion 13f presses the lower left portion of the first mirror M1 against the frame 1f, the portion 13g presses the upper right portion of the first mirror M1 against the frame 1f, and the portion 13h presses the lower right portion of the first mirror M1 against the frame 1f.

[0059] The second spring 16 of the second adjustment mechanism 18f of this embodiment is also provided with portions 16e to 16h equivalent to the portions 13e to 13h of FIG.

[0060] Generally, because a round lens is incorporated into the camera module 2, the effective field of view area is also round on the surface of the first mirror M1 arranged on the optical axis. Therefore, even if the four corners of the surface of the first mirror M1 are pressed by the portions 13e to 13h, imaging is not hindered. In other words, compared to Example 1 and the like, which uses the first spring 13 shaped to cover the top and bottom edges of the surface of the first mirror M1, even if a smaller first mirror M1 is used, an equivalent effective field of view area can be ensured, and the camera device can be made even more compact and lightweight than Example 1 and the like. [Example]

[0061] Next, a camera device 107 according to a seventh embodiment of the present invention will be described with reference to Fig. 10. Note that a duplicated description of points common to the first embodiment will be omitted.

[0062] FIG. 10 is a diagram showing the appearance of a camera device 107 according to this embodiment, and for the sake of convenience of explanation, the structure near the third mirror M3 and the fourth mirror M4 is not shown.

[0063] By using first adjustment mechanism 17a and second adjustment mechanism 18a in combination, it is possible to eliminate the misalignment between optical axes OA1 and OA2, but it is also possible that the positions of optical axes OA1 and OA2 on the image sensor after adjustment may not be appropriate. Therefore, in this embodiment, the mounting position of camera module 2 can be further adjusted after the optical axis adjustment, thereby making it possible to adjust the optical axis position on the image sensor.

[0064] Therefore, in this embodiment, a gap 70 is provided between the frame 1g and the camera module 2 to allow adjustment within the mounting surface when the camera module 2 is attached to the frame 1g. By adjusting the camera module 2 within the mounting surface (within the yz plane in FIG. 10 ) within the gap 70, the center of the field of view and the center of the image sensor pixels can be aligned, thereby effectively utilizing the pixel range of the image sensor. In other words, in this embodiment, after adjusting the angles of the two optical paths using the adjustment mechanisms 17a and 18a, the camera module 2 can be adjusted within the mounting surface so that the center of the image sensor pixels is aligned with the center of the field of view, resulting in a camera device 107 that can ensure a wide field of view. The size of the gap 70 can be determined taking into account the specifications of the camera module 2, but generally, a gap of approximately 1 mm is sufficient between the camera module 2 and the outer diameter of the cylindrical portion.

[0065] In this embodiment, the optical axis position on the image sensor can be brought closer to the pixel center of the image sensor, so a wide field of view can be ensured.

[0066] The present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the gist of the present invention. Furthermore, the present invention is not limited to those having all of the configurations described in the above-described embodiments, and includes those in which some of the configurations are omitted. [Explanation of symbols]

[0067] 100~107...Camera equipment 1a~1g...Frame 2...Camera module 11, 14...Support point 12, 15... Movable pin 13, 16...Spring 17, 18...adjustment mechanism 20...Groove 30…Protrusion 31...Spacer 32...Adjustment pin 40…Protrusion 50...Slit 70...gap M...Mirror OA…Optical axis θ…Rotation direction

Claims

1. A first mirror, which is the largest mirror included in the first optical path; a second mirror that is the largest of mirrors included in a second optical path different from the first optical path; a camera module that receives light reflected by the first mirror and light reflected by the second mirror with a single image sensor; a first adjustment mechanism that adjusts an angle in a first direction to adjust an orientation of the first mirror; a second adjustment mechanism that adjusts an angle of a second direction orthogonal to the first direction to adjust an orientation of the second mirror; In a stereo camera device having the first adjustment mechanism includes a first spring that sandwiches the first mirror and a first movable pin that presses the first mirror; The stereo camera device according to claim 1, wherein the second adjustment mechanism includes a second spring that clamps the second mirror and a second movable pin that presses the second mirror.

2. A first mirror, which is the largest mirror included in the first optical path; a second mirror that is the largest of mirrors included in a second optical path different from the first optical path; a camera module that receives light reflected by the first mirror and light reflected by the second mirror with a single image sensor; a first adjustment mechanism that adjusts an angle in a first direction to adjust an orientation of the first mirror; a second adjustment mechanism that adjusts an angle of a second direction orthogonal to the first direction to adjust an orientation of the second mirror; In a stereo camera device having the first adjustment mechanism includes a first spring that sandwiches the first mirror and a first spacer that is inserted between a frame and the first mirror; The stereo camera device according to claim 1, wherein the second adjustment mechanism includes a second spring that sandwiches the second mirror, and a second spacer that is inserted between a frame and the second mirror.

3. A first mirror, which is the largest mirror included in the first optical path; a second mirror that is the largest of mirrors included in a second optical path different from the first optical path; a camera module that receives light reflected by the first mirror and light reflected by the second mirror with a single image sensor; a first adjustment mechanism that adjusts an angle in a first direction to adjust an orientation of the first mirror; a second adjustment mechanism that adjusts an angle of a second direction orthogonal to the first direction to adjust an orientation of the second mirror; In a stereo camera device having A stereo camera device, characterized in that at least three surfaces of the first mirror or the second mirror other than the light reflecting surface are surrounded by protrusions of a frame.

4. The stereo camera device according to any one of claims 1 to 3, The stereo camera device is characterized in that the first mirror is not movable in any direction other than the first direction, and the second mirror is not movable in any direction other than the second direction.

5. The stereo camera device according to any one of claims 1 to 3, the first adjustment mechanism is movable about a first axis included in a plane perpendicular to an optical axis of the camera module; The stereo camera device according to claim 1, wherein the second adjustment mechanism is movable about a second axis that is included in a plane perpendicular to an optical axis of the camera module and is perpendicular to the first axis.

6. The stereo camera device according to any one of claims 1 to 3, A stereo camera device comprising: a frame to which the camera module, the first mirror, and the second mirror are attached; and an attachment position of the camera module relative to the frame is adjustable.

7. The stereo camera device according to claim 6, A stereo camera device, comprising: a first mirror and a second mirror; a second mirror; a first mirror; a second mirror; a second mirror; a second mirror; a first mirror; a second mirror;

8. The stereo camera device according to any one of claims 1 to 3, the first mirror is a mirror that is closest to an image capture target on the first optical path, The stereo camera device is characterized in that the second mirror is a mirror that is closest to an object to be imaged on the second optical path.

Images