Imaging device

Abstract

This imaging device comprises a housing and a plurality of imaging units. The housing holds a substrate at a first portion that demarcates a first surface. The plurality of imaging units are located in the housing. An extended surface of the substrate intersects the first surface.

Description

Imaging device CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Japanese Patent Application No. 2023-110914, filed on July 5, 2023, the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to an imaging device.

[0003] A stereo camera capable of measuring the distance to an object using the principle of triangulation is known (see Patent Document 1).

[0004] JP 2013-127598 A

[0005] In order to solve the above-mentioned problems, an imaging device according to a first aspect comprises: a housing that holds a substrate at a first portion that defines a first surface; and a plurality of imaging units located in the housing, wherein an extension surface of the substrate intersects with the first surface.

[0006] 1 is an external perspective view of an imaging device according to an embodiment. FIG. 1 is a view in which the housing of the imaging device of FIG. 1 is exploded into a box-shaped body and a first part. FIG. 2 is an external perspective view of the first part of FIG. 2. FIG. 3 is a cross-sectional view of a substrate fixed to a first fixing part, illustrating a fixed state of the substrate to the support part of FIG. 2. FIG. 4 is a cross-sectional view of a substrate fixed to the first fixing part via a second fixing part, illustrating another fixed state of the substrate to the support part of FIG. 2. FIG. 5 is an external perspective view showing a modified example of the first part of FIG. 2. FIG. 6 is an external perspective view showing another modified example of the first part of FIG. 7. FIG. 7 is an external perspective view showing another modified example of the first part of FIG. 7. FIG. 8 is an external perspective view showing yet another modified example of the first part of FIG. 7. FIG. 9 is an exploded perspective view showing an example of a fixing structure of a substrate by a housing in an imaging device of a reference example.

[0007] Hereinafter, an embodiment of an imaging device to which the present disclosure is applied will be described with reference to the drawings.

[0008] 1 , an imaging device 10 according to one embodiment includes a plurality of imaging units 11 and a housing 12. The plurality of imaging units 11 are, for example, two imaging units 11. The imaging device 10 is, for example, a stereo camera. In the imaging device 10, the length in the direction in which the two imaging units 11 are aligned may be longer than the lengths in two directions perpendicular to that direction and perpendicular to each other.

[0009] Each of the multiple imaging units 11 may have an optical system and an imaging element. The multiple imaging units 11 are located in the housing 12. Being located in the housing 12 may mean that the optical system and the imaging element are fixed to the housing 12. The imaging element may be fixed to the housing 12 together with a circuit board on which the imaging element is mounted. The optical axes ox of the multiple imaging units 11 may be located on a virtual plane. The multiple imaging units 11 may be fixed to a second portion 14 of the housing 12 that is furthest from a first portion 13 (described later). The second portion 14 that is furthest from the first portion 13 is, for example, a portion that includes one of two opposing surfaces of the housing 12 in a rectangular parallelepiped configuration. The optical axes of the multiple imaging units 11 may be parallel. Specifically, the optical axis ox of the imaging unit 11 is the optical axis ox of the optical system of the imaging unit 11.

[0010] The housing 11 holds the substrate 15 at a first portion 13 including a first surface that defines the surface of the housing 11. Holding the substrate 15 at the first portion 13 means that the substrate 15 is held by the first portion 13 without any intervening portion other than the first portion 13 that defines the surface of the housing 11. The extension surface of the substrate 15 intersects with the first surface. The extension surface of the substrate 15 may be perpendicular to the first surface. The substrate 15 may be separate from a circuit board that mounts an imaging element included in the imaging unit 11. The longitudinal direction of the substrate 15 may be parallel to the arrangement direction of the multiple imaging units 11. The main surface of the substrate 15 may be parallel to the optical axis ox of each of the multiple imaging units 11. The main surface refers to the surface with the largest area among the surfaces.

[0011] 2 , the housing 11 may specifically include a substantially rectangular parallelepiped box-shaped body 16 with one open side, and a flat plate-shaped first portion 13. The housing 11 may be formed by covering the open portion of the box-shaped body 16 with the first portion 13.

[0012] Each of the multiple imaging units 11 may be located in the box-shaped body 16. Therefore, the optical system of each of the multiple imaging units 11 may be fixed to the box-shaped body 16. The box-shaped body 16 may include a second portion 15. The second portion 15 may be a plate-shaped portion facing the first portion 13.

[0013] The first portion 13 may include a support portion 17. The support portion 17 may fix the substrate 15. As shown in FIG. 3 , the support portion 17 may be provided upright so as to intersect with the main surface of the first portion 13. The support portion 17 may be perpendicular to the main surface of the first portion 13.

[0014] The support portion 17 may be a single flat plate-like member. As shown in Fig. 2, the support portion 17 may be a rectangular flat plate-like member with one side longer than the other, and may support the substrate 15 so that the longitudinal direction and the main surface are parallel to each other.

[0015] 3 , a first fixture 18 for supporting the substrate 15 may be provided on one main surface of the support portion 17. A plurality of first fixtures 18 may be provided on the main surface of the support portion 17. At least one of the three or more first fixtures 18 may be provided at a position that is not aligned with an imaginary line parallel to the main surface of the support portion 17. Specifically, four first fixtures 18 may be provided near the four corners of the flat support portion 17.

[0016] The first fastener 18 may be cylindrical, with its axis perpendicular to and at the same height as the main surface of the support portion 17. A female screw may be formed on the cylindrical inner periphery of the first fastener 18. As shown in FIG. 4 , the support portion 17 may fix the substrate 15 by threading a male screw 19 inserted through a through hole formed in the substrate 15 into the first fastener 18. As shown in FIG. 5 , the support portion 17 may further fix the substrate 15 to the first fastener 18 using a second fastener 20. The second fastener 20 may be elastic. The second fastener 20 may be located between the male screw 19 and the through hole. The second fastener 20 may be, for example, ring-shaped and fitted to the substrate 15, with an inner diameter larger than the outer diameter of the male screw 19.

[0017] The support portion 17 may support at least a portion of the substrate 15 so that the substrate 15 is at least displaceable in directions parallel to the first surface and the main surface of the substrate 15. The support portion 17 may support the substrate 15 so that the substrate 15 is at least displaceable in the longitudinal direction when the substrate 15 is configured perpendicular to the main surface of the first portion 13.

[0018] For example, as shown in FIG. 6 , a first fixing device 18 may be provided at one longitudinal end of the support portion 17, and a displacement mechanism 21 may be provided at the other longitudinal end. The displacement mechanism 21 may include a fixed wall 22, a bushing stay 23, and a bushing shaft 24. The fixed wall 22 may be formed by bending the longitudinal end of the support portion 17, where the displacement mechanism 21 is provided, perpendicular to the main surface of the support portion 17. The bushing stay 23 may have an L-shaped cross section formed by bending a metal plate perpendicularly. A through hole may be formed in a plate surface of the bushing stay 23. The bushing shaft 24 may be inserted into the through hole of the bushing stay 23 and fixed to the fixed wall 22. The substrate 15 may be fixed to the first fixing device 18 and to a plate surface of the bushing stay 23 bent from the plate surface where the through hole is formed. With this configuration, a portion of the substrate 15 is displaceable on the displacement mechanism 21 side.

[0019] 7, the support portion 17 may be configured to include a plurality of support portions, including at least a first support portion 25 and a second support portion 26. The first support portion 25 and the second support portion 26 may be positioned apart from each other in the longitudinal direction of the first section 13. The first support portion 25 and the second support portion 26 may be L-shaped stays.

[0020] As shown in FIG. 8 , each of the first support portion 25 and the second support portion 26 may include a leaf spring portion 27 and a seat portion 28. The leaf spring portion 27 may be flexible in a direction parallel to the first surface and the main surface of the substrate 15. Specifically, the leaf spring portion 27 may be flat and perpendicular to both the first surface and the main surface of the substrate 15. The flat leaf spring portion 27 may be fixed to the first portion 13 at an end of the first portion 13. The seat portion 28 may be flat and parallel to the substrate 15. The seat portion 28 may be coupled to the leaf spring portion 27 at an end of the substrate 15 in the longitudinal direction.

[0021] 9 , the first support portion 25 may constitute the displacement mechanism 21. In other words, even in a configuration including the first support portion 25 and the second support portion 26, the support portion 17 may support at least a portion of the substrate 15 so that the substrate 15 is displaceable at least in a direction parallel to the first surface and the main surface of the substrate 15.

[0022] Alternatively, as shown in FIG. 10, the first support portion 25 and the second support portion 26 may each constitute a displacement mechanism 21.

[0023] The imaging device 10 of this embodiment, configured as described above, includes a housing 12 that holds a substrate 15 at a first portion 13 defining a first surface, and multiple imaging units 11 located on the housing 12. The extended surface of the substrate 15 intersects with the first surface. In imaging devices, the housing and the substrate are generally made of different materials. The housing and the substrate are heated by heat from the external environment and by the operation of internal electronic devices such as the imaging units. Heating can cause the housing and the substrate to expand and warp. Because the substrate inside the housing tends to retain heat, it takes longer to cool than the housing itself. Therefore, a substrate fixed to a housing that has returned to room temperature may remain expanded. For example, as shown in FIG. 11 , in a configuration in which the substrate 15′ is fixed to multiple support members 17′ extending from a portion of the housing 12′, the substrate 15′, which remains in a curved shape, deforms the housing 12′ when it returns to room temperature. Therefore, deformation of the housing 12′ may occur even after the substrate 15′ returns to room temperature. In response to such events, the imaging device 10 having the above-described configuration can reduce the impact of expansion or contraction and warping of the substrate 15 on the housing 12 compared to a configuration in which the substrate 15 and the first portion 13 are parallel. Therefore, the imaging device 10 can reduce distortion of the housing 12 due to temperature effects. In a configuration in which the imaging device is a stereo camera, distortion of the housing can change the position and orientation of the imaging units located in the housing. Separate changes in the positions and orientations of multiple imaging units result in parallax shifts among the multiple imaging units. Thus, in a configuration in which the imaging device is a stereo camera, distortion of the housing significantly affects the ranging accuracy of the stereo camera. On the other hand, the imaging device 10 having the above-described configuration can reduce distortion of the housing 12, thereby reducing parallax shifts.

[0024] Furthermore, in the imaging device 10, the first support portion 25 and the second support portion 26 each include a leaf spring portion 27 that is flexible in a direction parallel to the first surface and the main surface of the substrate 15. With this configuration, the imaging device 10 can absorb deformation along the main surface due to thermal expansion of the substrate 15, etc., in the leaf spring portion 27, thereby further reducing the effect on the first portion 13. Therefore, the imaging device 10 can further reduce distortion of the housing 12 due to temperature effects.

[0025] Furthermore, in the imaging device 10, the support portion 17 supports at least a portion of the substrate 15 so that the substrate 15 is displaceable in a direction parallel to the first surface and the main surface of the substrate 15. With this configuration, the imaging device 10 can absorb deformation along the main surface of the substrate 15 due to thermal expansion or the like by displacing the support. Therefore, the imaging device 10 can further reduce distortion of the housing 12 due to temperature effects.

[0026] The imaging device 10 also includes an elastic second fastener 20 positioned between the through-hole of the substrate 15 and a male screw 19 that threads into a first fastener 18 provided on the support portion 17. With this configuration, the imaging device 10 can absorb deformation along the main surface of the substrate 15 due to thermal expansion or the like, by the elastic deformation of the second fastener 20. Therefore, the imaging device 10 can further reduce distortion of the housing 12 due to temperature effects.

[0027] Furthermore, in the imaging device 10, the housing 12 includes a rectangular parallelepiped box-shaped body 16 with one open side and a flat plate-shaped first portion 13, and the optical systems of each of the multiple imaging units 11 are fixed to the box-shaped body 16. Due to its shape, the box-shaped body 16 has greater rigidity than the first portion 13. Therefore, the imaging device 10 having the above-described configuration can reduce the impact of deformation of the first portion 13 on the box-shaped body 16. Therefore, the imaging device 10 can reduce deviations in the position and orientation of the multiple optical systems due to temperature effects.

[0028] In one embodiment, (1) an imaging device includes: a housing that holds a substrate at a first portion that defines a first surface; and a plurality of imaging units located in the housing, wherein an extension surface of the substrate intersects with the first surface.

[0029] (2) In the imaging device of (1) above, the longitudinal direction of the substrate and the direction in which the plurality of imaging units are arranged are parallel to each other.

[0030] (3) In the imaging device of (1) or (2) above, the optical axis of each of the plurality of imaging units is parallel to the main surface of the substrate.

[0031] (4) In the imaging device according to any one of (1) to (3) above, the first portion is provided with a support portion for fixing the substrate.

[0032] (5) In the imaging device of (4), the support portion is a single plate-like member.

[0033] (6) In the imaging device according to (4), the support portion includes a first support portion and a second support portion.

[0034] (7) In the imaging device according to (6), the first support portion and the second support portion each include a leaf spring portion that is flexible in a direction parallel to the first surface and the main surface of the substrate.

[0035] (8) In the imaging device according to any one of (4) to (7) above, the support section supports at least a portion of the substrate so as to be displaceable in a direction parallel to the first surface and a main surface of the substrate.

[0036] (9) In any of the imaging devices (4) to (8) above, a second fixing device having elasticity is further provided, the second fixing device being positioned between the through hole and a male screw that is inserted through the through hole of the substrate and screws into a first fixing device provided on the support part.

[0037] (10) In any of the imaging devices described in (1) to (9), the housing includes a rectangular parallelepiped box-shaped body with one open side and the first part having a flat plate shape, and the optical systems of the plurality of imaging units are fixed to the box-shaped body.

[0038] The drawings illustrating the embodiments of the present disclosure are schematic, and the dimensional ratios and the like in the drawings do not necessarily correspond to the actual ones.

[0039] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art could make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications or alterations are included in the scope of the present disclosure. For example, the functions included in each component can be rearranged so as not to cause logical inconsistencies, and multiple components can be combined or divided into one.

[0040] All of the features described in this disclosure can be combined in any combination except those in which these features are mutually exclusive. Furthermore, each feature described in this disclosure can be replaced by an alternative feature serving the same, equivalent, or similar purpose, unless expressly denied. Thus, unless expressly denied, each disclosed feature is only one example of a generic series of identical or equivalent features.

[0041] Furthermore, the embodiments of the present disclosure are not limited to any of the specific configurations of the above-described embodiments, but rather extend to any and all novel features or combinations thereof described in the present disclosure.

[0042] In this disclosure, descriptions such as "first" and "second" are identifiers for distinguishing the configuration. In the configurations distinguished by descriptions such as "first" and "second" in this disclosure, the numbers in the configurations can be exchanged. For example, the first part can exchange the identifiers "first" and "second" with the second part. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the exchange of identifiers. Identifiers may be deleted. A configuration from which an identifier has been deleted is distinguished by a symbol. The descriptions of identifiers such as "first" and "second" in this disclosure should not be used solely to interpret the order of the configurations or to justify the existence of an identifier with a smaller number.

[0043] In this disclosure, the terms "parallel" and "perpendicular" refer to the positional relationship of components in this disclosure, but may also be "approximately parallel" and "approximately perpendicular." "Approximately parallel" refers to a positional relationship that can be considered parallel due to manufacturing tolerances and manufacturing draft angles, and may include, for example, a positional relationship inclined relative to each other within a range of ±5°. "Also, nearly perpendicular" refers to a positional relationship that can be considered perpendicular due to manufacturing tolerances and manufacturing draft angles, and may include, for example, a positional relationship inclined relative to each other within a range of 90° ±5°.

[0044] REFERENCE SIGNS LIST 10 Imaging device 11 Imaging section 12 Housing 13 First section 14 Second section 15 Board 16 Box-shaped body 17 Support section 18 First fixing device 19 Male screw 20 Second fixing device 21 Displacement mechanism 22 Fixed wall 23 Bushing stay 24 Bushing shaft 25 First supporting section 26 Second supporting section 27 Leaf spring section 28 Seat section ox Optical axis

Claims

1. A housing that holds the substrate in the first part that defines the first surface, The housing comprises a plurality of imaging units located within the housing, The extended surface of the substrate intersects with the first surface. Imaging device.

2. In the imaging apparatus according to claim 1, The longitudinal direction of the substrate and the direction in which the plurality of imaging units are aligned are substantially parallel. Imaging device.

3. In the imaging device according to claim 1 or 2, The first part is provided with a support portion for fixing the substrate. Imaging device.

4. In the imaging device according to claim 3, The support portion is a single plate-shaped member. Imaging device.

5. In the imaging device according to claim 3, The support portion includes a first support portion and a second support portion. Imaging device.

6. In the imaging apparatus according to claim 5, Each of the first and second support portions includes a leaf spring portion that is flexible in a direction substantially parallel to the first surface and the main surface of the substrate. Imaging device.

7. In the imaging device according to claim 3, The support portion supports at least a portion of the substrate so that it can be displaced in a direction substantially parallel to the first surface and the main surface of the substrate. Imaging device.

8. In the imaging device according to claim 3, The system further includes a second, elastic fastener located between a male screw that passes through the through-hole of the substrate and screws into a first fastener provided on the support portion, and the through-hole. Imaging device.

9. In the imaging device according to claim 1 or 2, The housing includes a rectangular box-shaped body with one side open and the flat first portion, The optical systems of each of the multiple imaging units are fixed to the box-shaped body. Imaging device.