Imaging device and mobile unit

Abstract

To stabilize range-finding accuracy, preventing a lens holding posture from changing in a plurality of imaging units even when a temperature varies.SOLUTION: An imaging device has: a plurality of imaging units that have lens barrels holding at least one or more optical elements, an image-pickup element acquiring a subject image image-formed by the optical element, and a substrate having the image-pickup element packaged; a holding wall that constitutes a housing member to be molded by casting, and holds integrally the lens barrels in the plurality of imaging units and the substrate; and an extension part that is formed extendedly in the holding wall and covers at least a part of a space where the substrate is held. The extension part is configured to arrange, in a part of the extension part, a gate where a molten metal is injected in a mold upon casting of the housing member or the molten metal is ejected from the inside of the mold thereupon, and has a portion that extends, in a way of gradually becoming wider toward a tip, from the gate to a side where the lens barrels in the plurality of imaging units are arranged with the gate as an apex.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an imaging device and a moving body.

Background Art

[0002] Conventionally, the housing (upper cover) of a stereo camera is formed of a heat-resistant member such as an aluminum die-cast obtained by filling molten aluminum into a mold and solidifying it.

[0003] Patent Document 1 discloses, for example, a stereo camera having a housing made of a metal material such as an aluminum alloy.

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, according to die-casting, which is a kind of casting method, casting cavities generated during solidification due to air bubbles mixed into the mold during high-speed filling may remain inside the housing (upper cover) of the stereo camera.

[0005] When such casting cavities remain near the fitting holes that hold the lens units provided in the housing (upper cover) of the stereo camera, anisotropy occurs in the expansion and contraction during temperature change due to the difference in their filling density. For example, when the filling density is high, the expansion coefficient is low, and when the filling density is low, the expansion coefficient is high. Therefore, when casting cavities remain near the fitting holes, the housing (upper cover) of the stereo camera does not expand and contract uniformly due to temperature change, but warps due to biased deformation, and the holding posture of the left and right lens units changes.

[0006] In a stereo camera, if the optical axes of the left and right lens units are not parallel, a parallax error occurs. Therefore, there is a problem that the ranging accuracy decreases when the inclination of the optical axis occurs due to temperature change.

[0007] The present invention has been made in view of the above, and aims to maintain stable distance measurement accuracy by preventing the lens holding position from fluctuating in multiple imaging units even when there is a temperature change. [Means for solving the problem]

[0008] To solve the above-mentioned problems and achieve the objective, the present invention provides a lens barrel that holds at least one optical element, an image sensor that acquires an image of a subject formed by the optical element, and a substrate on which the image sensor is mounted. each It comprises multiple imaging units and a housing member formed by casting, and the multiple imaging units Each A retaining wall that integrally holds the lens barrel and the substrate, and a portion formed extending from the retaining wall, Each The extension portion covers at least a part of the space that holds the substrate, and the extension portion has a sprue in a part thereof through which molten metal is injected into the mold or discharged from the mold when the housing member is cast, with the sprue as the apex, and the plurality of imaging units from the sprue Each The lens barrel is characterized by having a portion that extends outwards toward the side where it is positioned. [Effects of the Invention]

[0009] According to the present invention, even with temperature changes, the lens holding position in multiple imaging units does not fluctuate, thereby achieving stable distance measurement accuracy. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is an exploded perspective view of a stereo camera device according to the first embodiment. [Figure 2] Figure 2 is an exploded perspective view of the main components of the stereo camera device, seen from a diagonal rearward angle. [Figure 3] Figure 3 is a cross-sectional view of the stereo camera device, taken by cutting it vertically from the position where the lens is located. [Figure 4]Figure 4 is a cross-sectional view showing only the peripheral portion of the printed circuit board. [Figure 5] Figure 5 shows the position of the adhesive on the printed circuit board. [Figure 6] Figure 6 shows an example of casting of the upper cover. [Figure 7] Figure 7 shows another example of the casting of the upper cover. [Figure 8] Figure 8 is a diagram illustrating an automobile according to the second embodiment. [Modes for carrying out the invention]

[0011] The stereo camera device (an example of an imaging device) that is part of an embodiment will be described in detail below with reference to the attached drawings. Although this is just one example, the stereo camera device of this embodiment is installed on a moving object such as an automobile, ship, or aircraft, and captures images of vehicles, obstacles, pedestrians, or workers in front of (or behind or to the left or right of) the moving object. The left and right captured images are used to detect objects such as vehicles in front of the moving object. When an object is detected, the degree of collision risk is determined from the relative speed or relative position between the object and the moving object, and driving assistance such as warning the driver or collision avoidance by automatic braking is provided.

[0012] [First Embodiment] (External appearance and internal configuration of the stereo camera device) Figure 1 is an exploded perspective view of the stereo camera device 100 according to the first embodiment. Figure 2 is an exploded perspective view of the main part of the stereo camera device 100 as seen from the rear at an oblique angle. Figure 3 is a cross-sectional view of the stereo camera device 100 cut lengthwise from the position where the lens is installed.

[0013] As shown in Figures 1 to 3, the stereo camera device 100 comprises left and right camera devices C0 and C1, an upper cover 20, a lower cover 78, and a printed circuit board 41. The upper cover 20 and the lower cover 78 constitute the camera housing.

[0014] The left and right camera devices C0 and C1, which are multiple imaging units, are each equipped with printed circuit boards 25 and 26 on which lens units 21 and 22 and image sensors 23 and 24 (an example of an image sensor) with the same optical characteristics are mounted. For the image sensors 23 and 24, for example, CMOS (Complementary Metal Oxide Semiconductor) image sensors or CCD (Charge Coupled Device) image sensors can be used. These left and right camera devices C0 and C1 are integrally supported by an upper cover 20 formed from a heat-resistant material such as aluminum die-cast, which constitutes the camera housing.

[0015] The inner surface of the upper cover 20 has a housing 48 for printed circuit boards 25 and 26 on which image sensors 23 and 24 are mounted, and a printed circuit board 41 on which an image processing unit 12 is mounted. The lower cover 78 is formed in an L-shape from pressed material or the like. The lower cover 78 engages with the upper cover 20 by covering the lower housing 48 of the upper cover 20 and also covering the rear surface 49 of the upper cover 20, and is fixed to the upper cover 20 with screws 52. At this time, the printed circuit board 41, which includes printed circuit boards 25 and 26 on which the image sensors 23 and 24 are mounted and the image processing unit 12, is sandwiched between the upper cover 20 and the lower cover 78 and fastened together with screws 52. As a result, the printed circuit board 41 is electrically grounded via its outer edge.

[0016] Furthermore, the stereo camera device 100 is connected to the CAN (Controller Area Network) via a connector terminal 42 provided on the printed circuit board 41. This connects the stereo camera device 100 to a digital image processing module incorporated into a part of the ECU of a mobile object such as a vehicle, via the CAN.

[0017] The connector terminal 42 corresponds to the interface portion. The connector terminal 42 is provided on the printed circuit board 41 such that the front surface portion (the surface portion on the subject side), the upper surface portion, and both side surface portions are covered by a box-shaped partition wall 43 formed on the upper cover 20. In other words, the partition wall 43 covers the surface portions of the exposed surface of the connector terminal 42 other than the rear surface portion where the terminal to which the cable 17 is connected is provided. As a result, the physical area where the connector terminal 42 is provided and the storage portion 48 of the upper cover 20 are partitioned by the partition wall 43, so that it is possible to prevent dust or moisture from entering the storage portion 48 from the gaps around the connector terminal 42, and it is possible to avoid a short circuit or the like in the electric circuit.

[0018] As shown in FIG. 3, the printed circuit boards 25, 26 and the printed circuit board 41 are arranged such that the surfaces of the respective boards are orthogonal to each other along the angle of the front windshield 70 of a moving body such as a vehicle so as not to obstruct the driver's view. Also, the cables (FPC: Flexible Printed Circuits) 18, 19 connecting the printed circuit boards 25, 26 and the printed circuit board 41 are folded inward and stored in the storage portion 48. Thereby, the radiation noise can be shielded.

[0019] The upper cover 20 is erected in a direction orthogonal to the optical axis direction of the two lens units 21, 22 and has a holding wall 20a provided with fitting holes 27, 28. The two lens units 21, 22 are screwed into the fitting holes 27, 28 provided in the holding wall 20a of the upper cover 20. As a result, the lens units 21, 22 are locked and fixed such that their optical axes are parallel to each other and the imaging surfaces of the respective image sensors 23, 24 are substantially on the same plane. Note that the lens units 21, 22 and the respective fitting holes 27, 28 form a lens barrel. That is, the holding wall 20a of the upper cover 20 integrally holds the lens barrels and the printed circuit boards 25, 26 in the left and right camera devices C0, C1.

[0020] The printed circuit boards 25 and 26, on which the image sensors 23 and 24 are provided, are aligned with respect to the lens units 21 and 22 fixed to the retaining wall 20a of the upper cover 20, so as to their position in the optical axis direction (z direction) and in the xy plane perpendicular to the optical axis, and the tilt of the tilt components αβγ around each of the xyz axes, in order to exhibit proper imaging characteristics.

[0021] (Bonding of the lens barrel and the printed circuit board of the image sensor) Here, the rear surface portion 49 of the retaining wall 20a of the upper cover 20 is provided with a first mounting surface portion 31 having a "square" shaped surface portion to which the printed circuit board 25 is bonded, and a first mounting surface portion 32 having a "square" shaped surface portion to which the printed circuit board 26 is bonded. The printed circuit boards 25 and 26, on which the image sensors 23 and 24 are mounted, are bonded to these first mounting surfaces 31 and 32.

[0022] Furthermore, a pair of second mounting surfaces 33 are provided on the rear surface 49 of the retaining wall 20a of the upper cover 20, projecting from the outside near the approximate center of the left and right side surfaces of the first mounting surface 31, and positioned on the same plane as the first mounting surface 31. Similarly, a pair of second mounting surfaces 34 are provided on the rear surface 49 of the retaining wall 20a of the upper cover 20, projecting from the outside near the approximate center of the left and right side surfaces of the first mounting surface 32, and positioned on the same plane as the first mounting surface 32. In other words, the pair of second mounting surfaces 33 and 34 are provided at a predetermined distance from the outer periphery of the first mounting surfaces 31 and 32 in the opposite direction from the image sensors 23 and 24.

[0023] Figure 4 is a cross-sectional view showing only the peripheral portion of the printed circuit board 25 from a cross-section obtained by cutting the stereo camera device 100 along the x-axis from near the center of the printed circuit board 25. In Figure 4, the pair of inwardly protruding portions are the first mounting surface portion 31, which has a "square-shaped" surface to which the printed circuit board 25 is bonded. The pair of second mounting surface portions 33 are each provided at a predetermined distance from the first mounting surface portion 31. In other words, a groove portion 55 is formed between the first mounting surface portion 31 and the pair of second mounting surface portions 33. As a result, the first mounting surface portion 31 and the pair of second mounting surface portions 33 are separated by a predetermined distance. The positional relationship of the second mounting surface portion 34 with respect to the first mounting surface portion 32, which has a "square-shaped" surface to which the printed circuit board 26 is bonded, is similar.

[0024] A UV-curing adhesive 53 is applied between the second mounting surface 33 and the printed circuit board 25, and between the second mounting surface 34 and the printed circuit board 26, as shown in Figure 4. Then, while maintaining the position and orientation of the printed circuit boards 25 and 26, which have been aligned as described above, UV light is irradiated onto the UV-curing adhesive 53 to cure it.

[0025] As a result, each printed circuit board 25, 26, while maintaining its alignment-adjusted position, is temporarily fixed to the second mounting surface 33, 34 via UV-curing adhesive 53. In other words, both ends of each printed circuit board 25, 26 are temporarily fixed to the second mounting surface 33, 34 while maintaining the arrangement of the imaging surfaces of the image sensors 23, 24 relative to the lens units 21, 22.

[0026] Figure 5 shows the adhesive application positions on the printed circuit board 25 side of each printed circuit board 25, 26. As can be seen from Figure 5, the UV-curing adhesive 53 applied to the second mounting surface 33 adheres to the vicinity of both left and right ends of the printed circuit board 25 and is cured by UV light, thereby temporarily fixing the printed circuit board 25 to the second mounting surface 33. Similarly, the printed circuit board 26 is also temporarily fixed to the second mounting surface 34. As an example, a UV-curing adhesive 53 mainly composed of acrylic resin or urethane resin with a low Young's modulus can be used as the UV-curing adhesive 53.

[0027] In this example, the UV-curing adhesive 53 applied to the second mounting surfaces 33 and 34 is cured by irradiating it with UV light. However, a thermosetting adhesive may be applied to the second mounting surfaces 33 and 34 and then cured by, for example, irradiating it with high-energy laser light or by spraying hot air from a nozzle. This allows the thermosetting adhesive to be used instead of the UV-curing adhesive 53 as a temporary fixing adhesive.

[0028] On the other hand, the first mounting surfaces 31 and 32 are pre-coated with a thermosetting adhesive 50, primarily composed of an epoxy resin with a high glass transition temperature, to form a "square" shape. Therefore, when the printed circuit board 25 is temporarily fixed to the second mounting surface 33 with a UV-curing adhesive 53, the thermosetting adhesive 50 adheres to the printed circuit board 25, surrounding the image sensor 23, as shown in Figure 5. Similarly, on the printed circuit board 26 side, the thermosetting adhesive 50 adheres to the printed circuit board 25, surrounding the image sensor 24. When the stereo camera device 100 is placed in a heating furnace in this state, the thermosetting adhesive 50 is heat-cured (final fixation). This makes it possible to manufacture a stereo camera device 100 that can maintain adhesive strength even in the temperature environment of -40°C to 80°C required for automotive use.

[0029] Thus, the retaining wall 20a of the upper cover 20 is provided with first mounting surfaces 31 and 32 that are formed in a levee-like shape to surround the image sensors 23 and 24. In addition, the retaining wall 20a of the upper cover 20 is provided with second mounting surfaces 33 and 34 outside the first mounting surfaces 31 and 32 for temporarily fixing the vicinity of the outer edges of the printed circuit boards 25 and 26 at multiple locations.

[0030] A thermosetting adhesive 50 is applied to the first mounting surfaces 31 and 32, and a UV-curing adhesive 53 is applied to the second mounting surfaces 33 and 34. The second mounting surfaces 33 and 34 are formed at positions symmetrical with respect to the central axis of the image sensors 23 and 24. This prevents uneven tensile force from being generated on the printed circuit boards 25 and 26 due to curing shrinkage, thereby suppressing misalignment.

[0031] (Structure to suppress changes in imaging characteristics due to temperature changes) Next, the structure for suppressing changes in imaging characteristics due to temperature changes in the stereo camera device 100 of the embodiment will be described. In the case of the stereo camera device 100 of the embodiment, in order to widen the angle, as shown in Figure 3, so-called retrofocus lenses (reverse telephoto lenses) are used as lens units 21 and 22, which are formed by aligning the axes of a concave lens in the front stage and a convex lens in the rear stage and housing them in a lens cell 60. On the outer circumference of the lens cell 60, a fitting portion 62 for positioning the optical axis, a screw portion 63 and a locking portion 64 for tightening with a predetermined axial force in the direction of the optical axis are formed.

[0032] Generally, wide-angle lenses have a short focal length, and the principal point position 65 of the optical system, indicated by the "X" mark in Figure 3, is biased towards the image sensor 23. Therefore, even with such an arrangement, a holding structure is desired that prevents changes in the principal point position 65 due to misalignment and changes in the orientation of the lens within the fitting holes 27 and 28.

[0033] Therefore, in the case of the stereo camera device 100 of this embodiment, the fitting portion 62 provided near the end of the lens cell 60 on the image sensor 23 side maintains at least the position of the principal point position 65 of the optical system and the parallelism of the optical axis.

[0034] The threaded portion 63 is located on the subject side of the lens cell 60 (near the end of the lens cell 60 opposite the image sensor 23) than the fitting portion 62 of the lens cell 60. The locking portion 64 is located even closer to the subject than the threaded portion 63. The locking portion 64 abuts against the lens units 21 and 22, which are screwed into the respective fitting holes 27 and 28, with a predetermined axial force. This positions the lens units 21 and 22 so that their optical axes align with the centers of the respective image sensors 23 and 24. By screwing the lens units 21 and 22 into the respective fitting holes 27 and 28 in this way, an axial force capable of withstanding expansion and contraction due to temperature changes, creep (increased distortion) due to aging, vibration, or shock can be maintained.

[0035] Incidentally, as mentioned above, the upper cover 20 that constitutes the camera housing is molded from a heat-resistant material such as aluminum die-cast. In die-casting, a type of casting method in which molten aluminum (molten metal) melted at high temperature is filled into a mold in a short time and solidified under pressure, casting defects caused by air bubbles mixed into the mold during high-speed filling may remain inside the upper cover 20. This tendency is more pronounced the faster the filling speed. In particular, in the direction perpendicular to the direction of molten metal inflow, the filling occurs by flowing from the outside to the inside, so casting defects are more likely to occur in areas where the molten metal fills later, such as on both sides of the sprue and at the edges.

[0036] If such casting defects remain near the fitting holes 27 and 28 provided in the retaining wall 20a of the upper cover 20 that holds the lens units 21 and 22, the difference in packing density will cause anisotropy in expansion and contraction during temperature changes. For example, a denser packing density results in a lower expansion coefficient, while a looser packing density results in a higher expansion coefficient. Therefore, if casting defects remain near the fitting holes 27 and 28, the upper cover 20 that constitutes the camera housing will not expand and contract uniformly due to temperature changes, but will warp due to uneven deformation, and the holding posture of the left and right lens units 21 and 22 will change.

[0037] In the stereo camera device 100, parallax errors occur if the optical axes of the left and right lens units 21 and 22 are not parallel. Therefore, there is a problem that the distance measurement accuracy decreases when the optical axis tilts due to temperature changes.

[0038] Therefore, in this embodiment, the upper cover 20 is provided with an extension portion 80 that extends from the retaining wall 20a and covers at least a part of the rear surface portion 49 of the upper cover 20, which is a space for holding printed circuit boards 25 and 26. The extension portion 80 lies on the extension of the centerlines of the left and right lens units 21 and 22, which corresponds to the gate (sprue) through which molten aluminum (molten metal) is injected into the mold at high temperature during the casting of the upper cover 20 that constitutes the camera housing. In other words, the extension portion 80 has a portion that extends outward (fan-shaped) from the gate (sprue) in the width direction of the upper cover 20 that constitutes the camera housing (parallax direction in which the left and right lens units 21 and 22 are parallel), with the gate (sprue) as its apex.

[0039] In other words, the lens barrels of the multiple camera devices C0 and C1 are arranged in line with the optical axis, and molten metal is injected into the mold from the gate (gutter) along the optical axis. The lens barrels of the multiple camera devices C0 and C1 are aligned in a direction perpendicular to the direction in which the molten metal is injected into the mold from the gate (gutter). The lens barrels of the multiple camera devices C0 and C1 are arranged symmetrically with respect to an axis perpendicular to the direction in which the lens barrels of the multiple camera devices C0 and C1 are arranged side by side, passing through the gate (gutter).

[0040] Here, Figure 6 shows an example of casting the upper cover 20. The example shown in Figure 6 shows two upper covers 20 being cast simultaneously.

[0041] According to the casting example shown in Figure 6, during the casting of the upper cover 20, the molten metal (aluminum melted at high temperature) injected from the sprue (inlet) 101 via the sleeve 104 is branched into two directions by the runner 102 and filled into the mold of the upper cover 20 by the gate 103. The runner 102 is cut at the gate 103 after the casting of the upper cover 20.

[0042] Because the upper cover 20 has an L-shape, the molten metal (aluminum melted at high temperature) injected in the z direction from the gate (gutter) 103 is evenly distributed in the width direction (x direction) in the xz plane along the flared (fan-shaped) shape of the extension portion 80, filling the x-direction in the y direction in the xy plane where the fitting holes 27 and 28 for holding the left and right lens units 21 and 22 are formed, while maintaining a constant flow velocity, and filling the xz plane where the upper surface of the housing portion 48 of the upper cover 20 is formed, in the z direction.

[0043] Furthermore, when casting the upper cover 20, the angle of the fan-shaped tip of the extension portion 80 may be adjusted so that there is no time difference in solidification in the x-direction within the xy-plane in which the fitting holes 27 and 28 provided in the retaining wall 20a of the upper cover 20 are formed. In this embodiment, the angle of the fan-shaped tip of the extension portion 80 is 153° or less.

[0044] In addition, in this embodiment, the upper cover 20 is provided with rib portions 81 in at least a portion of the extended portion 80, which are areas whose cross-sectional area is widened in a rib shape along the edge of the extended portion 80. This configuration improves the flow of molten metal to the outer edge of the upper cover 20.

[0045] As a result, the difference in filling time between the inside and outside of the fitting holes 27 and 28 provided in the retaining wall 20a of the upper cover 20, which are affected by parallax errors, is eliminated in the width direction of the upper cover 20 (the parallax direction in which the left and right lens units 21 and 22 are parallel), thereby suppressing the occurrence of casting defects and making the filling density uniform in the XY plane. In addition, the filling speed can be increased, so productivity can be improved and costs can be reduced.

[0046] As described above, according to this embodiment, the gate (gating sprue) for injection into the mold is positioned on the extension of the centerlines of the left and right lens units 21 and 22 in the extension 80 that covers the upper part of the rear surface 49 of the retaining wall 20a of the upper cover 20, and the extension 80 is shaped to extend outwards (fan-shaped) from the gate (gating sprue) in the width direction of the upper cover 20 (the parallax direction in which the left and right lens units 21 and 22 are parallel). This straightens the flow of the molten metal injected into the mold from the gate (gating sprue), and equalizes the flow velocity so that the filling time is equal on the inside and outside of the fitting holes 27 and 28 provided in the retaining wall 20a of the upper cover 20, which affect the parallax error, thereby suppressing the occurrence of casting defects near the fitting holes 27 and 28, and preventing the lens holding posture of the left and right lens units 21 and 22 from fluctuating even with temperature changes, thereby maintaining stable distance measurement accuracy.

[0047] In this embodiment, the extension portion 80 is provided at the gate (sprung) through which molten aluminum is injected into the mold during casting of the upper cover 20. However, the embodiment is not limited to this, and the extension portion 80 may be positioned at the overflow sprue that discharges the molten aluminum from the mold during casting of the upper cover 20.

[0048] Furthermore, in this embodiment, the extension portion 80 is provided above the rear surface portion 49 of the retaining wall 20a of the upper cover 20, but it is not limited to this. Here, Figure 7 shows another example of a casting example of the upper cover 20. As shown in Figure 7, even if the extension portion 80 is provided at a position other than above the rear surface portion 49 of the retaining wall 20a of the upper cover 20, and at a position including the overflow sprue 105 for discharging molten metal, the accumulation of molten metal can be suppressed and a similar effect can be achieved.

[0049] [Second Embodiment] Next, a second embodiment of an automobile will be described. This automobile is an example of a mobile device.

[0050] Figure 8 illustrates an automobile 300 according to a second embodiment. The automobile 300 has a stereo camera device 100 inside the cabin. The stereo camera device 100 images objects 200 present around the automobile 300 through the front windshield 301 using left and right camera devices C0 and C1. Based on the captured first and second images, the stereo camera device 100 can measure the distance to the objects 200.

[0051] The automobile 300 can maintain stable distance measurement accuracy by having a stereo camera device 100.

[0052] Finally, the embodiments described above are presented as examples and are not intended to limit the scope of the present invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications are possible without departing from the spirit of the invention. Such embodiments and variations thereof are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0053] 20a retaining wall 21, 22, 27, 28 Lens barrel 23,24 Image sensor 25, 26 circuit boards 80 Extension 81 Rib section 100 Imaging device 103 Hot spring outlet C0, C1 Multiple imaging units [Prior art documents] [Patent Documents]

[0054] [Patent Document 1] Patent No. 6621716

Claims

1. A plurality of imaging units each having a lens barrel that holds at least one optical element, an image sensor that acquires an image of a subject formed by the optical element, and a substrate on which the image sensor is mounted, A housing member formed by casting comprises a retaining wall that integrally holds each of the lens barrels and substrates in the plurality of imaging units, An extension formed extending from the retaining wall, covering at least a portion of the space for holding each of the substrates; It has, The extension portion is, A sprue is provided in a part of it through which molten metal is injected into the mold or discharged from the mold during the casting of the housing member. With the aforementioned sprue as the apex, the portion extending outwards from the sprue toward the side where each of the lens barrels in the plurality of imaging units is positioned has a portion that opens towards the front. An imaging device characterized by the following features.

2. The lens barrels in the plurality of imaging units are arranged so that their optical axis directions are aligned to the direction in which molten metal is injected into the mold from the sprue or discharged from the mold. The imaging apparatus according to feature 1.

3. The lens barrels in the plurality of imaging units are each aligned in a direction perpendicular to the direction in which molten metal is injected into the mold from the sprue or discharged from the mold. The imaging apparatus according to claim 1 or 2.

4. The lens barrels in the plurality of imaging units are arranged symmetrically with respect to an axis perpendicular to the direction in which the lens barrels in the plurality of imaging units are arranged side by side, passing through the sprue. The imaging device according to feature 3.

5. The extension portion is provided with rib sections in at least part of its edge, which widen the cross-sectional area in a rib shape. The imaging apparatus according to any one of claims 1 to 4.

6. The imaging device comprises the imaging device described in any one of claims 1 to 5. A mobile body characterized by the following features.

Images