Optical unit and imaging device

Abstract

This optical unit having an image stabilization function comprises: a plurality of optical modules; a first holding body that has a first surrounding part surrounding the plurality of optical modules and holds the plurality of optical modules; a second holding body that has a second surrounding part surrounding the periphery of the first surrounding part; a frame body that overlaps the first surrounding part; a swing support body that has two first support pieces extending from the frame body so as to swingably support the first holding body around a first rotation axis substantially orthogonal to an optical axis direction, and two second support pieces extending from the frame body so as to swingably support the frame body around a second rotation axis substantially orthogonal to the optical axis and the first rotation axis; and a drive mechanism for image stabilization that swings the swing support body and the first holding body. The first holding body is supported by the swing support body, and the swing support body is supported by the second holding body.

Description

Optical unit and imaging device

[0001] The present disclosure relates to an optical unit and an imaging device that include an optical image stabilization (OIS) mechanism.

[0002] In recent years, devices such as smartphones have come to be equipped with multiple optical modules. Furthermore, some devices have optical image stabilization mechanisms for each of these optical modules. However, in devices that use multiple camera modules with different magnifications and capture video by switching between the camera modules, there is a problem in that the positions controlled by the optical image stabilization for each camera module differ when switching between the camera modules, resulting in misalignment of the positions on the screen.

[0003] Furthermore, if there is a difference in the performance of the optical image stabilization mechanism before and after switching, there is the problem that the way the image is blurred on the screen will change due to that difference in performance. These optical image stabilization mechanisms often use a barrel shift method, which corrects image stabilization by moving the lens perpendicular to the optical axis (parallel to the image sensor surface) to change the position of the image on the image sensor, or a sensor shift method, which corrects image stabilization by moving the image sensor perpendicular to the optical axis to change the position of the image. However, these image stabilization methods, which shift the relative positions of the image sensor and lens, correct by linear movement rather than rotational movement, which is the main cause of camera shake, so while the position of the center of the screen can be corrected, there is a problem that the correction cannot be fully performed on the periphery of the screen, resulting in a distorted image.

[0004] Furthermore, in devices that create new videos by combining images captured simultaneously by multiple cameras, the positions controlled by optical image stabilization for each of the multiple cameras are different, which results in changes in the positional relationship of the captured images between the cameras, making the compositing process complicated.Furthermore, in devices that create ultra-wide-angle images by tilting the optical axis of each camera and combining those images, even if multiple cameras are equipped with optical image stabilization mechanisms, the individual image stabilization amounts do not match, causing changes in the positional relationship between the cameras.In addition, when barrel-shift or sensor-shift optical image stabilization is used, the periphery of the images captured by each camera is distorted, making compositing difficult.

[0005] Furthermore, if an image stabilization mechanism is provided for each of the multiple optical modules, each optical unit becomes larger, which leads to the problem of the equipment in which the optical units are installed becoming larger. Furthermore, a driver IC is required for each optical image stabilization mechanism, and adjustment of the control amount and other tasks are required during manufacturing. This results in problems in terms of cost and the burden of adjustment during manufacturing.

[0006] Not only in the case of simultaneous shooting between ordinary imaging cameras, but also in a device that combines an imaging camera and a special-purpose camera (for example, an EVS (Event Base Vision Sensor), a polarization sensor camera, a spectroscopic sensor camera, a ranging sensor camera, etc.) to shoot simultaneously and create a new composite image using each other's shooting data, when optical image stabilization is performed on each of the multiple cameras, the control positions due to the correction do not match, so not only the parallax between the cameras but also the correction difference due to the optical image stabilization must be taken into consideration when compositing, which makes the compositing process complicated. Furthermore, when creating a composite image using a ToF (Time of Flight) camera (such as an iToF (Indirect Time of Flight) camera or a dToF (Direct Time of Flight) camera) and an imaging camera, typically only the imaging camera is equipped with an optical image stabilization mechanism, and the ToF camera is not equipped with an optical image stabilization mechanism, so the positional relationship between the images of the imaging camera and the ToF camera is disrupted by the influence of camera shake, making the composition process complicated. In this case, it would seem that it would work if the ToF camera were equipped with a barrel-shift or sensor-shift optical image stabilization function and controlled so that the amount of correction matched that of the imaging camera, but it is difficult to match the control positions of the image stabilization of the two cameras. In addition, there is the problem that the distance measurement accuracy of the ToF camera is affected if the positional relationship between the pixels and lens is disrupted, and the distance measurement accuracy of the ToF camera differs depending on the positional relationship with the dedicated light-emitting unit, so adding an optical image stabilization mechanism to just the ToF camera makes it impossible to measure distance accurately.

[0007] Regarding the above-mentioned problem, with regard to an imaging module, which is one type of optical module, Patent Document 1 discloses a configuration in which two imaging modules are mounted together on a holder, the holder is supported by a support section that supports the rear side, and image stabilization is performed by swinging the holder around the support section. With this configuration, image stabilization can be performed for the two imaging modules with a single optical image stabilization mechanism, so that positional deviation between the two cameras due to image stabilization does not occur.

[0008] Japanese Patent Application Laid-Open No. 2018-18022

[0009] However, in the configuration disclosed in Patent Document 1, a support portion is provided on the rear side, and magnets and coils are arranged in a planar manner on the outer periphery rear side of the imaging module, which results in the optical unit being large in both planar and thickness. Furthermore, the load is concentrated at a single point on the support portion, which creates a problem of making the support portion more susceptible to damage. If the number of imaging modules in this configuration were to be increased to three or more, the magnets and coils arranged on the outer periphery rear side of the module would also need to be larger, which would further increase the size in planar and thickness, and would also increase the weight, which would increase the load concentrated at a single point, further increasing the susceptibility to damage.

[0010] Therefore, the present disclosure proposes an optical unit that can correct image stabilization for multiple optical modules without variations in correction position and image stabilization performance, is durable, can be made small in size both in terms of plane and thickness, and can correct image stabilization for multiple optical modules while maintaining the performance of each individual optical module by arranging not only ordinary imaging modules as optical modules but also optical modules using ToF sensors and deflection sensors, and components whose positional relationship must not change in order to maintain the performance of the optical modules (such as the light emitting unit of a ToF camera) in a swinging section.

[0011] An optical unit according to an embodiment of the present disclosure includes a plurality of optical modules, a first holder having a first surrounding portion surrounding the plurality of optical modules when viewed along the optical axis direction of the plurality of optical modules and holding the plurality of optical modules, a second holder having a second surrounding portion surrounding the periphery of the first surrounding portion when viewed along the optical axis direction, a frame overlapping with the first surrounding portion when viewed along the optical axis direction, two first support pieces extending from the frame to support the first holder so as to be swingable about a first rotation axis substantially perpendicular to the optical axis direction, and a second support piece extending from the frame to support the frame substantially perpendicular to the optical axis and the first rotation axis. and a camera shake correction drive mechanism that causes the oscillating support to swing about the second rotation axis and the first holder to swing about the first rotation axis, wherein the first holder is supported by the oscillating support so as to be oscillatable about the first rotation axis with the first surrounding portion connected to the first support pieces, and the oscillating support is supported by the second holder so as to be oscillatable about the second rotation axis with the second support pieces connected to the second surrounding portion.

[0012] 1 is a perspective view of an optical unit according to Embodiment 1. FIG. 2 is a side view of the optical unit according to Embodiment 1. FIG. 3 is an exploded perspective view of the optical unit according to Embodiment 1. FIG. 4 is a perspective view of a first holder. FIG. 5 is a plan view of the first holder. FIG. 6 is a perspective view of a oscillating support. FIG. 7 is a plan view of the oscillating support. FIG. 8 is a side view of the oscillating support. FIG. 9 is a perspective view of a second holder. FIG. 10 is a plan view of the second holder. FIG. 11 is a functional block diagram of an imaging device equipped with an optical unit according to Embodiment 1. FIG. 12 is a perspective view of an optical unit according to a first modified example of Embodiment 1. FIG. 13 is a side view of an optical unit according to the first modified example. FIG. 14 is an exploded perspective view of an optical unit according to the first modified example. FIG. 15 is a perspective view of a first holder provided in the optical unit according to the first modified example. FIG. 16 is a plan view of the first holder provided in the optical unit according to the first modified example. FIG. 17 is a perspective view of a oscillating support provided in the optical unit according to the first modified example. FIG. 18 is a plan view of the oscillating support provided in the optical unit according to the first modified example. FIG. 19 is a side view of the oscillating support provided in the optical unit according to the first modified example. FIG. 19 is a perspective view of a second holder provided in the optical unit according to the first modified example. FIG. 19 is a plan view of the oscillating support provided in the optical unit according to the first modified example. 35 is a perspective view of an optical unit according to a second modified example of Embodiment 1. FIG. 36 is a side view of the optical unit according to the second modified example. FIG. 37 is an exploded perspective view of the optical unit according to the second modified example. FIG. 38 is a perspective view of a first holder provided in the optical unit according to the second modified example. FIG. 39 is a plan view of the first holder provided in the optical unit according to the second modified example. FIG. 39 is a perspective view of an oscillating support provided in the optical unit according to the second modified example. FIG. 39 is a plan view of the oscillating support provided in the optical unit according to the second modified example. FIG. 39 is a side view of the oscillating support provided in the optical unit according to the second modified example. FIG. 39 is a perspective view of a second holder provided in the optical unit according to the second modified example. FIG. 39 is a plan view of the oscillating support provided in the optical unit according to the second modified example. FIG. 39 is an exploded perspective view of an optical unit according to a third modified example of Embodiment 1. FIG. 39 is a side view of the optical unit according to the third modified example. FIG. 39 is a side view of the optical unit according to the third modified example, showing a state in which the base plate has been removed. FIG. 39 is a plan view of an optical unit according to a fourth modified example of Embodiment 1. FIG. 39 is a partially enlarged perspective view of portion A shown in FIG. 35. FIG. 39 is a plan view of the first holder in the fourth modified example.FIG. 43 is a diagram showing an example of a configuration in which a ToF camera, a light emitting unit, and an imaging camera module are mounted on a first holder as an optical module. FIG. 44 is a front view of an optical unit in which two imaging camera modules with different optical axis directions are mounted on a first holder. FIG. 45 is an exploded perspective view of the optical unit shown in FIG. 39. FIG. 46 is a diagram showing an example of combining images taken with the optical unit shown in FIG. 39. FIG. 47 is a side view of an optical unit in which three imaging camera modules with different optical axis directions are mounted on a first holder. FIG. 48 is an exploded perspective view of the optical unit shown in FIG. 42. FIG. 49 is a diagram showing an example of combining images taken with the optical unit shown in FIG. 42.

[0013] Hereinafter, embodiments for carrying out the present technology will be described. The description will be made in the following order: 1. Configuration example of optical unit 2. Optical module 3. First holder 4. Oscillating support 5. Second holder 6. Drive mechanism 7. Imaging device equipped with optical unit 8. Effects 9. Optical unit according to first modified example 10. Optical unit according to second modified example 11. Optical unit according to third modified example 12. Optical unit according to fourth modified example 13. Variations of optical module 14. Other 15. Supplementary notes

[0014] <<1. Configuration Example of Optical Unit>> Fig. 1 is a perspective view of an optical unit according to embodiment 1. Fig. 2 is a side view of the optical unit according to embodiment 1. Fig. 3 is an exploded perspective view of the optical unit according to embodiment 1.

[0015] The optical unit 1 includes a plurality of optical modules 2, a first holder 3, a swing support 4, a second holder 5, and a drive mechanism 6. In reality, various parts are required, such as a substrate for moving the optical modules 2 and the drive mechanism 6, wiring, a position detection unit 12 for detecting the amount of tilt, and a stopper for limiting the amount of tilt, and it is also necessary to modify the shapes of the parts, holders, and swing supports for attaching these, but illustrations and explanations of these will be omitted and the configuration of the parts relevant to this disclosure will be mainly described.

[0016] <<2. Optical Module>> The optical unit 1 includes a plurality of optical modules 2. In the first embodiment, as an example, a configuration is given in which the optical unit 1 includes three optical modules 2. The three optical modules 2 are referred to as a first optical module 21, a second optical module 22, and a third optical module 23. Note that the number of optical modules 2 included in the optical unit 1 is not limited to three, and may be two, or four or more.

[0017] The first optical module 21, the second optical module 22, and the third optical module 23 are imaging camera modules that have an imaging element and a lens and capture an image of a subject. The first optical module 21, the second optical module 22, and the third optical module 23 may be camera modules that capture images in RGB color or monochrome. The first optical module 21, the second optical module 22, and the third optical module 23 have lenses with different imaging magnifications. In the optical unit 1, the optical module 2 to be used is switched depending on the imaging magnification at that time.

[0018] <<3. First Holder>> Fig. 4 is a perspective view of the first holder. Fig. 5 is a plan view of the first holder. The first holder 3 holds a plurality of optical modules 2. The first holder 3 has a first bottom plate 31 and a first surrounding portion 32. The first bottom plate 31 is a plate-like member on which the plurality of optical modules 2 are placed. The first bottom plate 31 has a substantially square shape in a plan view, as shown in Fig. 5. The plurality of optical modules 2 are fixed on the first bottom plate 31. Note that, although the plurality of optical modules are fixed on the first bottom plate 31 in this example, a configuration may be adopted in which the first bottom plate 31 is not provided and the optical modules are fixed to the first surrounding portion 32 by another method.

[0019] The first enclosing portion 32 is a wall-like member formed along the outer edge of the first bottom plate 31. Because the first enclosing portion 32 is formed along the outer edge of the first bottom plate 31, the first enclosing portion 32 has a substantially square shape in a plan view, similar to the first bottom plate 31. The first enclosing portion 32 surrounds the plurality of optical modules 2 in a plan view. Here, the plan view refers to a state viewed along the optical axes of the plurality of optical modules 2. Each of the plurality of optical modules 2 has an optical axis extending toward a subject to be photographed. The optical axes set for the plurality of optical modules 2 are generally parallel to each other. For example, if the optical modules 2 are configured to be able to perform wide-angle photography by shifting the optical axis directions of the plurality of optical modules 2, the optical axes are not strictly parallel to each other. However, when viewed along any of the optical axes, the optical axes are not shifted to a degree that would affect the way the first enclosing portion 32 surrounds the plurality of optical modules 2. In the following description, the side along the optical axis where the subject is expected to be photographed is referred to as the front side, and the opposite side is referred to as the rear side.

[0020] Since the first enclosing portion 32 has a substantially square shape, the first enclosing portion 32 has four corners. A convex portion 322 that fits into a concave portion formed in the oscillating support 4 (described later) is formed on the outer peripheral surface of the first enclosing portion 32. The convex portion 322 is formed on one diagonal corner of the four corners of the first enclosing portion 32. The first enclosing portion 32 has a shape in which four wall members 323 are connected together. An opening 324 is formed in each of a pair of adjacent wall members 323. In this example, an opening is formed in each of two adjacent wall members 323, but this shape can be optimized depending on the drive mechanism to be used. In some cases, openings are formed in all four wall members 323, or in some cases, no openings are formed in all four wall members 323.

[0021] <<4. Oscillating Support Body>> Fig. 6 is a perspective view of the oscillating support body. Fig. 7 is a plan view of the oscillating support body. Fig. 8 is a side view of the oscillating support body. The oscillating support body 4 has a frame body 41 and four support pieces 42 formed on the frame body 41.

[0022] The frame body 41 is formed in a shape that overlaps with the first surrounding portion 32 of the first holding body 3 in a plan view. The frame body 41 is formed in a thin plate shape. Since the shape of the first surrounding portion 32 in a plan view is approximately square, the shape of the frame body 41 in a plan view is also approximately square. Four corners 411 of the frame body 41 are located outside the corners 321 of the first holding body 3 in a plan view.

[0023] The four support pieces 42 protrude rearward from corners 411 of the frame body 41. Of the four support pieces 42, two support pieces 42 that face the convex portions 322 of the first holding body 3 are formed with first recesses 43 into which the convex portions 322 fit. The support pieces 42 with the first recesses 43 formed therein are also referred to as first support pieces 421.

[0024] A second recess 44 that protrudes outward is formed in two support pieces 42 different from the first support piece 421. The support pieces 42 in which the second recess 44 is formed are also referred to as second support pieces 422.

[0025] The first holder 3 and the oscillating support 4 are connected by fitting the convex portion 322 formed on the first holder 3 into the first concave portion 43 formed on the first support piece 421 of the oscillating support 4. The first holder 3 is supported by the oscillating support 4 so as to be able to oscillate around the first rotation axis 7 connecting the convex portions 322. The optical axis and the first rotation axis 7 are substantially perpendicular. Note that "perpendicular" also includes the case where the two straight lines are in a twisted position.

[0026] The frame body 41 has a shape that is bent in a valley fold toward the front side at the part that overlaps with the first rotation shaft 7 when viewed in a plane, and is structured so that even if the first holding body 3 swings around the first rotation shaft 7, there is no interference up to a certain angle.

[0027] <<5. Second Holding Body>> Fig. 9 is a perspective view of the second holding body. Fig. 10 is a plan view of the second holding body. The second holding body 5 has a second bottom plate 51 and a second surrounding portion 52. The second bottom plate 51 is a plate-like member. The shape of the second bottom plate 51 in a plan view is approximately square, as shown in Fig. 10. Note that although this example shows an example in which the second bottom plate 51 is provided, a configuration without the second bottom plate 51 may also be used.

[0028] The second surrounding portion 52 is a wall-like member formed along the outer edge of the second bottom plate 51. Because the second surrounding portion 52 is formed along the outer edge of the second bottom plate 51, the second surrounding portion 52 has a substantially square shape in plan view, similar to the second bottom plate 51. In plan view, the second bottom plate 51 is larger than the first bottom plate 31 of the first holding body 3. The first holding body 3 is inserted inside the second surrounding portion 52. This can also be said to surround the periphery of the first surrounding portion 32 in plan view. With the first holding body 3 inserted inside the second surrounding portion 52, a gap is formed between the first surrounding portion 32 and the second surrounding portion 52. The multiple support pieces 42 formed on the oscillating support 4 are inserted into the gap between the first surrounding portion 32 and the second surrounding portion 52.

[0029] Since the second enclosing portion 52 has a substantially square shape, the second enclosing portion 52 has four corners 521. On the inner circumferential surface of the second enclosing portion 52, convex portions 522 that fit into the second concave portions 44 formed in the second support pieces 422 are formed at two of the four corners 521 that face the second support pieces 422 of the oscillating support 4.

[0030] The oscillating support 4 and the second holding body 5 are connected by fitting the convex portion 522 formed on the second holding body 5 into the second concave portion 44 formed on the second support piece 422 of the oscillating support 4. In addition, the oscillating support 4 is supported by the second holding body 5 so as to be oscillating about the second rotation axis 8 connecting the convex portions 522.

[0031] In a plan view, the first rotation axis 7 and the second rotation axis 8 intersect with each other. Furthermore, the first rotation axis 7 and the second rotation axis 8 are axes that pass through the diagonals of a substantially square, and are therefore perpendicular to each other.

[0032] With the swing support 4 supported by the second holder 5 , a gap is formed between the first bottom plate 31 and the second bottom plate 51 .

[0033] By fixing the second holder 5 to the device on which the optical unit 1 is mounted, the first holder 3 becomes oscillating about the first rotation axis 7 and the second rotation axis 8. The multiple optical modules 2 held by the first holder 3 also oscillate together with the first holder 3. That is, in the optical unit 1, the first holder 3, the oscillating support 4, and the second holder 5 form a gimbal mechanism that allows the multiple optical modules 2 to oscillate about two axes, the first rotation axis 7 and the second rotation axis 8, which are perpendicular to each other. Note that when oscillating about the first rotation axis 7, the first holder 3 and the multiple optical modules 2 oscillate. Furthermore, when oscillating about the second rotation axis 8, the oscillating support 4 oscillates in addition to the first holder 3 and the multiple optical modules 2.

[0034] <<6. Drive Mechanism>> The drive mechanism 6 is a device that swings the first holder 3 around the first rotation shaft 7 and the second rotation shaft 8. The drive mechanism 6 is, for example, a voice coil motor (VCM). As shown in FIG. 3 , if the drive mechanism 6 is a VCM, the drive mechanism 6 has a magnet 61 and a coil 62. The magnet 61 is provided inside an opening 324 formed in the first holder 3. The coil 62 is provided inside the second surrounding portion 52 of the second holder 5, facing the magnet 61. The drive mechanism 6 also includes a position detection unit, such as a Hall sensor, which will be described later. While a VCM is used as the drive mechanism in this example, the drive mechanism 6 is not limited to a VCM and various other devices, such as a shaped memory alloy (SMA) or a piezoelectric element, can be used. In the case of an SMA or the like, the position detection unit is not necessarily required, and instead the position may be detected using the resistance value of the SMA itself.

[0035] 7. Imaging device equipped with optical unit Next, an imaging device equipped with an optical unit will be described. Fig. 11 is a functional block diagram of the imaging device equipped with the optical unit according to the first embodiment.

[0036] The imaging device 11 is a device capable of capturing images, videos, etc. Examples of the imaging device 11 include a smartphone and a digital camera. The imaging device 11 performs optical image stabilization by controlling the attitude of an optical module.

[0037] The imaging device 11 is equipped with an optical unit 1. The imaging device 11 also includes a gyro sensor 13, a calculation unit 14, a drive control unit 15, a signal processing unit 16, a display 17, and a recording medium 18.

[0038] The position detection unit 12 in the optical unit 1 detects the attitude of the first holder 3 and transmits the detected attitude information to the calculation unit 14. The gyro sensor 13 detects changes in the attitude of the imaging device 11 and transmits the detected change information to the calculation unit 14. The calculation unit 14 calculates the amount of shaking required to correct camera shake based on the change information transmitted from the gyro sensor 13 and the attitude information transmitted from the position detection unit 12, and transmits the calculated amount of shaking to the drive control unit 15. The drive control unit 15 controls the drive mechanism 6 based on the amount of shaking transmitted from the calculation unit 14 to swing the first holder 3 and change its attitude. As a result, camera shake correction can be performed consistently for all of the multiple optical modules 2. The signal processing unit 16 processes signals obtained from the multiple optical modules 2 to create captured images and videos. The display 17 is configured to have a display unit such as a liquid crystal panel or an organic EL (Electro Luminescence) panel, and displays the image output from the signal processing unit 16. The recording medium 18 is a memory that is built into the imaging device 11 or is removable and can be attached to and detached from the imaging device 11, and records the image output from the signal processing unit 16. In this example, the drive control unit 15 is provided outside the optical unit 1, but the drive control unit 15 may be provided inside the optical unit 1. The calculation unit 14 may also be provided inside the optical unit 1. In this example, the gyro sensor 13 is provided outside the optical unit 1, but the gyro sensor 13 may be provided inside the optical unit 1.

[0039] <<8. Effects>> According to the optical unit 1 and imaging device 11 described above, image stabilization is performed collectively on all of the multiple optical modules 2 provided in the optical unit 1, thereby achieving uniformity in the image stabilization performance performed on the multiple optical modules 2. Therefore, when the optical module 2 being used is switched in accordance with a change in the shooting magnification at that time, changes in image quality due to differences in image stabilization performance are less likely to occur.

[0040] Furthermore, in a configuration in which image stabilization is performed separately for multiple optical modules 2, image stabilization may be performed only on the optical module 2 being used for shooting, while image stabilization may not be performed on the other optical modules 2. In such a case, if the optical module 2 being used is switched to an optical module 2 that had not previously been subjected to image stabilization due to a change in shooting magnification, the image may be significantly shaken due to ineffective image stabilization immediately after the switch. On the other hand, in the optical unit 1 according to the first embodiment, image stabilization is performed simultaneously for all optical modules 2, so the problem of images with significant shake occurring when the optical module 2 is switched does not occur. Furthermore, even when images from multiple optical modules are combined to form a single image, in a configuration in which image stabilization is performed separately for multiple optical modules 2, the positional relationship of the images between the multiple optical modules changes due to image stabilization, making the combining process complicated. However, in the optical unit 1 according to the first embodiment, image stabilization is performed simultaneously for all optical modules 2, so the positional relationship of the images between the multiple optical modules does not change, making the combining process easier.

[0041] Furthermore, since optical image stabilization can be performed by controlling the attitudes of multiple optical modules 2 with a single drive mechanism 6, compared to when image stabilization is performed for each individual optical module 2, the optical unit 1 and the imaging device 11 can be made smaller. Furthermore, there is no need to provide multiple drive control units 15 for controlling the drive mechanism 6. Furthermore, there is no need to calculate the drive amount for each of the multiple optical modules 2, so there is no need to provide multiple calculation units 14. This contributes to a reduction in manufacturing costs. Furthermore, there is no need to calibrate the detection amount and drive amount of the gyro sensor 13 for each of the multiple optical modules 2, which contributes to a reduction in the manufacturing process and manufacturing costs.

[0042] Furthermore, the fulcrums for supporting the first holder 3 and the oscillating support 4 to be able to oscillate are the convex portion 322 formed on the first enclosing portion 32 that surrounds the multiple optical modules 2 in a plan view, and the convex portion 522 formed on the second enclosing portion 52 that surrounds the first enclosing portion in a plan view. In other words, because the fulcrums for oscillating the multiple optical modules 2 are provided on the side surfaces, the optical unit 1 can be made thinner than when the fulcrums are located on the rear surface. By making the optical unit 1 thinner, the imaging device 11 in which it is mounted can also be made thinner.

[0043] Furthermore, since there are four fulcrums for swinging the optical modules 2, damage is less likely to occur compared to a configuration in which one fulcrum is provided on the rear surface.

[0044] Furthermore, optical image stabilization methods include barrel shift and sensor shift. However, with these methods, the positional relationship between the lens and the image sensor shifts during image stabilization, and it is necessary to increase the image circle of the lens to account for this shift. This results in a larger lens, resulting in a larger overall optical module. In contrast, with the optical unit according to the first embodiment, image stabilization is performed by oscillating the optical module 2, which includes the lens and the image sensor, together, and therefore no misalignment occurs between the lens and the image sensor. Therefore, there is no need to increase the image circle of the lens to account for lens misalignment, and the optical module 2 can be made more compact. This allows for a more compact optical unit 1 and a more compact imaging device 11. Furthermore, as mentioned above, with barrel shift and sensor shift methods, there is a problem of peripheral deformation because rotational movement-induced image stabilization is corrected using linear movement. However, with the optical unit according to the first embodiment, rotational movement-induced image stabilization is corrected using rotational movement, and therefore no peripheral deformation occurs.

[0045] Furthermore, the first holder 3, which is a component of the gimbal mechanism, and the oscillating support 4 are formed so as to overlap in a plan view, which makes it possible to reduce the size of the optical unit 1. Furthermore, the frame 41 of the oscillating support 4 that overlaps the first holder 3 is formed from a thin plate, which makes it possible to reduce the thickness of the optical unit 1.

[0046] <<9. Optical Unit According to First Modification>> Fig. 12 is a perspective view of an optical unit according to a first modification of Embodiment 1. Fig. 13 is a side view of the optical unit according to the first modification. Fig. 14 is an exploded perspective view of the optical unit according to the first modification. Fig. 15 is a perspective view of a first holder included in the optical unit according to the first modification. Fig. 16 is a plan view of the first holder included in the optical unit according to the first modification. Fig. 17 is a perspective view of a oscillating support included in the optical unit according to the first modification. Fig. 18 is a plan view of the oscillating support included in the optical unit according to the first modification. Fig. 19 is a side view of the oscillating support included in the optical unit according to the first modification. Fig. 20 is a perspective view of a second holder included in the optical unit according to the first modification. Fig. 21 is a plan view of the oscillating support included in the optical unit according to the first modification.

[0047] In the optical unit 1 according to the first modified example, the support pieces 42 are formed at different positions on the oscillating support body 4. Specifically, the support pieces 42 are formed so as to protrude from the center portions 412 of each side of the frame body 41, which is quadrangular in plan view, rather than from the corners of the frame body 41.

[0048] Therefore, the convex portion 322 that fits into the first concave portion 43 (see FIGS. 17 to 19) formed in the first support piece 421 is formed in the center of the side of the first surrounding portion 32 of the first holder 3, which is quadrangular in plan view, as shown in FIGS. 15 and 16. Since the convex portion 322 is formed in the center of the side of the first surrounding portion 32, the opening 324 formed in the wall member 323 is divided so as to sandwich the area where the convex portion 322 is formed.

[0049] In addition, the convex portion 522 that fits into the second concave portion 44 (see Figures 17 to 19) formed in the second support piece 422 is formed in the center of the side of the second surrounding portion 52 of the second holding body 5, which is rectangular in plan view, as shown in Figures 20 and 21.

[0050] In the optical unit according to the first modification, the first rotation axis 7 and the second rotation axis 8, which are the centers of swing of the optical modules 2, pass through the center 412 of the frame 41 in a plan view.

[0051] The frame 41 is bent in a valley shape toward the front side at a portion that overlaps with the first rotation shaft 7 in a plan view.

[0052] The optical unit 1 according to the first modified example can also achieve the same effects as those described above in "8. Effects."

[0053] <<10. Optical Unit According to Second Modification>> Fig. 22 is a perspective view of an optical unit according to a second modification of Embodiment 1. Fig. 23 is a side view of the optical unit according to the second modification. Fig. 24 is an exploded perspective view of the optical unit according to the second modification. Fig. 25 is a perspective view of a first holder included in the optical unit according to the second modification. Fig. 26 is a plan view of the first holder included in the optical unit according to the second modification. Fig. 27 is a perspective view of an oscillating support included in the optical unit according to the second modification. Fig. 28 is a plan view of the oscillating support included in the optical unit according to the second modification. Fig. 29 is a side view of the oscillating support included in the optical unit according to the second modification. Fig. 30 is a perspective view of a second holder included in the optical unit according to the second modification. Fig. 31 is a plan view of the oscillating support included in the optical unit according to the second modification.

[0054] In the optical unit 1 according to the second modification, the first holder 3, the oscillating support 4, and the second holder 5 have a substantially rectangular shape in plan view. Also, similar to the optical unit 1 according to the first modification, the support pieces 42 are formed so as to protrude from the center portions 412 of each side of the frame 41, which is rectangular in plan view, rather than from the corners of the frame 41.

[0055] Therefore, the convex portion 322 that fits into the first concave portion 43 (see FIGS. 27 to 29) formed in the first support piece 421 is formed in the center of the side of the first surrounding portion 32 of the first holder 3, which is quadrangular in plan view, as shown in FIGS. 25 and 26. Since the convex portion 322 is formed in the center of the side of the first surrounding portion 32, the opening 324 formed in the wall member 323 is divided so as to sandwich the area where the convex portion 322 is formed.

[0056] In addition, the convex portion 522 that fits into the second concave portion 44 (see Figures 27 to 29) formed in the second support piece 422 is formed in the center of the side of the second surrounding portion 52 of the second holding body 5, which is rectangular in plan view, as shown in Figures 30 and 31.

[0057] In the optical unit according to the second modification, the first rotation shaft 7 and the second rotation shaft 8, which are the centers of swing of the optical modules 2, pass through the center 412 of the frame 41 in a plan view.

[0058] The frame 41 is bent in a valley fold toward the front side at a portion that overlaps the first rotation shaft 7 in a plan view. The first support piece 421 is formed at the center of the long side of the frame 41.

[0059] The optical unit 1 according to the second modified example can also achieve the same effects as those described in "8. Effects" above.

[0060] When the first holder 3, oscillating support 4, and second holder 5 have a substantially rectangular shape in plan view, as in the optical unit 1 according to the second modified example, the first rotation axis 7 and the second rotation axis 8 are provided so as to connect the centers of the sides of the frame 41, and the first rotation axis 7 and the second rotation axis 8 are perpendicular to each other, making it easier to control the attitude by oscillation. Note that this description does not exclude the case where the first rotation axis 7 and the second rotation axis 8 are provided so as to overlap with the diagonal line of the frame 41 in plan view.

[0061] In addition, in the optical unit of the second modified example, an example is shown in which two optical modules 2 are held by the first holder 3, but three or more optical modules 2 may be held by the first holder 3.

[0062] <<11. Optical unit according to a third modified example>> Fig. 32 is an exploded perspective view of an optical unit according to a third modified example of embodiment 1. Fig. 33 is a side view of the optical unit according to the third modified example. Fig. 34 is a side view of the optical unit according to the third modified example, showing a state in which the base plate has been removed.

[0063] In the optical unit 1 according to the third modified example, the second holder 5 is rotatable about a third rotation shaft 9 extending in the front-rear direction.

[0064] Specifically, a base plate 10 is provided on the back side of the second holding body 5. The base plate 10 is provided with a support portion 101 that rotatably supports the second holding body 5. In the optical unit 1 according to the third modified example, a ball bearing having the third rotation shaft 9 as its rotation axis is provided as the support portion 101. The outer ring of the ball bearing is fixed to the base plate 10, and the inner ring is rotatable relative to the base plate 10.

[0065] 34, a rear-side convex portion 53 that protrudes toward the rear side is formed on the bottom surface of the second holding body 5. The rear-side convex portion 53 is fitted into the inner ring of the ball bearing that is the support portion 101. This makes it possible for the second holding body 5 and the multiple optical modules 2 to rotate around the third rotation axis 9. Note that the configuration that allows rotation around the third rotation axis 9 is not limited to a ball bearing, and other configurations may be used as long as they can be fixed rotatably.

[0066] As a result, hand vibrations about the third rotation axis 9 as well as the first rotation axis 7 and the second rotation axis 8 can be corrected by driving the third rotation axis 9 using a driving mechanism (not shown).

[0067] Note that the configuration in which multiple optical modules 2 can be swung around the third rotation axis 9, as in the optical unit 1 according to the third modified example, can also be applied to optical units 1 other than the third modified example.

[0068] <<12. Optical unit according to a fourth modified example>> Fig. 35 is a plan view of an optical unit according to a fourth modified example of embodiment 1. Fig. 36 is a partially enlarged perspective view of portion A shown in Fig. 35. Fig. 37 is a plan view of a first holder in the fourth modified example.

[0069] In the optical unit 1 according to the fourth modified example, the first support piece 421 of the oscillating support 4 is inserted inside the first enclosing portion 32 of the first holding body 3 .

[0070] 36 and 37 , a recess 325 recessed outward is formed in the inner wall of the first enclosing portion 32 of the first holding body 3. In the optical unit 1 according to the fourth modified example, a convex portion 322 is formed in the recess 325 on the inside of the first enclosing portion 32. A first support piece 421 of the oscillating support 4 is inserted into the recess 325. The convex portion 322 formed on the inside of the first enclosing portion 32 fits into the first concave portion 43 formed in the first support piece 421, so that the first holding body 3 is supported by the oscillating support 4 in a manner that allows it to swing.

[0071] <<13. Variations of Optical Modules>> Variations of the optical modules 2 will be illustrated. The combination of the optical modules 2 is not limited to only imaging camera modules, but may also be a combination of an imaging camera module and a camera module whose properties are different from the imaging camera module, or a combination of only camera modules whose properties are different from the imaging camera module. Note that the imaging camera module may be a camera module that captures images in color, or may be a camera module that captures images in monochrome.

[0072] Cameras with properties different from imaging camera modules include infrared camera modules (IR camera modules), ToF (Time of Flight) camera modules such as iToF (Indirect Time of Flight) camera modules and dToF (Direct Time of Flight) camera modules, spectroscopic camera modules, SPAD (Single Photon Avalanche Diode) camera modules, EVS (Event Base Vision Sensor) camera modules, polarization camera modules, structured lights, etc. In any of these cases, if the image stabilization mechanism differs for each camera module, the positional relationship of the images for each camera module will be shifted due to image stabilization. However, in this embodiment, image stabilization is performed simultaneously, so no shift in positional relationship occurs.

[0073] In addition to the plurality of optical modules 2, a light emitting unit that irradiates light such as infrared light toward the subject to be photographed may be held by the first holder 3.

[0074] Among the camera modules exemplified above, if the multiple optical modules 2 include a camera module that captures images using light such as infrared light irradiated onto the subject, the light-emitting unit that emits the light may be held in the first holder 3. Among the camera modules exemplified above, camera modules that capture images using light irradiated onto the subject include infrared camera modules, ToF cameras such as iToF camera modules and dToF camera modules, and structured lights. Polarized cameras may also capture images by irradiating specific light. In particular, if the performance of the camera module deteriorates when the positional relationship between the light-emitting unit and the camera module changes, capturing images without degrading the performance of the camera module can be achieved by holding the light-emitting unit in the same holder.

[0075] The combination of the multiple optical modules 2 may be a combination of an imaging camera module and a camera that measures distance. The imaging camera module may be a camera that captures color images or a camera that captures monochrome images. Examples of the camera that measures distance include a ToF camera such as an iToF camera or a dToF camera. When the multiple optical modules 2 include a camera that measures distance, a light emitting unit that irradiates light may further be held by the first holder 3 as the optical module 2.

[0076] 38 is a diagram showing an example of a configuration in which a ToF camera, a light-emitting unit, and an imaging camera module are mounted on a first holder as an optical module. The ToF camera 202's ranging performance deteriorates when its positional relationship with the light-emitting unit 203 changes, but by simultaneously correcting image stabilization for the light-emitting unit 203, ranging can be performed without performance degradation. Furthermore, since the positional relationship between the images captured by the imaging camera module 201 and the ToF camera 202 does not change due to image stabilization, a composite image can be created using distance information from the captured image, just as when the camera is stationary, even during image stabilization.

[0077] Fig. 39 is a front view of an optical unit in which two imaging camera modules with optical axes oriented in different directions are mounted on a first holder. Fig. 40 is an exploded perspective view of the optical unit shown in Fig. 39. Fig. 41 is a diagram showing an example of combining images captured by the optical unit shown in Fig. 39.

[0078] In the example shown in Fig. 39, both the first optical module 21 and the second optical module 22 are imaging camera modules. The first optical module 21 and the second optical module 22 have optical axes oriented in different directions. The imaging range of the first optical module 21 and the imaging range of the second optical module 22 partially overlap. As shown in Fig. 41, an image 1001 captured by the first optical module 21 and an image 1002 captured by the second optical module 22 are combined to generate a single wide-angle image 1003.

[0079] However, when attempting to capture such wide-angle images by combining camera modules each equipped with an image stabilization mechanism, there is a problem in that the misalignment of the image stabilization control positions of the two image stabilization mechanisms changes the positional relationship between the captured images, making composition processing difficult. Furthermore, when the individual image stabilization mechanisms are barrel-shift or sensor-shift types, the image stabilization processing distorts the periphery, making composition processing even more difficult.

[0080] In this disclosure, the two camera modules are corrected simultaneously, so the positional relationship between the captured images does not change and no peripheral deformation occurs, making it easier to perform the synthesis process than when each module has its own image stabilization mechanism.

[0081] Fig. 42 is a side view of an optical unit in which three imaging camera modules with different optical axis directions are mounted on a first holder. Fig. 43 is an exploded perspective view of the optical unit shown in Fig. 42. Fig. 44 is a diagram showing an example of combining images captured by the optical unit shown in Fig. 42.

[0082] In the example shown in Fig. 42, the first optical module 21, the second optical module 22, and the third optical module 23 are all imaging camera modules. The first optical module 21, the second optical module 22, and the third optical module 23 have optical axis directions that are different from one another. The imaging ranges of the first optical module 21, the second optical module 22, and the third optical module 23 partially overlap. As shown in Fig. 43, an image 1011 captured by the first optical module 21, an image 1012 captured by the second optical module 22, and an image 1013 captured by the third optical module 23 are combined to generate a single wide-angle image 1014.

[0083] In this way, even when three imaging camera modules are mounted on the first holding body 3, the synthesis process can be performed more easily than when each module has its own image stabilization mechanism, just as in the case when two imaging camera modules with different optical axis directions are mounted on the first holding body 3.

[0084] <<14. Others>> In the optical unit 1 illustrated above, the first holder 3, the oscillating support 4, and the second holder 5 have rectangular shapes in a plan view, but they are not limited to this. For example, they may have circular shapes.

[0085] In addition, an example has been described in which the first recess 43 is formed on the first support piece 421 and the protrusion 322 is formed on the first holder 3, and they fit together to be supported so as to be swingable, but the support method is not limited to this. For example, a protrusion may be formed on the first support piece 421 and a recess may be formed on the first holder 3, or a hole may be formed instead of a recess. Instead of support by a protrusion and a recess, a structure in which they are connected by a rotation shaft may be used to support them so as to be rotatable.

[0086] In addition, an example has been described in which the second recess 44 is formed on the second support piece 422 and the protrusion 522 is formed on the second holder 5, and they fit together to be supported so as to be swingable, but the support method is not limited to this. For example, a protrusion may be formed on the second support piece 422 and a recess may be formed on the second holder 5, or a hole may be formed instead of a recess. Instead of support by a protrusion and a recess, a structure in which they are connected by a rotation shaft may be used to support them so as to be rotatable.

[0087] <<15. Supplementary Note>> The present technology may also be configured as follows: (1) A camera comprising: a plurality of optical modules; a first holder having a first surrounding portion surrounding the plurality of optical modules when viewed along the optical axis direction of the plurality of optical modules and holding the plurality of optical modules; a second holder having a second surrounding portion surrounding the periphery of the first surrounding portion when viewed along the optical axis direction; a frame overlapping the first surrounding portion when viewed along the optical axis direction, and an oscillating support having: two first support pieces extending from the frame to support the first holder so as to be oscillating about a first rotation axis substantially perpendicular to the optical axis direction; and two second support pieces extending from the frame to support the frame so as to be oscillating about a second rotation axis substantially perpendicular to the optical axis and the first rotation axis; and an image stabilization drive mechanism that oscillates the oscillating support about the second rotation axis and oscillates the first holder about the first rotation axis, An optical unit with image stabilization function, wherein the first holder is supported by the oscillating support body with the first surrounding portion connected to the first support piece so as to be oscillating about the first rotation axis, and the oscillating support body is supported by the second holder body with the second support piece connected to the second surrounding portion so as to be oscillating about the second rotation axis. (2) The optical unit described in (1) above, wherein the shapes of the first surrounding portion and the frame body are quadrangular when viewed along the optical axis direction, and the first support piece and the second support piece are formed at the center of each side of the frame body. (3) The optical unit described in (1) above, wherein the shapes of the first surrounding portion and the frame body are approximately square when viewed along the optical axis direction, and the first support piece and the second support piece are formed at the corners of the frame body. (4) The optical unit described in any one of (1) to (3) above, wherein the multiple optical modules are camera modules with different properties. (5) The optical unit according to (4), wherein the plurality of optical modules are camera modules having different imaging magnifications. (6) The optical unit according to (4), wherein the plurality of optical modules include an imaging camera module. (7) The optical unit according to (6), wherein the imaging camera module captures images in color.(8) The optical unit according to (6) above, wherein the imaging camera module captures images in monochrome. (9) The optical unit according to any one of (4) to (8) above, wherein the plurality of optical modules includes an infrared camera module. (10) The optical unit according to any one of (4) to (9) above, wherein the plurality of optical modules includes a Time of Flight camera module. (11) The optical unit according to any one of (4) to (10) above, wherein the plurality of optical modules includes an iToF camera module. (12) The optical unit according to any one of (4) to (11) above, wherein the plurality of optical modules includes a dToF camera module. (13) The optical unit according to any one of (4) to (12) above, wherein the plurality of optical modules includes a light emitting unit. (14) The optical unit according to any one of (4) to (13) above, wherein the plurality of optical modules includes a structured light. (15) The optical unit according to any one of (4) to (14) above, wherein the plurality of optical modules includes a spectroscopic camera module. (16) The optical unit according to any one of (4) to (15) above, wherein the plurality of optical modules includes a SPAD camera module. (17) The optical unit according to any one of (4) to (16) above, wherein the plurality of optical modules includes an EVS camera module. (18) The optical unit according to any one of (4) to (17) above, wherein the plurality of optical modules includes a polarization camera module. (19) The optical unit according to any one of (4) to (18) above, wherein the plurality of optical modules include camera modules having different optical axis directions. (20) The optical unit according to any one of (1) to (19) above, further comprising a support part that supports the second holder rotatably around a third rotation axis extending along the front-rear direction. (21) An imaging device comprising the optical unit according to any one of (1) to (20) above.

[0088] REFERENCE SIGNS LIST 1 Optical unit 11 Imaging device 12 Position detection section 13 Gyro sensor 14 Calculation section 15 Drive control section 16 Signal processing section 17 Display 18 Recording medium 2 Optical module 21 First optical module 22 Second optical module 23 Third optical module 201 Imaging camera module 202 ToF camera 203 Light emitting section 3 First holding body 31 First bottom plate 32 First surrounding section 321 Corner section 322 Convex section 323 Wall member 324 Opening 325 Recess 4 Oscillating support 41 Frame body 411 Corner section 412 Central section 42 Support piece 421 First support piece 422 Second support piece 43 First recess 44 Second recess 5 Second holding body 51 Second bottom plate 52 Second surrounding portion 521 Corner portion 522 Convex portion 53 Rear side convex portion 6 Drive mechanism 7 First rotation shaft 8 Second rotation shaft 9 Third rotation shaft 10 Base plate 101 Support portion

Claims

1. A camera comprising: a plurality of optical modules; a first holder having a first surrounding portion surrounding the plurality of optical modules when viewed along the optical axis direction of the plurality of optical modules and holding the plurality of optical modules; a second holder having a second surrounding portion surrounding the periphery of the first surrounding portion when viewed along the optical axis direction; a frame body overlapping with the first surrounding portion when viewed along the optical axis direction, two first support pieces extending from the frame body to support the first holder so as to be swingable about a first rotation axis substantially perpendicular to the optical axis direction, and two second support pieces extending from the frame body to support the frame body so as to be swingable about a second rotation axis substantially perpendicular to the optical axis and the first rotation axis; and a camera shake correction drive mechanism that swings the swing support about the second rotation axis and swings the first holder about the first rotation axis, an optical unit with image stabilization function, in which the first holder has the first surrounding portion connected to the first support piece and is supported by the oscillating support body so as to be oscillable around the first rotation axis, and the oscillating support body has the second support piece connected to the second surrounding portion and is supported by the second holder body so as to be oscillable around the second rotation axis.

2. An optical unit as described in claim 1, wherein the shape of the first surrounding portion and the frame body is rectangular when viewed along the optical axis direction, and the first support piece and the second support piece are formed in the center of each side of the frame body.

3. An optical unit as described in claim 1, wherein the shape of the first surrounding portion and the frame body is approximately square when viewed along the optical axis direction, and the first support piece and the second support piece are formed at corners of the frame body.

4. The optical unit according to claim 1, wherein the plurality of optical modules are camera modules having different properties from one another.

5. The optical unit according to claim 4, wherein the plurality of optical modules are camera modules having different imaging magnifications.

6. The optical unit according to claim 4, wherein the plurality of optical modules includes an imaging camera module.

7. The optical unit according to claim 6, wherein the imaging camera module captures images in color.

8. The optical unit according to claim 6, wherein the imaging camera module captures images in monochrome.

9. The optical unit according to claim 4, wherein the plurality of optical modules includes an infrared camera module.

10. The optical unit according to claim 4, wherein the plurality of optical modules includes a ToF camera module.

11. The optical unit of claim 4, wherein the plurality of optical modules includes an iToF camera module.

12. The optical unit of claim 4, wherein the plurality of optical modules includes a dToF camera module.

13. The optical unit according to claim 4, wherein the plurality of optical modules include a light emitting unit.

14. The optical unit of claim 4, wherein the plurality of optical modules includes a structured light.

15. The optical unit according to claim 4, wherein the plurality of optical modules includes a spectroscopic camera module.

16. The optical unit of claim 4, wherein the plurality of optical modules includes a SPAD camera module.

17. The optical unit of claim 4, wherein the plurality of optical modules includes an EVS camera module.

18. The optical unit of claim 4, wherein the plurality of optical modules includes a polarized camera module.

19. The optical unit according to claim 4, wherein the plurality of optical modules include camera modules having different optical axis directions.

20. The optical unit according to claim 1, further comprising a support portion that supports the second holder rotatably about a third rotation axis extending along the front-rear direction.

21. An imaging device comprising the optical unit according to claim 1.

Images