Imaging device

Abstract

The purpose of the present invention is to provide a specific mounting structure for attaching an imaging device such as a segment stereo camera or a separate stereo camera to a vehicle, the mounting structure being disposed on the imaging device. The imaging device is supported at least at three points by a bracket installed in the vehicle to be attached to the bracket. The imaging device includes a camera unit in which an imaging element, an imaging board on which a communication circuit for converting an image signal output from the imaging element for serial communication is mounted, and a lens barrel for forming an object image on the imaging element are housed in one housing. The imaging device includes a holder that holds the camera unit to be attached to the bracket. The holder has a first supported part to be supported by the bracket. The housing of the camera unit has a second supported part and a third supported part that are each supported by the bracket.

Description

Imaging device

[0001] The present invention relates to an imaging device.

[0002] An imaging device such as a stereo camera mounted on a vehicle facing the front of the vehicle is attached to a bracket installed on the vehicle. A mounting structure for this type of imaging device to the bracket is known, for example, from Japanese Patent Application Laid-Open No. 2003-222114.

[0003] Patent Document 1 discloses a device including an imaging unit that captures an image, and a holding unit that has a shielding unit that shields a part of the imaging unit and holds the imaging unit, the imaging unit having a supported part supported by the holding unit, the holding unit having an adhesive surface that is adhered to a window glass, a receiving part, and a leaf spring, the receiving part extending from one end of the receiving part in a first direction that is approximately parallel to the adhesive surface, then bending in a U-shape in a direction away from the adhesive surface, and then extending in a second direction opposite to the first direction to reach the other end of the receiving part, the receiving part having a groove part that is recessed in a direction approximately parallel to the adhesive surface along the extending direction of the receiving part, a guide part that guides the supported part in the first direction that is a direction in which the imaging unit approaches the shielding part, and a support part that supports the supported part after being guided by the guide part, the guide part being bent at the other end of the receiving part the opening facing the guide portion and through which the supported portion enters is formed by one end of the leaf spring that is arranged on one end side of the receiving portion and the abutment portion that faces the one end of the leaf spring, the leaf spring extending from one end of the leaf spring via the groove to the other end of the leaf spring, the other end of the leaf spring being arranged between a surface on the other end side of the receiving portion that faces the adhesive surface and a surface on the other end side of the receiving portion that does not face the adhesive surface, and the one end of the leaf spring urging the supported portion in a direction away from the adhesive surface.

[0004] Patent No. 6678124

[0005] In the imaging devices described above, the adoption of high-resolution imaging elements leads to higher performance image processing functions, which results in an expansion of the image processing circuitry and increased power consumption, causing problems with temperature rise within the device (particularly the imaging element).

[0006] In order to suppress the temperature rise of the imaging element, new imaging device concepts have been proposed, such as a segment stereo camera in which a camera unit including the imaging element and a control board on which an image processing circuit is mounted are housed in separate housings, or a separate stereo camera in which two monocular camera units having separate housings are separately attached to a vehicle.

[0007] However, for imaging devices such as segment stereo cameras or separate stereo cameras, there is still an issue as to what specific mounting structure should be used to mount them on existing brackets installed in vehicles, as no specific mounting structure has yet been established.

[0008] The present invention has been made in view of the above, and has an object to provide a specific mounting structure for an imaging device, such as a segment stereo camera or a separate stereo camera, for mounting the imaging device on a vehicle.

[0009] In order to solve the above problem, the imaging device of the present invention is an imaging device that is supported at at least three points by a bracket installed on a vehicle and attached to the bracket, and includes: a camera unit in which an imaging element, an imaging board on which a communication circuit that converts an image signal output from the imaging element for serial communication is mounted, and a lens barrel that forms a subject image on the imaging element are housed in a single housing; and a holder that holds the camera unit and is attached to the bracket, wherein the holder has a first supported portion supported by the bracket, and the housing of the camera unit has second and third supported portions that are each supported by the bracket.

[0010] According to the present invention, it is possible to provide a specific mounting structure for an imaging device, such as a segment stereo camera or a separate stereo camera, for mounting the imaging device on a vehicle. Other problems, components, and advantages will become clear from the description of the following embodiments.

[0011] 8 is a perspective view showing the configuration of an imaging device of the present embodiment. FIG. 9 is an exploded perspective view of the imaging device shown in FIG. 1. FIG. 10 is an exploded perspective view of a camera unit shown in FIG. 1. FIG. 11 is a perspective view showing a modified example of the imaging device shown in FIG. 1. FIG. 12 is a perspective view showing another modified example of the imaging device shown in FIG. 1. FIG. 13 is a block diagram showing the configuration of a sensing system including the imaging device shown in FIG. 1. FIG. 14 is a block diagram showing the configuration of a sensing system of a comparative example. FIG. 15 is a perspective view showing the configuration of a camera unit of a comparative example. FIG. 16 is a perspective view showing the configuration of an imaging device of a comparative example including the camera unit shown in FIG.

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that components with the same reference numerals in each embodiment have similar components in each embodiment unless otherwise specified, and description thereof will be omitted.

[0013] In this embodiment, the imaging direction Z of the imaging device 1 is also referred to as the "forward" of the imaging device 1, and the direction opposite to the imaging direction is also referred to as the "rearward" of the imaging device 1. The imaging direction Z is the direction in which the light receiving surface 121 of the imaging element 12 provided in the imaging device 1 faces. In this embodiment, the upward, downward, leftward, and rightward directions when viewing the imaging device 1 from the "rearward" to the "forward" are also referred to as the "upward," "downward," "leftward," and "rightward" directions of the imaging device 1, respectively. When the imaging device 1 is mounted facing the front of a vehicle, the directions of the imaging device 1 defined in this way also coincide with the directions of the vehicle. In this embodiment, as shown in FIG. 1 , the imaging direction Z (forward) is defined as the positive direction of the Z axis in an XYZ Cartesian coordinate system, the leftward direction is defined as the positive direction of the X axis in the coordinate system, and the upward direction is defined as the positive direction of the Y axis in the coordinate system. In this embodiment, as shown in FIG. 1, the rotation direction around the X axis is also referred to as the "pitch direction," the rotation direction around the Y axis is also referred to as the "yaw direction," and the rotation direction around the Z axis is also referred to as the "roll direction."

[0014] Fig. 1 is a perspective view showing the configuration of an image pickup apparatus 1 according to this embodiment. Fig. 2 is an exploded perspective view of the image pickup apparatus 1 shown in Fig. 1. Fig. 3 is an exploded perspective view of the camera unit 10 shown in Fig. 1.

[0015] The imaging device 1 is an imaging device used, for example, in a sensing system 100 that recognizes objects in front of a vehicle. The imaging device 1 is attached to a vehicle interior facing the front of the vehicle. The imaging device 1 is supported at least at three points by a bracket installed in the vehicle and attached to the bracket.

[0016] The bracket to which the imaging device 1 is attached is configured, for example, as the bracket described in Patent Document 1 (Japanese Patent No. 6678124). The bracket is joined to the vehicle windshield from the passenger compartment side and supports the imaging device 1 at at least three points. The bracket includes, as support parts for supporting the imaging device 1, one concave receiving part provided in the center of the rear surface of the bracket and two U-shaped receiving parts provided on the left and right sides of the rear surface of the bracket. The receiving parts of the bracket have leaf springs and support the convex supported parts of the imaging device 1 using a snap fit.

[0017] 1 and 2, the imaging device 1 includes a pair of camera units 10 and a holder 30. The imaging device 1 including the pair of camera units 10 constitutes a stereo camera.

[0018] 3, camera unit 10 has an imaging board 15 on which imaging element 12 is mounted, a lens barrel 11 that forms a subject image on light receiving surface 121 of imaging element 12, and a housing 16 that houses imaging board 15 and lens barrel 11. Camera unit 10 is a camera unit in which imaging board 15 and lens barrel 11 are housed in a single housing 16.

[0019] The imaging board 15 has the imaging element 12 mounted on its front surface 151, and the serializer circuit 13 and connector 14 mounted on its rear surface 152. The serializer circuit 13 is a communication circuit that converts the image signal output from the imaging element 12 into a signal for serial communication. A communication cable that connects a camera control ECU (Electronic Control Unit) 50 (described later) and the imaging device 1 is connected to the connector 14. The connector 14 transmits the image signal converted for serial communication by the serializer circuit 13 to the camera control ECU 50 via the communication cable. The imaging board 15 is fixed within the housing body 17 of the housing 16 by fastening members 20 such as screws, with the light receiving surface 121 of the imaging element 12 oriented perpendicular to the imaging direction Z.

[0020] The lens barrel 11 has a lens fixed to the inner peripheral surface of the lens barrel 11, and a flange portion 111 that protrudes radially from the outer peripheral surface of the lens barrel 11 and extends circumferentially. The lens barrel 11 is housed in the tubular portion 171 of the housing main body 17 with the optical axis of the lens perpendicular to the light receiving surface 121 of the image sensor 12 along the imaging direction Z. At this time, the flange portion 111 is fixed to the front end surface of the tubular portion 171 with an adhesive.

[0021] The housing 16 has a housing body 17 that houses the imaging board 15 and the lens barrel 11, and a cover 18 that covers the imaging board 15 housed in the housing body 17 from behind.

[0022] The housing main body 17 is box-shaped and has a cylindrical portion 171 that houses the lens barrel 11 provided on a front surface 172 and an open rear surface. The housing main body 17 has the cylindrical portion 171 along the imaging direction Z, a front surface 172 on which the cylindrical portion 171 is provided and which is perpendicular to the imaging direction Z, a left side surface 173 and a right side surface 174 that are continuous with the front surface 172 and are also along the imaging direction Z, and a top surface 175 and a bottom surface 176 that are continuous with the front surface 172, the left side surface 173, and the right side surface 174 and are also along the imaging direction Z.

[0023] A first pin 21 is provided on the left side surface 173 of the housing body 17, with the left side surface 173 as its base end and protruding in a direction away from the left side surface 173 (to the left). A second pin 22 is provided on the right side surface 174 of the housing body 17, with the right side surface 174 as its base end and protruding in a direction away from the right side surface 174 (to the right). The left side surface 173 and the right side surface 174 constitute the side surfaces of the housing 16. In this embodiment, the left side surface 173 and the right side surface 174 are also referred to as a pair of side surfaces 173, 174.

[0024] The cover 18 has a notch 181 that exposes the connector 14, which protrudes rearward from the imaging board 15 housed in the housing body 17, to the outside of the housing 16. The cover 18 is fixed to the housing body 17 by fastening members 19 such as screws.

[0025] The holder 30 is a member that holds the camera unit 10 and is attached to a bracket installed in the vehicle. As shown in Fig. 1, the holder 30 has a pair of frames 31, each of which holds a camera unit 10, and a stem 32 that connects the pair of frames 31. The pair of frames 31 and the stem 32 are integrally formed.

[0026] The pair of frames 31 are arranged spaced apart from each other along a predetermined direction X perpendicular to the imaging direction Z and hold the pair of camera units 10. The predetermined direction X is a direction along a base line length indicating the distance between the optical axes of the pair of camera units 10, and is the left-right direction of the imaging device 1.

[0027] 2 , the frame 31 has a through-hole 311 through which the lens barrel 11 and the tube portion 171 housed in the housing 16 are inserted, and fastening holes 312 provided around the through-hole 311 and drilled in the front-to-rear direction. The frame 31 is formed in a shape corresponding to the tube portion 171 and front surface 172 of the housing 16. For example, the frame 31 is formed in a rectangular ring shape. The frame 31 holds the camera unit 10 by fastening the housing 16 to the frame 31 from the front with fastening members 33 such as screws inserted into the fastening holes 312, with the lens barrel 11 and the tube portion 171 inserted through the through-hole 311 and the front surface 172 of the housing 16 abutting against the rear surface of the frame 31.

[0028] The stem 32 extends along the predetermined direction X and is disposed between the pair of frames 31. The left end of the stem 32 is connected to the right portion 314 of the left frame 31. The right end of the stem 32 is connected to the left portion 313 of the right frame 31. A protrusion 34 is provided in the central portion 321 of the stem 32, protruding in the imaging direction Z from the front surface of the central portion 321 as a base end. That is, the protrusion 34 is provided so as to protrude in the imaging direction Z from a base end at a position that avoids the through-hole 311 through which the lens barrel 11 is inserted. The protrusion 34 may be formed in a plate shape whose width in the left-right direction is greater than its thickness in the up-down direction.

[0029] As described above, the imaging device 1 is supported at at least three points by a bracket installed on a vehicle and attached to the bracket. A protruding piece 34 provided on the holder 30 protruding in the imaging direction Z is attached to a recessed receiving portion provided in the center of the bracket and supported by the receiving portion. The protruding piece 34 constitutes a first supported portion 41, which is one of three portions of the imaging device 1 supported by the bracket, and restricts rotation of the imaging device 1 in the pitch direction. In other words, the first supported portion 41 is formed by the protruding piece 34 and restricts rotation of the imaging device 1 in the pitch direction relative to the bracket.

[0030] Furthermore, the first pin 21 protruding leftward from the left side surface 173 of the housing 16 of the left camera unit 10 is attached to a U-shaped receiving portion provided on the left portion of the bracket and is supported by the receiving portion. The first pin 21 provided on the housing 16 of the left camera unit 10 constitutes a second supported portion 42, which is one of three portions supported by the bracket of the imaging device 1. In other words, the second supported portion 42 is constituted by the first pin 21 provided on the housing 16 of the left camera unit 10.

[0031] Similarly, the second pin 22 protruding rightward from the right side surface 174 of the housing 16 of the right camera unit 10 is attached to a U-shaped receiving portion provided on the right portion of the bracket and is supported by the receiving portion. The second pin 22 provided on the housing 16 of the right camera unit 10 constitutes a third supported portion 43, which is one of three portions of the imaging device 1 supported by the bracket. In other words, the third supported portion 43 is constituted by the second pin 22 provided on the housing 16 of the right camera unit 10.

[0032] The first pin 21 and the second pin 22 restrict the roll and yaw rotation of the imaging device 1 relative to the bracket. In other words, the second supported portion 42 and the third supported portion 43 formed by the first pin 21 and the second pin 22 restrict the roll and yaw rotation of the imaging device 1 relative to the bracket.

[0033] In this way, the imaging device 1 has a holder 30 that has a first supported portion 41 that is supported by a bracket installed on the vehicle, and the housing 16 of the camera unit 10 has a second supported portion 42 and a third supported portion 43 that are supported by the bracket.

[0034] The imaging device 1 equipped with such a camera unit 10 and holder 30 can be modified in various ways depending on the specifications of the vehicle or bracket, etc. Fig. 4 is a perspective view showing a modified example of the imaging device 1 shown in Fig. 1. Fig. 5 is a perspective view showing another modified example of the imaging device shown in Fig. 1.

[0035] As shown in FIG. 4 , the imaging device 1 can change the baseline length of the pair of camera units 10 simply by replacing the holders 30 with ones having different lengths along the predetermined direction X of the stem 32. An imaging device 1 having a pair of camera units 10 with a longer baseline length increases its size in the left-right direction but can measure distances at greater distances. An imaging device 1 having a pair of camera units 10 with a shorter baseline length cannot measure distances at greater distances but can reduce its size in the left-right direction. As a result, an imaging device 1 with a pair of camera units 10 with a shorter baseline length can be easily installed in various vehicle models with different cabin sizes or shapes and can reduce the feeling of oppression felt by vehicle occupants. The imaging device 1 can provide stereo cameras with different baseline lengths simply by using a common camera unit 10 and replacing the holder 30. Therefore, the imaging device 1 is highly versatile.

[0036] The second supported portion 42 that restricts the rotation of the imaging device 1 in the roll and yaw directions may be configured by the second pin 22 provided on the right side surface 174 of the left housing 16, rather than the first pin 21 provided on the left side surface 173 of the left housing 16. The third supported portion 43 that restricts the rotation of the imaging device 1 in the roll and yaw directions may be configured by the first pin 21 provided on the left side surface 173 of the right housing 16, rather than the second pin 22 provided on the right side surface 174 of the right housing 16. This allows the imaging device 1 to reduce the lateral size of the bracket installed in the vehicle, thereby reducing the sense of oppression felt by vehicle occupants. Furthermore, since the imaging device 1 has the camera unit 10 fixed to the holder 30 by the fastening member 33, the positional accuracy and rigidity of the optical axis can be ensured.

[0037] 5, the imaging device 1 can be replaced with a holder 30 configured only with a frame 35 without the stem 32, thereby providing a monocular camera. Similar to the frame 31 shown in FIGS. 1 and 2, the frame 35 of the holder 30 shown in FIG. 5 has a through-hole 351 through which the lens barrel 11 and the tube portion 171 housed in the housing 16 are inserted, and fastening holes 352 provided in the front-rear direction around the through-hole 351. Furthermore, the frame 35 shown in FIG. 5 has a protruding piece 36 protruding in the imaging direction Z from a left side portion 353 of the frame 35, and a protruding piece 37 protruding in the imaging direction Z from a right side portion 354 of the frame 35.

[0038] In the imaging device 1 shown in FIG. 5 , the first supported portion 41, which restricts rotation of the imaging device 1 in the pitch direction, is formed by at least one of the protrusions 36 and 37 provided on the frame 35. The second supported portion 42, which restricts rotation of the imaging device 1 in the roll direction and yaw direction, is formed by the first pin 21 provided on the left side surface 173 of the housing 16. The third supported portion 43, which restricts rotation of the imaging device 1 in the roll direction and yaw direction, is formed by the second pin 22 provided on the right side surface 174 of the housing 16. That is, the third supported portion 43 is formed by the second pin 22 provided on the housing 16 that has the first pin 21 that constitutes the second supported portion 42. The imaging device 1 uses a common camera unit 10, and by simply replacing the holder 30, it is possible to provide a separate stereo camera in which two monocular cameras are separately attached to a vehicle, or a monocular camera. Therefore, the imaging device 1 is highly versatile.

[0039] FIG. 6 is a block diagram showing the configuration of a sensing system 100 including the imaging device 1 shown in FIG.

[0040] The sensing system 100 includes the imaging device 1 described above and a camera control ECU 50 that recognizes an object in front of the vehicle.

[0041] As described above, the camera unit 10 of the imaging device 1 includes an imaging board 15 on which the imaging element 12 and the serializer circuit 13, which is a communication circuit that converts the image signal output from the imaging element 12 for serial communication, are mounted, and a lens barrel 11 that forms a subject image on the imaging element 12, all housed in a single housing 16. The imaging device 1 includes a pair of camera units 10 that are arranged in a predetermined direction X and spaced apart by a predetermined base length to form a stereo camera. The imaging device 1 transmits the image signal (serial communication signal) converted for serial communication by the serializer circuit 13 to the camera control ECU 50 via the connector 14 and a communication cable.

[0042] The camera control ECU 50 includes a control board 51, a deserializer circuit 52, a recognition microcomputer 53, a control microcomputer 54, a DDR (Double Data Rate) memory 55, a FROM (Flash Read Only Memory) 56, an EEPROM (Electrically Erasable and Programmable Read Only Memory) 57, and a housing 58.

[0043] The control board 51 is a circuit board on which a deserializer circuit 52, a recognition microcomputer 53, a control microcomputer 54, a DDR memory 55, an FROM 56, and an EEPROM 57 are mounted.

[0044] The deserializer circuit 52 converts the image signal, which is a serial communication signal transmitted from the imaging device 1 , into an image signal for parallel communication and transmits it to the recognition microcomputer 53 .

[0045] The recognition microcomputer 53 processes the image signal output from the deserializer circuit 52 and performs image processing on the resulting image. The recognition microcomputer 53 then performs recognition processing to recognize objects such as vehicles or people appearing in the image and measure the distance to the objects. The recognition microcomputer 53 transmits the results of the recognition processing to the control microcomputer 54. The recognition microcomputer 53 is connected to a DDR memory 55 that stores data being processed, and an FROM 56 that stores data required even after the power is turned off.

[0046] The control microcomputer 54 is connected to the recognition microcomputer 53 and controls the operation of the recognition microcomputer 53. The control microcomputer 54 also generates information necessary for vehicle driving control or warning notification based on the results of the recognition processing by the recognition microcomputer 53. The control microcomputer 54 is connected to an in-vehicle network 60 and transmits the generated information and the results of the recognition processing to the vehicle control ECU via the in-vehicle network 60. An EEPROM 57 that stores software and data used by the recognition microcomputer 53 and the control microcomputer 54 is connected to the control microcomputer 54.

[0047] The housing 58 houses the control board 51 on which the deserializer circuit 52, the recognition microcomputer 53, the control microcomputer 54, the DDR memory 55, the FROM 56, and the EEPROM 57 are mounted. The housing 58 is provided separately from the housing 16 of the camera unit 10, and does not house the imaging board 15 or the lens barrel 11.

[0048] The effects of this embodiment will be described using comparative examples of the imaging device 1 and sensing system 100 shown in Figures 7 to 9. Figure 7 is a block diagram showing the configuration of a sensing system 100A as a comparative example. Figure 8 is a perspective view showing the configuration of a camera unit 10B as a comparative example. Figure 9 is a perspective view showing the configuration of an imaging device 1B as a comparative example equipped with the camera unit 10B shown in Figure 8.

[0049] 7, in the sensing system 100A of the comparative example, the housing 2A of the imaging device 1A of the comparative example houses not only the imaging board 15A on which the imaging element 12A is mounted and the lens barrel 11A, but also the control board 51 on which the recognition microcomputer 53A and the control microcomputer 54A are mounted. Therefore, the sensing system 100A of the comparative example does not include the serializer circuit 13 and the deserializer circuit 52, and the components corresponding to the camera unit 10 and the camera control ECU 50 of the present embodiment are packaged together.

[0050] In contrast, in the sensing system 100 of this embodiment, the imaging board 15 and the lens barrel 11 are housed in the housing 16 of the camera unit 10, and the control board 51 is housed in the housing 58 of the camera control ECU 50. In other words, in the sensing system 100 of this embodiment, the camera unit 10 and the camera control ECU 50 are packaged separately.

[0051] As a result, in the imaging device 1 of this embodiment, the imaging board 15 and the control board 51 can be separated into the housing 16 and the housing 58, which have separate internal spaces. Therefore, in the imaging device 1 of this embodiment, the imaging element 12 mounted on the imaging board 15 can be made less susceptible to the effects of heat generated by the recognition microcomputer 53 and the control microcomputer 54 mounted on the control board 51. As a result, the imaging device 1 of this embodiment can suppress an increase in temperature of the imaging element 12 due to, for example, improved performance of the image processing function accompanying the adoption of a high-resolution imaging element 12. The imaging device 1 of this embodiment can provide a segment stereo camera.

[0052] Furthermore, if the camera unit 10 and the camera control ECU 50 were simply packaged separately, the first pin 21B and the second pin 22B would not be provided on the pair of side surfaces 173B, 174B of the housing 16B, as in the comparative camera unit 10B shown in Fig. 8. Therefore, in the comparative image capture device 1B equipped with the comparative camera unit 10B shown in Fig. 8, the first pin 21B and the second pin 22B would be provided on the holder 30B, as shown in Fig. 9. In the comparative image capture device 1B, the first pin 21B and the second pin 22B would respectively constitute the second supported portion 42B and the third supported portion 43B, and the protruding piece 34B would constitute the first supported portion 41B.

[0053] The holder 30B of the comparative example needs to include bases 38B and 39B that support the first pin 21B and the second pin 22B, respectively. The base 38B is formed as a plate extending rearward from the left portion 313B of the left frame 31B. The base 39B is formed as a plate extending rearward from the right portion 314B of the right frame 31B. Since the bases 38B and 39B need to support the first pin 21B and the second pin 22B with enough strength to firmly support the imaging device 1B, they need to be formed with a certain thickness in the left-right direction. As a result, the imaging device 1B of the comparative example, in which the first pin 21B and the second pin 22B are not provided on the housing 16B of the camera unit 10B, is larger in size in the left-right direction. Therefore, the imaging device 1B of the comparative example is limited in the types of vehicles in which the imaging device 1B can be installed and causes a feeling of oppression for vehicle occupants.

[0054] In contrast, in the imaging device 1 of this embodiment, the first pin 21 and the second pin 22 are provided on the housing 16 of the camera unit 10, so the bases 38B, 39B provided on the holder 30B of the comparative example are not necessary, and the size in the left-right direction can be made smaller. Therefore, the imaging device 1 of this embodiment can be easily mounted on various types of vehicles and can reduce the feeling of oppression felt by vehicle occupants.

[0055] As described above, the imaging device 1 of this embodiment is an imaging device that is supported at at least three points by a bracket installed on a vehicle and attached to the bracket. The imaging device 1 includes a camera unit 10 in which an imaging element 12, an imaging board 15 mounted with a serializer circuit 13 that is a communication circuit that converts image signals output from the imaging element 12 for serial communication, and a lens barrel 11 that forms a subject image on the imaging element 12 are housed in a single housing 16, and a holder 30 that holds the camera unit 10 and is attached to the bracket. The holder 30 has a first supported portion 41 supported by the bracket. The housing 16 of the camera unit 10 has a second supported portion 42 and a third supported portion 43 that are each supported by the bracket.

[0056] As a result, the imaging device 1 can provide a segment stereo camera because the imaging board 15 on which the imaging element 12 is mounted and the control board 51 on which the recognition microcomputer 53 and other components are mounted can be separated into separate housings 16 and 58. The imaging device 1 can also provide a separate stereo camera by separately mounting two monocular camera units 10 to a vehicle. The imaging device 1 can provide a mounting structure for the imaging device 1 in which the imaging device 1 is supported by a bracket at at least three points, such as by providing the first supported portion 41 on the holder 30 and the second and third supported portions 42 and 43 on the housing 16 of the camera unit 10. Therefore, according to this embodiment, a specific mounting structure for the imaging device 1, such as a segment stereo camera or a separate stereo camera, can be provided for mounting the imaging device 1 to a vehicle.

[0057] Furthermore, in the imaging device 1 of this embodiment, the holder 30 has a through-hole 311 through which the lens barrel 11 housed in the housing 16 is inserted, and a protruding piece 34 that protrudes in the imaging direction Z of the imaging device 1 from a base end at a position avoiding the through-hole 311. The first supported portion 41 is formed by the protruding piece 34, and restricts rotation of the imaging device 1 in the pitch direction relative to the bracket.

[0058] This allows the imaging device 1 to embody the structure of the first supported portion 41 that restricts rotation in the pitch direction of the imaging device 1, and allows it to be attached to an existing bracket installed in a vehicle. Therefore, according to this embodiment, it is possible to provide a more specific mounting structure on the imaging device side for mounting the imaging device 1, such as a segment stereo camera or a separate stereo camera, on a vehicle.

[0059] Furthermore, in the imaging device 1 of this embodiment, the housing 16 has a pair of side surfaces 173, 174 along the imaging direction Z, a first pin 21 that protrudes from one side surface 173 as a base end in a direction away from the side surface 173, and a second pin 22 that protrudes from the other right side surface 174 as a base end in a direction away from the other right side surface 174. The second supported portion 42 is formed by the first pin 21. The third supported portion 43 is formed by the second pin 22. The second supported portion 42 and the third supported portion 43 restrict rotation of the imaging device 1 in the roll direction and yaw direction relative to the bracket.

[0060] This allows the imaging device 1 to embody the structure of the second supported portion 42 and the third supported portion 43 that restrict the rotation of the imaging device 1 in the roll direction and the yaw direction, and allows it to be attached to an existing bracket installed in a vehicle. Therefore, according to this embodiment, it is possible to provide a more specific mounting structure on the imaging device side for mounting the imaging device 1, such as a segment stereo camera or a separate stereo camera, on a vehicle.

[0061] Furthermore, in the imaging device 1 of this embodiment, the holder 30 has a pair of frames 31, each having a through hole 311 and holding the camera units 10, and a stem 32 connecting the pair of frames 31. The pair of frames 31 are arranged spaced apart from each other along a predetermined direction X perpendicular to the imaging direction Z to hold the pair of camera units 10. The stem 32 extends along the predetermined direction X and is arranged between the pair of frames 31. The protrusion 34 of the holder 30 is provided on the stem 32 and protrudes in the imaging direction Z. The first supported portion 41 is formed by the protrusion 34 provided on the stem 32. The second supported portion 42 is formed by a first pin 21 provided on the housing 16 of one camera unit 10. The third supported portion 43 is formed by a second pin 22 provided on the housing 16 of the other camera unit 10.

[0062] As a result, when the imaging device 1 is a segment stereo camera, the imaging device 1 can embody the structure of the first supported portion 41 that restricts rotation in the pitch direction of the imaging device 1, and the structures of the second supported portion 42 and the third supported portion 43 that restrict rotation in the roll direction and the yaw direction of the imaging device 1, and can be attached to an existing bracket installed in a vehicle. Therefore, according to this embodiment, it is possible to provide a more specific mounting structure on the imaging device side for mounting the imaging device 1, such as a segment stereo camera or a separate stereo camera, on a vehicle.

[0063] Furthermore, in the imaging device 1 of this embodiment, the holder 30 has a frame 35 that has a through hole 311 and holds the camera unit 10. The protrusions 36, 37 of the holder 30 are provided on the frame 35 and protrude in the imaging direction Z. The first supported portion 41 is formed by the protrusions 36, 37 provided on the frame 35. The second supported portion 42 is formed by the first pin 21 provided on the housing 16. The third supported portion 43 is formed by the second pin 22 provided on the housing 16 that has the first pin 21 that forms the second supported portion 42.

[0064] As a result, when the imaging device 1 is a monocular camera or a separate stereo camera, the imaging device 1 can be equipped with a specific structure for the first supported portion 41 that restricts rotation in the pitch direction of the imaging device 1, and a specific structure for the second supported portion 42 and the third supported portion 43 that restrict rotation in the roll direction and the yaw direction of the imaging device 1, and can be attached to an existing bracket installed in a vehicle. Therefore, according to this embodiment, it is possible to provide a more specific attachment structure for the imaging device 1, such as a segment stereo camera or a separate stereo camera, for attaching the imaging device 1 to a vehicle.

[0065] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the described components. Furthermore, some of the components of one embodiment can be replaced with components of another embodiment, and components of another embodiment can be added to components of one embodiment. Furthermore, some of the components of each embodiment can be added, deleted, or replaced with other components.

[0066] Furthermore, the above-described components, functions, processing units, or processing means may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described components or functions may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the program, table, or file that implements each function can be stored in a storage device such as a memory, hard disk, or SSD, or in a storage medium such as an IC card, SD card, or DVD.

[0067] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.

[0068] 1...imaging device, 10...camera unit, 11...lens barrel, 111...flange portion, 12...imaging element, 121...light receiving surface, 13...serializer circuit (communication circuit), 14...connector, 15...imaging board, 151...front surface, 152...rear surface, 16...casing, 17...casing main body, 171...tubular portion, 172...front surface, 173...left side surface, 174...right side surface, 175...top surface, 176...bottom surface, 18...cover, 181...notch, 19...fastening member, 20...fastening member, 21...first pin, 22...second pin, 30...holder, 31...frame, 311...through hole, 312...fastening hole , 313...left portion, 314...right portion, 32...stem, 321...central portion, 33...fastening member, 34...projection piece, 35...frame, 351...through hole, 352...fastening hole, 353...left side portion, 354...right side portion, 36...projection piece, 37...projection piece, 41...first supported portion, 42...second supported portion, 43...third supported portion, 50...camera control ECU, 51...control board, 52...deserializer circuit, 53...recognition microcomputer, 54...control microcomputer, 55...DDR memory, 56...FROM, 57...EEPROM, 58...casing, 60...in-vehicle network, 100...sensing system

Claims

1. An imaging device that is supported at at least three points by a bracket installed on a vehicle and attached to the bracket, comprising: a camera unit in which an imaging element, an imaging board on which a communication circuit that converts image signals output from the imaging element for serial communication is mounted, and a lens barrel that forms an image of a subject on the imaging element are housed in a single housing; and a holder that holds the camera unit and is attached to the bracket, wherein the holder has a first supported part that is supported by the bracket, and the housing of the camera unit has second and third supported parts that are each supported by the bracket.

2. The imaging device according to claim 1, characterized in that the holder has a through hole through which the lens barrel housed in the housing is inserted, and a protruding piece that protrudes in the imaging direction of the imaging device from a base end at a position avoiding the through hole, and the first supported part is constituted by the protruding piece and restricts rotation of the imaging device in the pitch direction relative to the bracket.

3. The imaging device described in claim 2, wherein the housing has a pair of side surfaces aligned with the imaging direction, a first pin that protrudes from one of the side surfaces as a base end in a direction away from the side surface, and a second pin that protrudes from the other side surface as a base end in a direction away from the other side surface, the second supported part being constituted by the first pin, the third supported part being constituted by the second pin, and the second supported part and the third supported part restrict rotation of the imaging device in the roll direction and yaw direction relative to the bracket.

4. The imaging device described in claim 3, wherein the holder has a pair of frames, each having the through hole and holding the camera unit, and a stem connecting the pair of frames, the pair of frames being arranged spaced apart from each other along a predetermined direction perpendicular to the imaging direction to hold the pair of camera units, the stem extending along the predetermined direction and being arranged between the pair of frames, the protruding piece of the holder being provided on the stem and protruding in the imaging direction, the first supported part being constituted by the protruding piece provided on the stem, the second supported part being constituted by the first pin provided on the housing of one of the camera units, and the third supported part being constituted by the second pin provided on the housing of the other camera unit.

5. The imaging device described in claim 3, characterized in that the holder has a frame that has the through hole and holds the camera unit, the protrusion of the holder is provided on the frame and protrudes in the imaging direction, the first supported part is constituted by the protrusion provided on the frame, the second supported part is constituted by the first pin provided on the housing, and the third supported part is constituted by the second pin provided on the housing that has the first pin that constitutes the second supported part.

Images