Camera module, vehicle-mounted system, and moving body

Abstract

Provided are a camera module, a vehicle-mounted system, and a moving body that, even when a lens has a small diameter, make it possible to secure sufficient bonding area between the lens and a vibrating body that surrounds an imaging optical system so as not to interfere therewith.　In a camera module 300 according to the present invention, a vibrating body 62 of a vibration mechanism is disposed surrounding a lens barrel 22 from the outside so as not to be in contact with the lens barrel 22, and has, at an object-side end portion 62d thereof that is joined to a first lens 31, an extending portion 62e that extends radially inward such that the entirety thereof is in contact with an image-side surface 31a of the first lens 31. The lens barrel 22 holds, at the most object-side end thereof, a second lens 32 that is adjacent to the first lens 31 on the image side of the first lens 31. At least one among the first lens 31, the second lens 32, and the lens barrel 22 has a geometrically-shaped portion 22a for separating the extending portion 62e and the lens barrel 22 or the second lens 32 from each other in the radial direction and / or the optical axis direction so as not to interfere with each other.

Description

Camera Module, Vehicle-mounted System, and Moving Body

[0001] The present invention relates to a camera module, a vehicle-mounted system, and a moving body equipped with the vehicle-mounted system, which constitute an in-vehicle camera mounted on a vehicle such as an automobile.

[0002] Conventionally, in-vehicle cameras have been mounted on automobiles to support parking or prevent collisions through image recognition, and attempts have also been made to apply them to autonomous driving. In addition, such camera modules, such as in-vehicle cameras, generally include a lens unit having a lens group in which a plurality of lenses are arranged along an optical axis, a lens barrel (barrel) that houses and holds the lens group, and an aperture member disposed between at least one pair of lenses in the lens group (see, for example, Patent Document 1).

[0003] In addition, such a lens unit may be attached to an attachment portion such as a front grille of a vehicle (automobile), and in some cases, the lens located closest to the object side may be exposed to the outside. In such a case, foreign substances such as water droplets, mud, ice and snow are likely to adhere to the surface (lens surface) of the lens, and when they adhere, it is necessary to remove the foreign substances in order to ensure a clear observation field by the lens unit.

[0004] Regarding the removal of foreign substances adhering to the surface of a lens (or lens cover), in recent years, foreign substances have also been removed by vibrating the lens (or lens cover) with a vibrating body (ultrasonic vibration). For example, in Patent Document 2, a vibration device for removing foreign substances such as water droplets and dust adhering to a dome-shaped cover (lens cover) is provided in a camera equipped with a lens unit.

[0005] Specifically, as shown in Figure 20, such a vibrating device 102 is installed in a camera that has an imaging unit 105 containing a lens 106 and an image sensor at the top of the camera body 103, and comprises a dome-shaped transparent cover 111, a cylindrical vibrating body 112 to which the cover 111 is fixed, and a piezoelectric element 113 fixed to the vibrating body 112 that vibrates the cover 111 via the vibrating body 112. The vibrating body 112 has a cylindrical portion 114 having a first end 114a located on the cover 111 side and a second end 114b located on the opposite side of the cover 111; a tubular first connecting portion 115 connected to the first end 114a of the cylindrical portion 114 and made of a cylinder with a larger inner diameter than the cylindrical portion 114; a first ring-shaped portion 116 interposed between the first connecting portion 115 and the cover 111 and having a smaller inner diameter than the first connecting portion 115; a second connecting portion 117 connected to the second end 114b of the cylindrical portion 114 and made of a cylinder with a smaller outer diameter than the cylindrical portion 114; and a second ring-shaped portion 118 interposed between the second connecting portion 117 and the piezoelectric element 113 and having a larger outer diameter than the second connecting portion 117. Furthermore, all components of this small camera module, including the camera body 103 and the vibration device 102, are housed within the housing 130.

[0006] In such a vibrating device 102, the piezoelectric element 113 is driven to cause ultrasonic vibration of the cover 111 via the vibrating body 112, thereby more effectively moving and atomizing the liquid droplets, or removing foreign matter adhering to the surface of the cover 111.

[0007] Japanese Patent Publication No. 2013-231993, Japanese Patent Publication No. 6977784

[0008] Incidentally, in camera modules equipped with such vibrators, when miniaturizing them, it is effective to directly mount the lens (or lens cover), which is a light-transmitting component to be ultrasonically vibrated, onto the vibrator (directly connect it to the vibrator), as shown in Figure 20.

[0009] However, as camera modules become smaller, the lenses (or lens covers) that should be directly mounted on the vibrating body also become smaller, and their outer diameter decreases. This makes it difficult to secure sufficient contact area between such a small lens (or lens cover; in the example of Figure 20, cover 111) and the vibrating body (in the example of Figure 20, vibrating body 112), which should be positioned around the imaging optical system (in the example of Figure 20, camera body 103 comprising lens 106 and imaging unit 105) so as not to interfere with it.

[0010] The present invention has been made in view of the above circumstances, and aims to provide a camera module, an in-vehicle system, and a mobile device that can secure a sufficient bonding area between the vibrating body surrounding the imaging optical system and the lens, even when the lens diameter is reduced, so as not to interfere with it.

[0011] To solve the above problems, the present invention provides a camera module comprising: a lens group in which a plurality of lenses are arranged along the optical axis of the lens; a lens barrel that houses and holds the lenses of the lens group except for the first lens located closest to the object; and an image sensor that converts light collected through the lens group into an electrical signal, wherein the camera module comprises a vibration mechanism having an ultrasonic vibration source and a vibrator connected to the vibration source and the first lens to transmit the ultrasonic vibration of the vibration source to the first lens, wherein the vibrator is arranged to surround the lens barrel from the outside so as not to contact the lens barrel, and has an extended portion at its object-side end that joins with the first lens, extending radially inward so as to contact the image-side surface of the first lens, wherein the lens barrel holds the first lens and the second lens adjacent to it on the image side at its end closest to the object, and at least one of the first lens, the second lens, and the lens barrel has a geometric shape portion that separates the extended portion from the lens barrel or the second lens in the radial and / or optical axis direction so as not to interfere with each other.

[0012] In the above configuration of the present invention, since the vibrating body is arranged to surround the lens barrel from the outside so as not to come into contact with the lens barrel, if the diameter of the first lens is reduced, it may become difficult to secure a sufficient bonding area between the vibrating body and the first lens. However, since the vibrating body has an extended portion at its object-side end that connects to the first lens, which extends radially inward so that its entire length comes into contact with the image-side surface of the first lens, it is possible to secure a sufficient bonding area between the vibrating body and the first lens even if the diameter of the first lens is reduced.

[0013] Furthermore, in the above configuration, the extended portion extends radially inward from the object-side end of the vibrating body that is joined to the first lens, and there is a risk of interference with the lens barrel and the second lens, which is located on the object side of the lens barrel and is positioned radially inward. However, at least one of the first lens, the second lens, and the lens barrel has a geometric shape that separates the extended portion from the lens barrel or the second lens in the radial and / or optical axis direction (ensuring a predetermined clearance between the extended portion and the lens barrel or the second lens), thus avoiding interference between the extended portion and the lens barrel or the second lens.

[0014] In the above configuration, the geometric shape of the geometric part can be any shape as long as it can be spaced apart in the radial and / or optical axis directions so that the extending part and the lens barrel or the second lens do not interfere with each other.

[0015] For example, the geometric shape portion may be a tapered surface formed on the outer circumferential surface of the object-side end of the lens barrel (for example, facing radially from the extended portion) and tapering from the image side toward the object side. Alternatively, the geometric shape portion may be a step formed on the outer circumferential end of the object-side surface of the second lens (for example, facing radially from the extended portion) and recessed toward the image side. Alternatively, the geometric shape portion may be a tapered surface formed on the outer circumferential end of the object-side surface of the second lens (for example, facing radially from the extended portion) and tapering radially outward. Alternatively, the geometric shape portion may be a step formed on the outer circumferential part of the image-side surface of the first lens and recessed toward the object side, in which case it is preferable that the extended portion is housed in the recess formed by this step.

[0016] Furthermore, in the above configuration, the extended portion may be integrally molded with the vibrating body (or may be integral with the vibrating body), or it may be formed by a separate member interposed between the vibrating body and the image-side surface of the first lens, thereby transmitting the vibration of the vibrating body to the first lens. According to such an example of a separate configuration, the same vibrating body can be used for various first lenses of different sizes, while compensating for the size differences with the separate extended portion.

[0017] Furthermore, in the above configuration, the imaging optical system arranged radially inside the vibrating body (surrounding the vibrating body from the outside) includes a lens barrel and a second lens located on the object side of the lens barrel. However, the components of the imaging optical system are not limited to a lens barrel and a second lens, and may take on various forms. In short, some form of imaging optical system is arranged radially inside the vibrating body, and geometric shapes are provided on at least one of the first lens and the imaging optical system to separate the imaging optical system and the extending portion in the radial and / or optical axis directions so that they do not interfere with each other.

[0018] Furthermore, the present invention also provides an in-vehicle system having the aforementioned camera module, and a mobile body equipped with the in-vehicle system. The same effects and advantages as those of the aforementioned camera module can be obtained with such an in-vehicle system and mobile body. The term "mobile body" refers to all objects that can be moved, such as vehicles.

[0019] According to the camera module of the present invention, even if the lens diameter is reduced, a sufficient bonding area between the vibrating body that surrounds the imaging optical system and the lens can be secured without interference. In other words, interference between the vibrating body and the imaging optical system can be prevented while a sufficient bonding area between the vibrating body and the lens can be secured.

[0020] This is a schematic cross-sectional view of a camera module having a lens unit according to one embodiment of the present invention. This is a perspective view of the camera module of Figure 1. (a) is a schematic cross-sectional view of the object-side portion of the camera module of Figure 1 in which the lens holder and the vibrator are integrated, and (b) is a schematic cross-sectional view of the object-side portion of the camera module of Figure 1 in which an extended portion is provided that extends radially inward from the object-side end of the vibrator (the portion corresponding to the lens holder) in the configuration of (a). This is a schematic cross-sectional view of the object-side portion of the camera module with a first example of the geometric shape portion. This is a schematic cross-sectional view of the object-side portion of the camera module with a second example of the geometric shape portion. This is a schematic cross-sectional view of the object-side portion of the camera module with a third example of the geometric shape portion. This is a schematic cross-sectional view of the object-side portion of the camera module with a fourth example of the geometric shape portion. (a) is a schematic cross-sectional view of the object-side portion of the camera module in which the extended portion is separate from the vibrator in the configuration of Figure 4, and (b) is a plan view of the separate extended portion. (a) is a schematic enlarged cross-sectional view of the main part of the object-side portion of a camera module according to one embodiment of the present invention, in which a slit as a relief portion is provided in the intervening member (adapter) in the configuration of Figure 8, and (b) is a plan view of the intervening member. (a) is a schematic enlarged cross-sectional view of the main part of the object-side portion of a camera module according to another embodiment of the present invention, in which a groove is provided in the retaining portion opposite to the slit in the configuration of Figure 9, and (b) is a plan view of the intervening member. (a) is a schematic enlarged cross-sectional view of the main part of the object-side portion of a camera module according to another embodiment of the present invention, in which a groove is provided in the vibrating body opposite to the slit in the configuration of Figure 9, and (b) is a plan view of the intervening member. (a) is a schematic enlarged cross-sectional view of the main part of the object-side portion of a camera module according to another embodiment of the present invention, in which a groove is provided in the locking portion opposite to the slit in the configuration of Figure 9, and (b) is a plan view of the intervening member. This is a schematic enlarged cross-sectional view of the main part of the object-side portion of a camera module according to another embodiment of the present invention, in which a groove as a relief portion is provided on the image-side surface of the first lens in the configuration of Figure 8. (a) is a schematic enlarged cross-sectional view of the main part of the object-side portion of a camera module according to another embodiment of the present invention, in which a hole as a relief portion is provided in the intervening member in the configuration of Figure 8, and (b) is a plan view of the intervening member.Figure 8 shows a schematic enlarged cross-sectional view of the main object-side portion of a camera module according to another embodiment of the present invention, in which a groove is provided as a relief portion in the retaining portion. (a) is a schematic enlarged cross-sectional view of the main object-side portion of a camera module according to another embodiment of the present invention, in which a chamfer is provided as a relief portion on the radially inner end face of the intervening member in the configuration of Figure 8, and (b) is a plan view of the intervening member. This is a schematic cross-sectional view of the object-side portion of a camera module with a fifth example of a geometric shape portion. This is a schematic diagram of a vehicle as a mobile body on which an imaging system (in-vehicle system) equipped with a camera module according to one embodiment of the present invention is mounted. This is a block diagram showing the configuration of the imaging device constituting the imaging system of Figure 18. This is a schematic cross-sectional view of a conventional camera module.

[0021] The embodiments of the present invention will be described below with reference to the drawings. These embodiments contribute to "9. Build resilient infrastructure, including local and transboundary infrastructure, to support economic development and human well-being, with a focus on affordable and equitable access for all," which is one of the Sustainable Development Goals (SDGs) advocated by the United Nations.

[0022] Figure 1 is a schematic cross-sectional view of a camera module equipped with a lens unit according to one embodiment of the present invention, and Figure 2 is a perspective view of this camera module. The lens unit described below is particularly for camera modules such as in-vehicle cameras, and is, for example, fixedly installed on the outer surface of a vehicle, with wiring routed into the vehicle and connected to a display or other device.

[0023] As shown in Figures 1 and 2, the camera module 300 of this embodiment includes a lens unit 20. This lens unit 20 comprises a cylindrical lens barrel 22, for example, made of resin (of course, it may also be made of metal), and a rectangular tubular first housing 23 in which the lens barrel 22 is provided. That is, the first housing 23 has an internal housing space for receiving the lens barrel 22.

[0024] Furthermore, the image-side (lower side in Figure 1) ends of the lens barrel 22 and the first housing 23 are supported by a rectangular tubular resin second housing 24 (which may, of course, be made of metal). The second housing 24 is shorter than the first housing 23 in the optical axis direction, but its outer and inner diameters are longer than those of the first housing 23. The optical axis is indicated by O, and the direction perpendicular to this optical axis O is the radial direction.

[0025] The first housing 23 is positioned radially outward from the lens barrel 22, and the second housing 24 is positioned on the image side (downward in Figure 1) than the first housing 23. The lens barrel 22, the first housing 23, and the second housing 24 are arranged coaxially. A rectangular plate-shaped inner flange portion 24a is formed at the upper end of the second housing 24, and a convex portion 24b is formed at the radial center of this inner flange portion 24a, projecting toward the object side (upward in Figure 1), and a through hole 24c is formed at the radial center of this convex portion 24b.

[0026] Furthermore, a stepped portion 24d is formed on the upper surface of the inner flange portion 24a, and the lower end of the first housing 23 is fitted into this stepped portion 24d. This positions the first housing 23 relative to the second housing 24 in the radial and optical axis directions.

[0027] Furthermore, the lens unit 20 includes a plurality (for example, six) of lenses 31, 32, 33, 34, 35, and 36 arranged in order from the object side. Lens 31 is the first lens 31 located closest to the object, and this first lens 31 is held in the first housing 23 by a lens holding part 50, which will be described later. The five lenses 32, 33, 34, 35, and 36, which are located closer to the image than the first lens 31, are provided (housed and held) within the lens barrel 22.

[0028] Furthermore, a cylindrical projection 27 is formed at the lower end of the lens barrel 22, projecting toward the image side (downward in Figure 1). This projection 27 is inserted into and connected to the through hole 24c provided in the second housing 24. As a result, the lens barrel 22 and the second housing 24 are positioned coaxially with each other and coaxially with the optical axis O.

[0029] Furthermore, the first lens 31, which is located closest to the object, is a glass lens, and lenses 32 to 36 are resin lenses, but this is not limited to them (for example, lens 31 may also be a resin lens). In addition, anti-reflective coatings, hydrophilic coatings, water-repellent coatings, etc., may be provided on the surfaces of lenses 31 to 36 as needed.

[0030] Multiple lenses 31 to 36 fixed and supported by the first housing 23 and lens barrel 22 are arranged so that their optical axes are aligned, and the lenses 31 to 36 are lined up along a single optical axis O to form a group of lenses L used for imaging. In other words, in this embodiment, the lens barrel 22 houses and holds the lenses 32 to 36 of the lens group L, excluding the first lens 31 which is located closest to the object, and holds the first lens 31 and the second lens 32 adjacent to it on the image side at its end closest to the object.

[0031] In this embodiment, the first housing 23 is positioned radially outward of the lens barrel 22. The first housing 23 is made of a metal such as SUS or aluminum, and comprises a rectangular cylindrical housing body 23a, a rectangular plate-shaped top plate portion 23b integrally formed with the housing body 23a at the upper end of the housing body 23a, and a locking portion 23c integrally formed with the top plate portion 23b at the inner circumferential edge of the top plate portion 23b. The thickness of the top plate portion 23b (thickness in the optical axis direction) is thinner than the thickness of the housing body 23a (thickness in the radial direction).

[0032] The locking portion 23c comprises a substantially cylindrical projection 23d formed projecting toward the object side (upward in Figure 1) from the inner circumferential edge of the top plate portion 23b, and a pressing portion 23e bent radially inward from the upper end of the projection 23d. An inclined surface 23f, inclined with respect to the optical axis O, is formed along the circumferential direction on the inner surface of the radially inward end of the pressing portion 23e. The first lens 31 is fixed by pressing its surface edge with the inclined surface 23f. In other words, with the lens group L assembled and housed within the first housing 23 and lens barrel 22, the inclined surface 23f of the pressing portion 23e presses the first lens 31, which is located furthest toward the object in the lens group L, and fixes it to the object-side end of the first housing 23 in the direction of the optical axis.

[0033] Furthermore, an inner flange portion 26 is provided at the image-side end (lower end in Figure 1) of the lens barrel 22, having an opening smaller in diameter than the sixth lens 36. The multiple lenses 31 to 36 constituting the lens group L are held and fixed in the optical axis direction within the first housing 23 and the lens barrel 22 by this inner flange portion 26 and the inclined surface 23f of the retaining portion 23e. In addition, a filter 99, such as an infrared cut filter, is provided on the lower surface of the inner flange portion 26.

[0034] Furthermore, in this embodiment, a ring-shaped lens holder 50 is provided for holding the first lens 31. This lens holder 50 is manufactured by turning a metal such as SUS to form a thin ring shape. The lens holder 50 has a cylindrical first inner surface 50a and an annular surface 50b perpendicular to the inner surface 50a on its inner circumference side, and the first inner surface 50a and the annular surface 50b are formed in an L-shape in cross-section. The first inner surface 50a is arranged coaxially with the optical axis O, and the annular surface 50b is arranged perpendicular to the optical axis O. The lens holder 50 also has a second inner surface 50c perpendicular to the annular surface 50b and arranged coaxially with the optical axis O, and this second inner surface 50c is positioned closer to the image (lower side in Figure 1) than the second inner surface 50a, and has a smaller inner diameter than the first inner surface 50a.

[0035] Furthermore, the inner diameter of the second inner circumferential surface 50c of the ring-shaped lens holder 50 is larger than the outer diameter of the lens barrel 22, so that the upper end of the lens barrel 22 is positioned inside the second inner circumferential surface 50c of the lens holder 50. The lens holder 50 is also joined to the first housing 23 in a fitted state. That is, the outer circumferential surface 50d and the upper surface 50e of the lens holder 50 are in contact with the inner circumference of the retaining portion 23e of the first housing 23 with almost no gap on the radially outer side of the inclined surface 23f, so that the lens holder 50 is fitted to the retaining portion 23e of the first housing 23 from the inside. In this way, the lens holder 50 is joined to the first housing 23 having the retaining portion 23e in a fitted state. The lens holder 50 joined to the first housing 23 in a fitted state has its axis coincide with the optical axis O and is positioned in the direction of the optical axis.

[0036] Furthermore, the lens holder 50 holds the first lens 31. That is, the first inner surface 50a of the lens holder 50 is in close contact with the outer surface of the first lens 31, thereby positioning the first lens 31 radially and aligning it coaxially with the optical axis O. Also, the annular surface 50b of the lens holder 50 is in close contact with the flat bottom surface 31e of the first lens 31 facing the image side, thereby positioning the first lens 31 in the direction of the optical axis. In addition, the lenses 32 to 36, which are positioned closer to the image side than the first lens 31, are held by the lens barrel 22 so that their optical axes coincide. Since the lens barrel 22 is provided coaxially with the second housing 24 and aligned with the optical axis O, the first lens 31 and the lenses 32 to 36, which are positioned closer to the image side than the first lens 31, are positioned coaxially or with an eccentricity of less than a predetermined amount.

[0037] Furthermore, in this embodiment, a vibration mechanism 60 is provided for vibrating the first lens 31. The vibration mechanism 60 comprises a transducer 61 as a vibration source that vibrates ultrasonically, and a vibrating body 62 that transmits the ultrasonic vibration of the transducer 61 to the first lens 31. Such a vibration mechanism 60 is arranged radially inward from the first housing 23 and radially outward from the lens barrel 22. That is, the first housing 23 houses the lens group L and the vibration mechanism inside. The transducer 61 is formed in the shape of an annular plate and is provided inside the housing body 23a of the first housing 23. The transducer 61 is formed by, for example, a piezoelectric element.

[0038] The vibrating body 62 is made of, for example, metal and comprises a donut-shaped mounting portion 62a as one end connected to the transducer 61, a roughly cylindrical body portion 62b extending from the mounting portion 62a toward the object side (upward side in Figure 1), with a bulge and constriction due to the continuously changing outer and inner diameters in the axial direction (optical axis direction), and an S-shaped cross-section, and a ring-shaped joint portion 62c formed at the upper end of the body portion 62b. The transducer 61 is attached and fixed to the lower surface of the mounting portion 62a, and the upper surface of the joint portion 62c is bonded to the lower surface (image-facing surface) of the lens holder portion 50 with adhesive. In this way, the vibrating body 62 is positioned to surround the lens barrel 22 from the outside so as not to come into contact with the lens barrel 22, and is connected to the transducer 61 and the first lens 31 (via the lens holder portion 50) to transmit the ultrasonic vibrations of the transducer 61 to the first lens 31.

[0039] In this type of vibration mechanism 60, the vibrator 61 vibrates ultrasonically at a predetermined frequency, causing the vibrating body 62 to vibrate ultrasonically. When the vibrating body 62 vibrates, since the vibrating body 62 is joined to the lens holder 50, the first lens 31 vibrates ultrasonically at the same frequency via the lens holder 50, thereby removing foreign matter such as water droplets, mud, ice, snow, and frost that has adhered to the lens surface of the first lens 31.

[0040] The lens holder 50 is fitted into the retaining portion 23e of the first housing 23. However, the thickness of the top plate portion 23b that forms the retaining portion 23e is thinner than the thickness of the housing body 23a, and the top plate portion 23b (retaining portion 23e) functions as a damper, so that vibrations from the lens holder 50 are less likely to be transmitted to the housing body 23a. As a result, vibrations are less likely to be transmitted to the second housing 24 fitted into the housing body 23a, and consequently, vibrations are less likely to be transmitted to the lens barrel 22 fitted into the second housing 24, and also less likely to be transmitted to the lenses 32-36, thereby suppressing a decrease in optical performance caused by displacement of the lenses 32-36 due to vibration. On the other hand, as mentioned above, the vibrating body 62 and the first housing 23 are fitted together, and the first housing 23 presses down on the vibrating body 62 together with the first lens 31. As a result, the vibrating body 62 acts as an internal vibrating body, and the top plate portion (which functions as a leaf spring) 23b and the locking portion 23c (protruding portion 23d and pressing portion 23e) of the first housing 23 act as external vibrating bodies, allowing the first lens 31 to be effectively ultrasonically vibrated without any loss of vibration.

[0041] Furthermore, in this embodiment, the lens barrel 22 and lenses 32-36 held in the lens barrel 22, which are arranged radially inward of the vibrating body 62, together with the package sensor (image sensor) 304 provided inside the second housing 24, constitute an imaging optical system. The lens unit 20 is composed of the first housing 23, the first lens 31 held in the first housing 23, the lens barrel 22, the lenses 32-36 held in the lens barrel 22, the lens holding part 50, the vibration mechanism 60, etc. The camera module 300 of this embodiment is composed of this lens unit 20 and the second housing 24 which is fitted into the first housing 23 of the lens unit 20.

[0042] The package sensor 304 is positioned inside the second housing 24, facing the filter 99, and is located in a position to receive the image of an object formed by the lens unit 20. The package sensor 304 is equipped with a CCD or CMOS sensor, and converts the light that is focused and reaches it through the lens unit 20 (lens group L) into an electrical signal. The converted electrical signal is then converted into analog data or digital data, which are components of the image data captured by the camera.

[0043] Further, the second housing 24 includes a drive circuit board 305 inside thereof. The drive circuit board 305 is a board having a drive circuit that applies a voltage of a predetermined frequency to the piezoelectric element 61 of the vibration mechanism 60 to drive it. The drive circuit board 305 and the vibrator (piezoelectric element) 61 are formed by an FPC or the like and are connected by a wiring 306 passed through a wiring hole 24f formed in the inner flange portion 24 of the second housing 24. Thus, the second housing 24 forms a recess 24g for receiving the board 305 on which the package sensor 304 is mounted so that the package sensor 304 faces the lens group L, and is coupled to the image side of the first housing 23. In the present embodiment, a third housing (not shown) that surrounds the imaging module including the board 305 from the outside may be further fitted to the second housing 24 to constitute the camera module 300.

[0044] By the way, as described above, in the present embodiment, since the vibrating body 62 is arranged so as to surround the lens barrel 22 from the outside so as not to contact the lens barrel 22, when the diameter of the first lens 31 is reduced, it may be difficult to sufficiently secure the bonding area between the vibrating body 62 and the first lens 31. For example, FIG. 3(a) shows a schematic cross-sectional view of the object side portion of the camera module of FIG. 1 in which the lens holding portion 50 and the vibrating body 62 are integrated. However, as the camera module 300 is miniaturized, etc., when the first lens 31 to be directly placed on the object side end portion 62d (lens holding portion 50) of the vibrating body 62 is miniaturized and its outer diameter dimension becomes small, it becomes difficult to secure the bonding area between such a reduced-diameter first lens 31 and the vibrating body 62 to be arranged around the lens barrel 22 so as not to interfere with it, only by the first inner peripheral surface 50a and the annular surface 50b (see also FIG. 1).

[0045] Therefore, as shown in FIG. 3(b), the vibrating body 62 of the camera module 300 of the present embodiment has an extending portion 62e that extends radially inward at its object side end portion 62d that joins the first lens 31 so that the whole thereof contacts the image side surface (radially outer annular surface) 31a of the first lens 31. By providing such an extending portion 62e, even if the diameter of the first lens 31 is reduced, it becomes possible to sufficiently secure the bonding area between the vibrating body 62 and the first lens 31.

[0046] However, since such an extended portion 62e extends radially inward from the object-side end 62d of the vibrating body 62 that is joined to the first lens 31, there is a risk of interference with the lens barrel 22 and the second lens 32 located on the object side of the lens barrel 22 (in this embodiment, a part of the second lens 32 protrudes toward the object from the object-side end of the lens barrel 22), which are located radially inward. Therefore, in this embodiment, at least one of the first lens 31, the second lens 32, and the lens barrel 22 is provided with a geometric shape portion that separates the extended portion 62e from the lens barrel 22 or the second lens 32 in the radial and / or optical axis direction (securing a predetermined clearance between the extended portion 62e and the lens barrel 22 or the second lens 32), thereby avoiding interference between the extended portion 62e and the lens barrel 22 or the second lens 32. Such geometric shapes can be any shape as long as the extending portion 62e and the lens barrel 22 or the second lens 32 are separated in the radial and / or optical axis directions so that they do not interfere with each other. Below, several examples of geometric shapes will be described with reference to Figures 4 to 9. Note that in Figures 4 to 9, the shape of the object-side end of the vibrating body 62 is slightly different from that in Figures 1 and 3.

[0047] FIG. 4 shows a schematic cross-sectional view of the object-side portion of the camera module 300 with a first example of the geometric shape portion. As shown in the figure, in this first example, the geometric shape portion is composed of a tapered surface 22a formed on the outer peripheral surface of the object-side end of the lens barrel 22 and tapering from the image side toward the object side. This tapered surface 22a is formed such that the optical axis direction distance from the extending portion 62e is farther away from the object-side surface of the second lens 32. The second lens 32 has a lens surface 32a located within the effective lens diameter that transmits light, and an annular flange portion 32b extending radially outward from the lens surface 32a, and the outer peripheral side surface and / or the end portion of the image-side surface thereof are adhered to the lens barrel 22. Further, the object-side surface of the extending portion 62e that contacts the image-side surface 31a of the first lens 31 over its entire length is flush with the object-side surface of the object-side end portion 62d of the vibrating body 62, and the object-side surface of the object-side end portion 62d of the vibrating body 62 is formed as a continuous surface in which a surface 62da corresponding to the above-described annular surface 50b and a surface 62db corresponding to the above-described upper surface 50e extend flush with each other.

[0048] FIG. 5 shows a schematic cross-sectional view of the object-side portion of the camera module 300 with a second example of the geometric shape portion. As shown in the figure, in this second example, the geometric shape portion is composed of a step 32c formed at the outer peripheral end of the object-side surface of the second lens 32, specifically, at the outer peripheral end of the flange portion 32b, and recessed toward the image side.

[0049] FIG. 6 shows a schematic cross-sectional view of the object-side portion of the camera module 300 with a third example of the geometric shape portion. As shown in the figure, also in this third example, similar to the second example, the geometric shape portion is composed of a step 32c' formed at the outer peripheral end of the object-side surface of the second lens 32 and recessed toward the image side. In this case, however, the step 32c' extends over the entire flange portion 32b of the second lens 32 and a part (radial outer end portion) of the lens surface 32a.

[0050] Figure 7 shows a schematic cross-sectional view of the object-side portion of the camera module 300 with a fourth example of the geometric shape portion. As shown in the figure, in this fourth example, the geometric shape portion consists of a tapered surface 32d formed on the outer peripheral end of the object-side surface of the second lens 32, specifically the outer peripheral end of the flange portion 32b, which tapers radially outward.

[0051] In the examples shown in Figures 4 to 7, the extended portion 62e is integrally molded with (or integral with) the vibrating body 62, but the extended portion may be a separate part from the vibrating body 62. Such an example is shown in Figure 8. As shown in the figure, the extended portion in this example is formed by an annular member 90 acting as an interposing member (adapter) that is separate from the vibrating body 62 and interposed between the vibrating body 62 and the image-side surface 31a and the retaining portion 23e of the first lens 31. In substance, the extended portion is formed by the portion 90a of the annular member 90 that extends radially inward from the vibrating body 62 beyond the object-side end 62d of the vibrating body 62. The vibration of the vibrating body 62 is transmitted to the first lens 31 via this annular member 90. Furthermore, the inner diameter of the annular member 90 is set to be larger than the diameter of the concave surface (a surface that is recessed toward the object side) 31d formed in the center of the image side of the first lens 31, and smaller than the inner diameter of the vibrator 62, thereby ensuring a bonding area between the vibrator 62 and the first lens 31. In any case, regardless of its form, the extended portion is preferably formed from a material with a high Young's modulus, such as SUS, in order to effectively transmit vibrations to the first lens 31, and its thickness (dimension along the optical axis) is set to 0.15 mm or more. On the other hand, if the extended portion is too thick, it will interfere with the second lens 32, so the preferred thickness range for the extended portion is 0.2 mm to 0.4 mm.

[0052] Incidentally, when using such an intervening member 90, it is necessary to apply a sufficient amount of adhesive between the intervening member 90 and the first lens 31 in order to securely connect the intervening member 90 and the first lens 31. However, in such cases, an excess amount of adhesive may overflow from the interface between the first lens 31 and the intervening member 90. The overflowing adhesive may adhere to the optical surface of the imaging optical system, specifically, for example, the second lens 32 held in the lens barrel 22, which comes into close proximity to the intervening member 90 as the intervening member 90 extends radially inward, and contaminate it. Furthermore, the overflowing adhesive may prevent sufficient clearance from being secured between the imaging optical system and the intervening member 90. Therefore, in the example described below, measures are taken to address such excess adhesive.

[0053] An example of such countermeasures is shown in Figure 9. The interfacing member 90 in the camera module 300AA shown in Figure 9 is provided with a relief portion to release excess adhesive applied between the interfacing member 90 and the first lens 31. Specifically, this relief portion is provided on the outer peripheral portion 90b of the interfacing member 90 that extends radially outward from the outer peripheral surface of the first lens 31, and is formed as a slit 92 that extends radially inward for a predetermined length from the outer peripheral end surface of the interfacing member 90. At least one such slit 92 is provided, and in this configuration, as an example, four slits 92 are provided along the circumferential direction at 90° angular intervals from each other, but the number of slits can be set arbitrarily. By providing such a relief portion, it is possible to prevent the adhesive from overflowing into the inner optical system (for example, toward the lens 32).

[0054] Furthermore, in the camera module 300AB shown in Figure 10, in addition to the configuration shown in Figure 9, a groove 23ea for releasing excess adhesive is provided on the pressing portion 23e of the first housing 23 (extending along the outer periphery 90b of the interfacing member 90, which extends radially outward from the outer periphery surface of the first lens 31 and vibrates together with the first lens 31), so as to face the slit 92. Specifically, on the inner surface of the pressing portion 23e that faces the image side in the optical axis direction and contacts the outer periphery 90b of the interfacing member 90, four grooves 23ea are provided along the circumferential direction at 90° angular intervals from each other, corresponding to the position of the slit 92. In particular, in this configuration, these grooves 23ea extend with the same width and length as the slit 92. In this way, by providing a groove 23ea opposite the slit 92, which is a relief section, the space for the adhesive to escape can be further expanded by the groove 23ea in addition to the slit 92, thereby more reliably preventing the adhesive from overflowing into the inner optical system.

[0055] Furthermore, in the camera module 300AC shown in Figure 11, in addition to the configuration shown in Figure 9, grooves 62f for releasing excess adhesive are provided on the object-side end 62d of the vibrator 62, facing the slit 92. Specifically, on the end face of the object-side end 62d of the vibrator 62 that contacts the outer peripheral portion 90b of the interposing member 90 facing the object side in the optical axis direction, four grooves 62f are provided along the circumferential direction at 90° angular intervals from each other, corresponding to the position of the slit 92. In particular, in this configuration, these grooves 62f extend radially inward from the radially outer end face of the object-side end 62d for a predetermined length (shorter than the length of the slit 92), and also extend across the entire thickness of the object-side end 62d (over the entire dimension in the optical axis direction). The same effects as in Figure 10 can be obtained with such grooves 62f.

[0056] Furthermore, in the camera module 300AD shown in Figure 12, in addition to the configuration shown in Figure 9, grooves 23ca for releasing excess adhesive are provided in the locking portion 23c of the first housing 23 (which engages with the end face of the outer peripheral portion 90b of the intervening member 90, which extends radially outward from the outer peripheral surface of the first lens 31, and the object-side end portion 62d of the vibrating body 62, and vibrates together with the first lens 31) so as to face the slit 92. Specifically, on the inner surface of the locking portion 23c that contacts the radially outward end face of the outer peripheral portion 90b of the intervening member 90 in the radial direction, four grooves 23ca are provided along the circumferential direction at 90° angular intervals from each other, corresponding to the position of the slit 92. In particular, in this configuration, these grooves 23ca extend to a predetermined depth across the entire thickness of the intervening member 90 and the entire thickness of the object-side end portion 62d (across the entire optical axis dimension of the intervening member 90 and the object-side end portion 62d). Similar effects to those shown in Figure 10 can be obtained with grooves 23cf.

[0057] Figure 13 shows another configuration of the relief section. The relief section of the camera module 300AE in this configuration differs from the configuration described above. Specifically, the relief section for releasing excess adhesive applied between the interfacing member 90 and the first lens 31 is not provided on the interfacing member 90, but on the first lens 31. More precisely, an arc-shaped groove 31x is provided on the image-side surface 31a of the first lens 31, facing the radially inner end of the interfacing member 90, to serve as a relief section for releasing excess adhesive.

[0058] Figure 14 shows another configuration of the relief section. In this configuration, the relief section of the camera module 300AF is provided on the outer periphery 90b of the interfacing member 90 that extends radially outward from the outer circumferential surface of the first lens 31, and is formed as a plurality of holes (in this case, elongated holes) 93 arranged concentrically with the center of the interfacing member 90 along the circumferential direction of the interfacing member 90. In particular, in this configuration, as an example, eight of these holes 93 are provided along the circumferential direction, spaced at 45° angles from each other, but the number of holes 93 can be set arbitrarily.

[0059] Figure 15 shows yet another configuration of the relief section. In the camera module 300AG according to this configuration, the relief section is provided with a groove 23eb on the retaining portion 23e, which fits with the outer peripheral portion 90b of the interfacing member 90 and vibrates together with the first lens 31, to release excess adhesive applied between the interfacing member 90 and the first lens 31. At least one such groove 23eb is provided, and in this configuration, as an example, multiple grooves 23eb are provided on the inner surface of the retaining portion 23e that contacts the outer peripheral portion 90b of the interfacing member 90 facing the image side in the optical axis direction, separated from each other by equal angular intervals along the circumferential direction. Providing such a relief section prevents the adhesive from overflowing into the inner optical system (for example, toward the lens 32).

[0060] Figure 16 shows yet another configuration of the relief section. The relief section of the camera module 300AH according to this configuration is a plurality of chamfers 99 provided on the radially inner end face of the interfacing member 90 and arranged concentrically with the center of the interfacing member 90 along the circumferential direction of the interfacing member 90. Even with such a relief section provided, it is possible to prevent the adhesive from overflowing into the inner optical system (for example, toward the lens 32).

[0061] It should be noted that such relief portions are not limited to the intervening member 90 or the pressing portion 23e, but may also be provided on the vibrating body 62. That is, a groove, for example, may be provided as a relief portion on the end face of the object-side end 62d of the vibrating body 62 that contacts the outer peripheral portion 90b of the intervening member 90 when facing the object side in the optical axis direction. Alternatively, instead of the intervening member, the relief portion may be provided on the extended portion 62e or its vicinity as described above in relation to Figure 3(b).

[0062] Furthermore, the above configuration is merely an example, and the position and form of the relief portion in the interfacing member are arbitrary. In particular, regarding the position of formation, it is preferable to provide the relief portion in an area other than the contact area between the interfacing member and the first lens in order to prevent uneven adhesion and to avoid a decrease in adhesive strength.

[0063] Figure 17 shows a schematic cross-sectional view of the object-side portion of the camera module 300 with a fifth example of the geometric shape portion. As shown in the figure, in this fifth example, the geometric shape portion is composed of a step 31b formed on the outer circumference of the image-side surface 31a of the first lens 31 and recessed toward the object side, and the extended portion 62e and a part of the object-side end 62d of the vibrating body 62 are housed in the recess 31c formed by this step 31b.

[0064] Figure 18 schematically shows a vehicle 240 as a mobile body on which an in-vehicle system (imaging system) comprising an imaging device 250 including the camera module 300 of Figure 1 is mounted. As shown in the figure, the imaging device 250 can be mounted on the vehicle 240, and Figure 18 is an example of an arrangement illustrating the mounting position of the imaging device 250 on the vehicle 240. The imaging device 250 mounted on the vehicle 240 can also be called an in-vehicle camera and can be installed in various locations on the vehicle 240. For example, the first imaging device 250a may be placed on or near the front bumper as a camera to monitor the area in front of the vehicle 240 while it is in motion. The second imaging device 250b, which also monitors the area in front, may be placed near the rearview mirror inside the vehicle 240. The third imaging device 250c may be placed on the dashboard or inside the instrument panel, etc., as a camera to monitor the driver's driving conditions. The fourth imaging device 250d may be installed at the rear of the vehicle 240 for use as a rear monitor. Imaging devices 250a and 250b can be called front cameras. The third imaging device 250c can be called an in-camera. The fourth imaging device 250d can be called a rear camera. The imaging device 250 is not limited to these, and includes imaging devices installed in various positions, such as a left side camera that images the left rear side and a right side camera that images the right rear side.

[0065] The image signal of the image captured by the imaging device 250 can be output to an information processing device (control unit) 242 and / or a display device (output device) 243, etc., within the vehicle 240. These information processing devices 242 and 243 together with the imaging device 250 constitute an in-vehicle system. The information processing device 242 within the vehicle 240 includes a device that processes the image signal (captured image) acquired by the imaging device 250, recognizes the image (recognizes objects in the captured image), and assists the driver in driving. The information processing device 242 is also configured to output recognition information of objects in the captured image to the display device 243, and includes, but is not limited to, a navigation device, a collision damage mitigation braking device, a vehicle-to-vehicle distance control device, and a lane departure warning device. The display device 243 displays the image processed and output by the information processing device 242, but can also receive the image signal directly from the imaging device 250. The display device 243 may employ, but is not limited to, a liquid crystal display (LCD), an organic electro-luminescence (OLED) display, and an inorganic EL display. The display device 243 can display image signals output from the imaging device 250, which captures images from positions that are difficult for the driver to see, such as a rear camera, to the driver (it can output information to the occupants).

[0066] Figure 19 shows the configuration of the imaging device that constitutes the in-vehicle system shown in Figure 18. As shown in the figure, the imaging device 250 according to one embodiment comprises a control unit 252, a storage unit 254, and the camera module 300 shown in Figure 1.

[0067] The control unit 252 controls the camera module 300 and processes the electrical signals output from the image sensor (package sensor) 304 of the camera module 300. This control unit 252 may be configured as a processor, for example. The control unit 252 may also include one or more processors. The processors may include general-purpose processors that load specific programs and execute specific functions, and dedicated processors specialized for specific processing. Dedicated processors may include application-specific integrated circuits (ICs). Application-specific integrated circuits are also called ASICs (Application Specific Integrated Circuits). The processors may also include programmable logic devices. Programmable logic devices are also called PLDs (Programmable Logic Devices). PLDs may include field-programmable gate arrays (FPGAs). The control unit 252 may be either a system-on-a-chip (SoC) or a system-in-a-package (SiP) in which one or more processors cooperate. Furthermore, the control unit 252 may have the same functions as the information processing device 242 described above. For example, it may process the captured image output from the image sensor 304 to recognize an object in the captured image.

[0068] The storage unit 254 stores various information or parameters related to the operation of the imaging device 250. The storage unit 254 may be composed of, for example, a semiconductor memory. The storage unit 254 may function as a work memory for the control unit 252. The storage unit 254 may store captured images. The storage unit 254 may store various parameters, etc., for the control unit 252 to perform detection processing based on the captured images. The storage unit 254 may be included in the control unit 252.

[0069] As mentioned above, the camera module 300 captures the subject image formed via the lens unit 20 with the image sensor 304 and outputs the captured image. The image captured by the camera module 300 is also called the captured image.

[0070] The image sensor 304 may be composed of, for example, a CMOS (Complementary Metal Oxide Semiconductor) image sensor or a CCD (Charge Coupled Device). The image sensor 304 has an imaging surface in which multiple pixels are arranged. Each pixel outputs a signal that is specified by current or voltage according to the amount of incident light. The signal output by each pixel is also called imaging data.

[0071] The image data may be read out by the camera module 300 for all pixels and taken into the control unit 252 as an image. The image data read out for all pixels is also called the maximum image. The image data may be read out by the camera module 300 for some pixels and taken into the image. In other words, the image data may be read out from pixels within a predetermined acquisition range. The image data read out from pixels within a predetermined acquisition range may be taken into the image. The predetermined acquisition range may be set by the control unit 252. The camera module 300 may obtain the predetermined acquisition range from the control unit 252. The image sensor 304 may capture an image within a predetermined acquisition range from the subject image formed via the lens unit 20.

[0072] It should be noted that the present invention is not limited to the embodiments described above, and can be implemented with various modifications without departing from its spirit. For example, in the present invention, the shapes of the lens, housing, lens barrel, vibrator, and extension are not limited to the embodiments described above. Furthermore, without departing from the spirit of the present invention, some or all of the embodiments described above may be combined, or some of the components of one of the embodiments described above may be omitted.

[0073] 20 Lens unit 22 Lens barrel 22a Tapered surface (geometric shape part) 23e Retaining part 23ea Groove 23eb Groove (relief part) 31 First lens 31b Step (geometric shape part) 31c Recess 32 Second lens 32c, 32c' Step (geometric shape part) 32d Tapered surface (geometric shape part) 60 Vibration mechanism 61 Vibrator (vibration source) 62 Vibrating body 62d Object-side end 62e Extension part 62f Groove 90 Annular member (inserting member; adapter) 92 Slit (relief part) 93 Hole (relief part) 240 Vehicle (moving body) 243 Display device (output device) 252 Control unit 300 Camera module 304 Image sensor 305 Drive circuit board L Lens group

Claims

1. A camera module comprising a lens group in which a plurality of lenses are arranged along the optical axis of the lens, a lens barrel that houses and holds the lenses of the lens group except for the first lens located closest to the object, and an image sensor that converts light collected through the lens group into an electrical signal, wherein the camera module comprises a vibration mechanism having an ultrasonic vibration source and a vibrating body connected to the vibration source and the first lens for transmitting the ultrasonic vibration of the vibration source to the first lens, the vibrating body is arranged to surround the lens barrel from the outside so as not to contact the lens barrel, and has an extended portion at its object-side end for joining with the first lens that extends radially inward so as to contact the image-side surface of the first lens, the lens barrel holds the first lens and the second lens adjacent to it on the image side at its end closest to the object, and at least one of the first lens, the second lens, and the lens barrel has a geometric shape portion that separates the extended portion from the lens barrel or the second lens in the radial and / or optical axis direction so as not to interfere with each other.

2. The camera module according to claim 1, characterized in that the geometric shape portion is a tapered surface formed on the outer circumferential surface of the object-side end of the lens barrel, tapering from the image side towards the object side.

3. The camera module according to claim 1, characterized in that the geometric shape portion is a step formed on the outer peripheral end of the object-side surface of the second lens and recessed toward the image side.

4. The camera module according to claim 1, characterized in that the geometric shape portion is a tapered surface formed on the outer peripheral end of the object-side surface of the second lens and tapering outward in the radial direction.

5. The camera module according to claim 1, characterized in that the geometric shape portion is a step formed on the outer periphery of the image-side surface of the first lens and recessed toward the object side, and the extended portion is housed in the recess formed by this step.

6. The camera module according to claim 1, characterized in that the extended portion is integrally molded with the vibrating body.

7. The camera module according to claim 1, characterized in that the extending portion is formed by an annular interposing member that is separate from the vibrating body and interposed between the vibrating body and the image-side surface of the first lens, and transmits the vibration of the vibrating body to the first lens.

8. The camera module according to claim 7, wherein the intervening member extends radially inward from the vibrator so as to contact the image-side surface of the first lens and is bonded to the image-side surface of the first lens with an adhesive, and the intervening member is provided with a relief portion for releasing excess adhesive.

9. The camera module according to claim 8, characterized in that the relief portion is provided on the outer periphery of the interfacing member extending radially outward from the outer periphery of the first lens, and is one or more slits extending radially inward for a predetermined length from the outer periphery end face of the interfacing member.

10. The camera module according to claim 8, characterized in that the relief portion is provided on the outer circumference of the intervening member extending radially outward from the outer peripheral surface of the first lens, and is a plurality of holes arranged concentrically with the center of the intervening member along the circumferential direction of the intervening member.

11. The camera module according to claim 8, characterized in that the relief portion is a chamfer provided on the radially inner end face of the interfacing member and arranged concentrically with the center of the interfacing member along the circumferential direction of the interfacing member.

12. The camera module according to claim 8, characterized in that the vibrating body has a groove provided opposite the relief portion for releasing excess adhesive.

13. The camera module according to claim 8, further comprising a housing that surrounds the vibrating body from the outside, wherein the housing has a pressing portion for pressing the first lens, and this pressing portion extends along the outer circumference of the interposing member that extends radially outward from the outer circumferential surface of the first lens and vibrates together with the first lens, and has a groove provided opposite the relief portion for releasing excess adhesive.

14. The camera module according to claim 8, further comprising a housing that surrounds the vibrating body from the outside, wherein the housing has a locking portion that engages with the end face of the outer periphery of the intervening member extending radially outward from the outer periphery of the first lens and the object-side end of the vibrating body, and the locking portion vibrates together with the first lens and has a groove provided opposite the relief portion for releasing excess adhesive.

15. The camera module according to claim 7, characterized in that the intervening member extends radially inward from the vibrator so as to contact the image-side surface of the first lens and is bonded to the image-side surface of the first lens with an adhesive, and a relief portion is provided on the portion of the image-side surface of the first lens facing the radially inward end of the intervening member to release excess adhesive.

16. The camera module according to claim 7, further comprising a housing that surrounds the vibrating body from the outside, the housing having a pressing portion for pressing the first lens, the pressing portion extending along the outer circumference of the intervening member extending radially outward from the outer circumferential surface of the first lens and vibrating together with the first lens, the intervening member extending radially inward from the vibrating body so as to contact the image-side surface of the first lens and being bonded to the image-side surface of the first lens with an adhesive, and the pressing portion being provided with a relief portion for releasing excess adhesive.

17. An in-vehicle system mounted on a vehicle, comprising: a camera module according to any one of claims 1 to 16; and a control unit that processes an image captured by the image sensor of the camera module and recognizes an object in the image captured.

18. A mobile body equipped with the in-vehicle system described in claim 17 and an output device that outputs information to the occupants, wherein the control unit is configured to output recognition information of the object to the output device.

Images