DE1472592B2 - Device to compensate for random movements of optical devices - Google Patents

Description

The invention relates to a device for compensating for random movements of optical devices with a housing and an optical system arranged thereon or in it for focusing of the incident light, in particular an automatic device for stabilization opposite small involuntary angular deviations for cameras, telescopes, binoculars and others optical instruments, so that despite small deviations from the line of sight, the z. B. thereby it can happen that the instrument or device is held unsafe in the hand during use, the optical image is stationary.

When using optical devices, e.g. B. from cameras that are held in the hand, involuntary movements of the housing cause the image to wobble or oscillate the image plane. With a movie camera, the shaking of the image is seen as unwanted movement consecutive frames recorded, and although the actual image shift on the If the film strip is minimal, the picture will wobble or wobble due to the enlargement the projection clearly noticeable, and this instability of the image distracts the observer from the actual content of the film.

The invention eliminates the effects of undesired or accidental movements, in particular For handheld optical devices, turn off the optical system is stabilized by a compensation device. There are known arrangements, wherein the entire device is stabilized with the optical system.

The invention consists in that in a device to compensate for random movements of optical devices with a housing and a optical system arranged thereon or in it for focusing the incident light at least a lens set is provided consisting of mating positive and negative lens elements consists, which together form a pair of elements with variable refraction, each one lens of each set is firmly connected to the housing, while the other lens is connected to a Device for holding in a predetermined spatial orientation, regardless of a random one Movement or angular deviation of the housing, is connected, and being the entirety of the Lens sets of the optical system in the manner of a prism with variable refraction essentially one the angular deviation of the housing from a line of sight corresponding deflection of the passing through Light rays causes the light rays to appear regardless of housing movements the same spot can be focused.

In the simplest case, a camera in which the invention is used has one mutually matching plano-convex and plano-concave lenses which can be pivoted relative to one another. One of the two lenses is firmly connected to the camera housing, and the other is guided by an essentially free gyro. The top is suspended in the housing by means of brackets whose axes of rotation go through the common center of curvature of the matching lenses. The lenses form a prism with a variable wedge angle which essentially corresponds to the angular deviation of the housing from the line of sight. As a result, the entry points of the light rays into the film window of the camera remain unchanged in the event of small angular deviations of the housing from the line of sight.
According to the invention, however, as will be explained in more detail below, complicated systems can be constructed with several prisms consisting of pairs of lenses, with further optical corrections being possible. Film cameras that i

ίο with the compensation device according to the invention; tung are provided, also allow Panoramaschwen- j fluctuations when an automatically operating demand \ adjusting device is provided for the gyro, a small predetermined angle ■ DieJ at a divisional border movement of the housing j tracks the gyroscope. In this way, the device according to the invention compensates for small involuntary movements, but not larger, desired movements of the camera.

Various stabilized optical systems have been developed for use in meters and the like which use pendulums to move one part of one lens system relative to another; Relocate part. Such a device is z. B. j from U.S. Patent 2,959,088 (Rantsch) ^: known. With pendulum systems of this kind, however, all random movements cannot be compensated, since they are only effective in one dimension and also with repeated excitation, as can happen with devices that are held in the hand, tend to inadmissible vibrations, i The device according to the invention allows a relative mutual pivoting of the lens in two di-; dimensions, and there is no tendency to oscillate, so that they are used to compensate for random movements

is excellently suited. i

When using additional pairs of lens j

elements can also have chromatic aberration!

Getting corrected. There is one ι from each pair

Element with the housing and the other with the! Gyroscope connected. The lens pairs are so ang-j arranges that the dispersion of the passing! The total of light is zero, while the sum of the Deflection angle of the individual pairs of lenses corresponds to the angular deviation of the housing from the line of sight. The lens combination obtained in this way is achromatic and against random movements stabilized movements of the camera housing. j

Except for cameras, the stabilized optics according to the invention are with minor changes Can also be used for binoculars, telescopes and other optical instruments that generate an image field. In the latter type of optical instrument, an observer's eye is opposite the focal plane of the instrument, and it can move j relative to the instrument housing. The picture) such instruments can be achieved by using the! Invention can also be stabilized by additionally a small correction factor is introduced, which increases the magnification of the entire optical System is inversely proportional. The stabilizing lens system must have a sub or Produce overcompensation, depending on whether the instrument or device is an upright or a!

inverted image generated, so that despite small random angular deviations of the housing the; Image to stand still for the observer in the room! appears. j

3 4

The invention is attached below using the lens 12 in the housing. The other lens,

Drawing explained in more detail. In the present case, it shows the positive lens 18, is

F i g. 1 schematically a camera or a similar to a gyro stabilizer 21 parallel to the original

Liches optical device kept aligned with a fixed image plane in the original line of sight 17.

Elevation, the optical system being an inventive 5 The gyro stabilizer contains a gyro 22,

has a compensation device that is free in all directions by means of brackets 23

Fig. 2 shows the device of Fig. 1 in plan, which is pivotably suspended in the camera housing. Of the

the housing is swiveled in relation to the line of sight Gyro resists a deflection from its original

is to stabilize the compensatory movement of the spatial orientation so that the

ten lens system to show xo connected lens even with deviations

F i g. 3 shows a camera in plan with the conduit of the camera housing 11 from the line of sight 17, as

Structure of the compensation device, this in FIG. 2 is shown in relation to this

F i g. 4 the camera of FIG. 3 in elevation, the line of sight remaining unchanged. if

individual parts have broken away, so the housing at an angle Θ with respect to the

Fig. 5 is a front view according to line 5-5 of 15 original line of sight is pivoted, remains

F i g. 4, the axis of the lens 18 under the influence of the

F i g. 6 and 7 each have a diagram of the suspension aligned parallel to the line of sight, while the readjustment force for the stabilization axes of the lens 19 and the objective 12, which are gyroscopic from the angular deviation of the camera, are firmly connected to the housing the visor housing, which enables panoramic swiveling 20 lines also enclose an angle Θ ,
are and yet small deviations from the visor. The mutually fitting, mutually pivoting lines are compensated, baren lenses 18, 19 form a prism whose broad-

F i g. 8 is a vertical section through a part of the same angle as the angle of a camera with an embodiment. A subsequent deviation Θ of the housing from the line of sight, such as the adjusting device for the top, this from FIG. 2 shows. For a thin prism

F i g. 9 is a view along line 9-9 of FIG. 8, the deflection angle Φ = (η - 1) α, where η is the

F i g. 10 shows a representation similar to FIG. 8, with the refractive index of the prism material and α the broad

Another embodiment is the readjusting angle of the prism. When the breaking

direction, angle of the prism formed from the lenses

11 is a view taken along line 11-11 of FIG. 30 α = Θ is the formula given above

F i g. 10, Φ = (η - T) Θ. Since, according to the prerequisite, the lenses

Fig. 12 is a schematic representation of a long tube made of a material with a refractive index η = 2, which provides an inverted image, or should exist, this can be inserted into the formula of a similar optical instrument with be moved, resulting in: Φ = 0. If the light image plane, with the axis having the same direction as the line of sight with respect to the deflection of the prism, is the angular deviation of the camera housing, then

F i g. 13 the telescope of FIG. 12, but with the light beams deflected by the prism into the

Compensation device according to the invention to enter objective lens parallel to its axis. That

Despite the deviation from the line of sight for the loading lens, certain rays are also

Observer create a fixed image in space 40 focus on the same point 24 of the film window as before

to be able to change the position of the housing. Although according to

F i g. 14 shows a stabilized optical system, in FIG. 2 a change in position of the

which also corrects the chromatic aberration, housing compensated in a horizontal plane

and becomes, it is understandable that an analog compensation

Fig. 15 the same system for the case that the 45 sation also for changes in position · in a vertical

optical axis at a small angle to the plane or in any inclined directions

the line of sight is pivoted. is feasible. In this way, the image is

In the F i g. 1 and 2, the invention is entirely dependent on small angular deviations Θ of the housing from the line of sight in relation to the film, which a housing 11 and a lens 12 always point to the same point of the film pro-focusing the incoming light rays on a projected.

Film window 13, which is arranged transversely in the focal plane 14 in the basic mode of operation of the invention housing 'has. The device according to the invention was initially based on a compensation device according to the invention is also accommodated in the simple embodiment, assuming a housing. It consists of a lens material with a refractive index η = 2 beschriesatz 16, which provides the optical compensation for angles. In fact, however, a refractive index η = 2 deviations of the housing from the original one is difficult to achieve in practice. Therefore, 17 is effected at a line of sight. The lens set is located in a technically and economically favorable design on the front of the housing and directs the light rays emerging as a twin set of light rays onto the objective by forming 60, with each individual set acting as a variable prism. In the planning example shown, which is suitable for each other and can be pivoted relative to one another, the lens set 16 consists of convex and planoconcave lenses. Each positive plano-convex lens 18 and from a negative pair of the twin set is based on the previously tiven, plano-concave lens 19, the material of which is arranged in a Bre-described manner and has an angle calibration index η = 2. The two lenses fit together with their curved surfaces, they are shaped like a prism. All of them can be pivoted relative to one another, and one of them, the negative lens 19 in the case of the forward deflection of the light beams by the twin set, is coaxial with the angular deviation Θ of the housing

5 6

correspond. If there is a refractive index n - 1.5 for lenses, its effect is based on both individual sets and each individual set causes a composite variable prism.
Deflection by half the angular deviation of the gyro stabilizer 37 in the optical housing. Of course, the axis of refraction of the camera can be arranged, and it can stand in the way of the film indices of the two individual sets. In the illustrated excretion, only the entire deflection guide example is this difficulty because the twin set must correspond to the angular deviation of the side that the film window 46 laterally offset in the housing. Furthermore, as an alternative, a part 47 of the solution which is parallel to the optical axis and to which the camera housing is arranged from two complete individual sets. In this part 47 existing twin set, a compact twin, the objective 48 is also located coaxially with the set of a biconcave lens and a biconvex lens film window. Between the stabilization optics and used to achieve one of the angular deviation of the housing part 47, a double reflecting prism 49 corresponding to the housing from the line of sight or an optically equivalent arrangement is used to achieve deflection angle, for which a mate of two mirrors is also provided. This prism has rial with a refractive index η = 1.5 required 15 parallel, inclined at 45 ° is reflective. rende side panels, one of which is from the optical

For a more detailed representation of the invention axis of the camera and its other axis

is on the F i g. 3 and 4 referenced, in which one of the lens and the film window each in the middle

Movie capture camera is shown. The compensation is cut. That guides through this training

tion lens set 26 is a twin set with the 20 prisms received through the stabilizing lens

Individual sets 27 and 28, each of which consists of plano-concave rays of light through the lens to the film.

and planoconvex lenses 29 and 31 or 32 and 33 window. Although the axes of the mentioned elements

is formed, whereby the lenses are spatially offset from one another with adjacent one another, the effect is

Surfaces can be pivoted against one another. As if the elements were arranged along an axis

Lenses 29 and 32 are attached to the housing 34 of Figure 25, and the image is opposite the film window

The camera is firmly connected and its axes are stabilized.

the optical axis 36 of the camera together. The gyro 38 of the gyro stabilizer 37 can be on Lenses 31 and 33 are driven with a gyro stabilizer of various types. The drive 37 connected, which is stored in the camera housing. can have a pull cord and a gear or The gyro stabilizer contains a gyro 38, which take place 3 ° via a compressed air motor, which with the is suspended in the camera housing by means of brackets 39, are connected to the gyro rotor. However, it is preferable namely on horizontal stub axles 40 and an electric motor 51 provided for this purpose, which in the vertical stub axles 41, the axes of which are built into the gyro housing and via a shaft intersect the optical axis of the camera. This is connected to the rotor. At transportable Ka intersection and the center of the bracket is not- 35 meras, the motor is convenient for battery maneuvering the point of curvature of the operation is also designed.

It should be noted at this point that it is necessary Twin set. The gyro consists of a rotor that is the gyro 38 in addition to the compensation to -42, which is rotatably arranged in a housing 43, due movements of the camera housing 34 with the the housing being suspended from the brackets 39. 4 ° optical axis within a narrow range The axis of rotation of the rotor 42 is also coaxial with the small angular deviations from the line of sight Lens elements, which of a with the gyro together with the lenses 31 and 33 connected to it housing connected arm 44 are carried. The desired larger movements of the camera order of gyro, arm and lens elements is housing can be moved evenly with this balanced so that the top is free, d. This means that the camera can pan 45 times, does not a moment act on the top in any position. B. like a pendulum brought out of its rest position; are conditioned by being held in the hand to properly balance the array are usually on the order of a range Arm 44 displaceable balance weights 45 pre-limited by ± 0.01 rad (approximately ± 35 '), except below see. 50 extreme conditions, e.g. B. in off-road vehicles

When the rotor 42 of the gyro 38 is rotating or in a helicopter. Within the staggered is, this resists a distraction from the given area, the gyro 38 keeps with it its spatial orientation, and thereby connected lenses 31 and 33 are parallel to the original the lens connected to the gyroscope borrowed line of sight to bring the image to the one described elements kept in a fixed spatial orientation. 55 way to stabilize. Outside this angle-bei a pivoting of the camera housing out of the range, within which random movements original direction according to the visor of the housing may occur, the with the line 36, the lenses connected to the housing no longer appear Lenses opposite to those aligned by the gyroscope parallel to the original line of sight. Line of sight aligned remaining lenses moved. 60 because then would be despite the movement of the camera housing As a result, the lens elements of the twin work - no panoramic swiveling possible. Hence for Set 27, 28 as prisms, and these prisms steer the gyro stabilizer an adjustment device in front of the parallel to the line of sight incident light rays to him when the camera pans, the one into a corresponding angle, so that the position crosses a small predetermined angular range Image is stabilized in the camera. Although 65 th to track the movement of the housing. to the adjustment device 52 can be used to compensate for movements of the camera for this purpose housing serving optics so far always come into operative connection with the gyro as a set of lenses. As the Reak denotes as it was made up of a plurality of a gyroscope at right angles to the

7 8

Force exerted on it takes place, exercises the right to adjust and run straight. It is enough if the

device a force in the horizontal or adjusting force characteristic curve an »essentially« flat

x-direction from when the camera housing in relation to the middle piece with adjoining parts

on the line of sight in the vertical or y-direction over a larger slope.

is pivoted over a predetermined small area. In analog 52, by means of which characteristic curves according to FIGS. 6 way the adjustment device exerts a force in which and 7 are achievable, it should first be noted that the vertical or y-direction exerts on the gyroscope, the adjustment forces at right angles to the desired adjustment direction if the camera housing with respect to the line of sight must be exerted without the adjustment direction in the horizontal or x-direction io simultaneously swiveled force components in the desired one. As the speed of the deflection occurs during the adjustment direction. If the direction of movement of a gyro from its original position is not exactly proportional to the adjustment force exerted at right angles to the required moment, the direction of movement is exerted, the gyroscope also receives a component of movement from the adjustment device, the forces exerted perpendicular to the gyro with increasing angle. 15 runs in the desired direction, and in such a deviation of the housing evenly. The fall there is a risk of wild free fi g. 6 and 7 show the dependent vibrations in diagrams. There are different constructions speed of the readjustment force from the angular deviation. adjustment devices possible; a principle is shown in FIG. 6 the readjustment force in the y-direction embodiment contains means for transmitting device, F _y , plotted against the angular deviation of the housing 20 of a frictional force on the gyro rotor in the x-direction, Θ _χ. The curve points borrowed in the x or y direction when the rotor is about a flat center piece with the force zero, which is more than a small predetermined angle symmetrically to the zero angle deviation. The ends of the flat center piece close on the y or x direction opposite the housing is supported. It is very important that the upward or downward inclined curve pieces with an exercise force as close as possible to the rotor axis and a substantially uniform slope. This means that, at the greatest possible distance from the center, the exercise takes place within the flat central cure bar 39. It should be noted that there is no adjusting force and that the frictional force also exerts a braking torque on the gyro independently of a small gyro rotor, which is dependent on the radius of the angular deviation Θ _{χ of} the housing in the x-direction. Because the device lingers in a fixed spatial orientation. Adjusting forces on the gyro rotor close to its outside of the flat center piece cause the axis and at a relatively large distance from the increasing angular deviations of the camera center of the bracket, an effective housing uniformly increasing adjusting forces F ^ adjustment of the gyro with negligible in the y-direction, which received a tracking of the 35 braking of its rotation.
The gyroscope in the y-direction with an essentially In Figs. 8 and 9 is an embodiment of the angular speed of the camera in the means for transmitting frictional forces in the x-direction cause a speed corresponding. Gyro shown, with the readjusting forces being indicated by the generation of eddy currents caused by the angular deviation of the housing in the y-direction, & _y , plotted 40 den. For this purpose, a flat sym- rotor 42 is coaxial with the gyro readjustment force in the x-direction, F _x , a disk 53 made of electrically conductive metric to the angular deviation zero of the camera material, such as copper, which has an end face in the form of a housing the center piece lying in the y-direction with a spherical segment connected. The one of zero force. The ends of the flat central center point of the piece corresponding to the end face close upwards or downwards. Although the disk 53 in this case as a slope. When shown within the limits of the flat own component, the spherical center piece of the curve can of course also be located on the rotor deviations 0 _{y of} the camera housing in the y-direction, as long as it does not act as an electrically conductive device F _x consists of 50 material in the x direction. The adjusting device contains on the gyro, and it therefore remains in a fixed position furthermore a magnet 54, which is a permanent magnet of spatial orientation. If the camera body or can be an electromagnet. This magnet is fastened in the housing 34 pivoted upwards or downwards in the y-direction and, being coaxial to the and the angular deviation 0 _y the limits of the optical axis, reaches close to the disk 53. In this way, an adjusting force F _{x is} exerted in the field of the magnet in the x-direction, and eddy currents are induced in the rotating disc. The eddy currents are moved by the gyro in the y-direction approximately with the angular velocity settling the magnet 54 is induced like the neighboring part of the disk 53, and it camera housing. In FIGS. 6 and 7, the mean forces are caused, the tangentially leren curve pieces of the readjusting force characteristics are directed as 60 to the disk and against their direction of rotation, horizontal straight sections are drawn, whereby between the curved face of the disk can be seen the flat and the inclined curve pieces of the gyroscope around the center of the bracket in x and a sharp transition takes place. Certain deviation in y-direction can be pivoted, the air gaps of this characteristic being, however, quite length between the magnet and the end face permissible and in practice actually remaining the same, so that the on the surface of the disk. The transition from flat to inclined effective magnetic field strength always the same part of the curve can, for. B. be done gradually, and that is. The force caused by the eddy currents does not have to be perfectly horizontal, except for the magnetic field strength or the

tangential speed of the relevant part of the surface in which the eddy currents are induced and thus on the radius of the part of the disk opposite the magnetic pole. So when the housing is pivoted in the vertical or y-direction and accordingly the magnetic pole is also shifted in the y-direction relative to the disk, is that caused by the eddy currents caused force tangential to the part of the disk opposite the magnetic pole ge ίο directed, therefore in the x-direction. Such a force moves the gyro in the y-direction, and since it is in Depending on the radius on the pane on which it acts, increases linearly, so does the one on the Gyro-acting readjustment force with increasing deviation between disc and magnet or Angular deviation of the housing from the line of sight. When the housing is pivoted in the ^ direction the force acting tangentially on the disk lies in the y-direction. The size of the force depends again from the deviation between disk and magnet, so that the force with increasing deviation of the housing becomes larger in the ^ -direction and the gyro in the x-direction with a speed is tracked, which increases with increasing swiveling of the housing. The direction of rotation of the The gyro rotor is chosen so that the forces caused by the eddy currents move the gyro into the Readjust the direction of camera movement. The gyro adjustment caused by the eddy current forces is almost exactly matched to the movement of the camera housing by means of servo action. Within a small range of angular deviations of the housing is due to appropriate training and geometry of the system of magnet and rotor, there is practically no readjustment effect. In connection with this, the conductivity of the disk 53 should be such that there is a dependency the eddy current forces from the vortex deviation of the housing according to FIGS. 6 and 7 results. The conductivity can be influenced by making grooves or slots on the surface the disk according to FIG. 9 can be achieved. In the example shown, the surface is of the disc 53 is provided with a plurality of concentric slots or grooves 55 in the vicinity of the center point one after the other and further and further apart as the radius increases are away. Through these grooves, depending on their mutual distance, the Conductivity on the surface of the disc is more or less reduced. In this way you can greatly reduce the surface conductivity in the central part of the disk, and thereby are also the eddy current forces in this area are extremely low. By choosing the radial The density of the grooves outside the central part can affect the course of the eddy current forces Characteristic curves of FIGS. 6 and 7 are matched so that the readjustment of the gyro 38 follows the movements of the camera housing 34 as precisely as possible. in the In the middle part of the disc, where the eddy current forces are almost zero, the gyro is not tracked and therefore always remains aligned in the direction of the line of sight.

In FIGS. 10 and 11, another exemplary embodiment of an adjusting device is shown, which can be used to generate adjusting forces with a curve according to FIGS. 6 and 7 to exercise on the top 38. In this embodiment, the readjusting forces are brought about by mechanical contact between pins protruding from the disk connected to the gyro rotor and preferably resilient projections which are connected to the camera housing. With the rotor 42 of the gyro 38, a disk 56 is connected to the shape of a spherical segment; the center of curvature preferably coincides with the center of the bracket. On the outer surface of the disc, a plurality of pins 57 are arranged perpendicular thereto, which pins are directed radially with respect to the center of the bracket. It is essential that no pins are provided in a central area of the disc with a small radius, whereas outside this area the density of the pins increases as the radius increases. The adjustment device also contains a coupling part 58 which is fastened in the camera housing 34 in the vicinity of the disk 56, coaxially to the optical axis. The coupling part has a plurality of projections which are preferably arranged radially with respect to the center of the bracket and the tips of which lie on a circle with a smaller radius than the central, pin-free area of the disc. The projections extend so far into the vicinity of the disk that the tips of the projections with the pins 57 come into contact with a deviation of the gyro 38 by more than a small predetermined angle from the axis of the camera housing. In the case of small angular deviations of the housing by less than the predetermined angle, the tips of the projections remain within the central, pinless area of the disk 56, there is no contact, and no readjusting force is exerted on the top. The gyro therefore always remains aligned in the direction of the line of sight. When the camera body ζ. B. is moved in a panoramic pan by more than the small predetermined angle, the projections of the coupling part 58 and the pins 57 of the rotating disk 56 interlock, so that an adjusting force is exerted on the top. The readjusting forces are directed tangentially to the disk and perpendicular to the movement of the housing, so that the gyro is thereby pivoted in the direction of the housing movement. Since the density of the pins increases with increasing radius and therefore with increasing angular deviation of the housing in the unit of time a larger number of pins comes into contact with the projections of the coupling part, the readjusting force is greater and the readjustment speed of the gyro increases according to the swivel speed of the Camera body. By a suitable choice of the pin density, a characteristic curve of the readjusting force according to FIGS. 6 and 7 achievable. Numerous modifications are possible in the design of the projections of the coupling part, but care must be taken in the design that when interacting with the pins, apart from the desired adjustment force perpendicular to the direction of movement of the housing, a force component is not also created in the direction of movement of the housing. In the presence of a force component in the direction of movement of the housing, as already described in the previous embodiment, wild free

11 12

Vibrations of the gyro are fanned. Therefore, as shown in FIGS. 3 and 4 shown, the projections of the coupling part must be arranged vertically and horizontally from the axis of the gyro be that on contact with the pins only rotors 42 protrude. These pointers extend precisely tangentially directed forces can occur. between the window and the dial in the forward-one this possible design of the coupling part 5 lowing housing parts so that they through the window has a plurality along the circumference in which are visible. The pointers 71 and 72 can move freely stood apart from each other arranged bristles that move in relation to and point on the dials 67 and are directed radially to the center of the bracket and 68 the relative horizontal and vertical position of the from a lens elements 31 and 31 attached coaxially to the optical axis and connected to the gyroscope Base plate protrude. The coupling 33 is preferably connected to the camera housing 58 as a round disk 59 made of spring metal which lens elements 29 and 32 on. As long as the formed, which along their circumference a plurality of pointers remain within the boundary lines 69, from concentric to the center of the bracket, the camera is well aligned and the top will has sinks 60. This disc is not adjusted in the camera. When one or both pointers are over housing coaxial to the optical axis preferably 15 knock out the boundary lines, is the attached to a support 61 made of spring metal. The camera is badly held or aligned, and the bent bulges 60 are tangential to the top is readjusted. By observing the the rotating pins 57, so that only tangential pointer can be determined by the camera user

j adjusted adjustment forces can occur. how exactly he keeps them aligned, and an un-

! Although as adjustment devices mainly 20 intended adjustment of the gyro can thereby

those have been described which avoid a thrust force.

transmitted, can of course be used for transmission. Above, the application of the invention was also a magnetic force of attraction applied according to stabilized optics in film cameras. Deviations of the gyro 38 from that described; But it is also the application with optical axis can be fixed in various ways 25 cameras advantageous in order to be better and sharper, z. B. to achieve with photoelectric Einrich- recordings. The compensations which the error sation device indicating the deviation remain essentially the same, but which generate the signals. The error signal can be dispensed with electrical adjustment device for the gyro. The magnets are fed, the oppositely stabilized lens deflects the entering. Light overlying points in a vertical and horizontal 3 ° radiate at the same angle by which the direction deviates from the line of sight as at the corner points of a square camera housing. Are assigned and due to a magnetic armature movements of the camera housing will affect the z. B. compared coaxially on the gyro housing 43, so that the image is un ^ solidified in the film plane. If a deviation is detected, depending on such movements with respect to the, a certain magnet receives an error signal and 35 image window comes to a standstill. In this way, on film material, the anchor is tightened in the corresponding direction, rial of low sensitivity, sharply drawn surfaces to adjust the gyroscope so that the recorded values are preserved. By applying the error is compensated. It is clear that with a stabilized lens system, even time recordings of this type, no thrust forces can be transmitted to them without the otherwise necessary stable support, the gyro rotor42 and therefore also 40, e.g. by means of a tripod.
there is no delay in its rotary movement. A stabilized optical system of the type described is also no forces or moments are transferred to gyroscopes, which are not exclusively used in photographic devices, that produce wild free oscillations, whereby an image could be recorded or fanned in one. fixed focal plane is considered, applicable, so it should be noted that when using a 45 the principle also with numerous other opti-cameras with a stabilized optics of the described devices, such as binoculars, telescopes can not be said, how exactly to do the and the like, looking at an image field that keeps camera aligned; if the camera is inaccurately aligned at the distance of the observer's eye, the gyroscope can be unintentionally located in the focal plane of the device and this can be readjusted wisely. Therefore it appears to be 5 ° device housing. An equal compensation, which is desirable for the user of the camera to display device, as it can be used in the case of photographic displays of how precisely he holds the camera aligned, means that the gyro can only be readjusted in the desired optical devices of the latter type a th trap is initiated, as in the case of an intended substantial improvement in the image status, but no camera panning. For this purpose, complete compensation for small angular deviations can be used to offset the housing from the line of sight. With these and a simple device of this type only being used for apparatus of the latter type, it is advantageous to include a purpose of explanation in FIG. 5 shown. In doing so, introduce small additional correction variables which have protruding housing parts 62 and 63. The enlargement of the entire optical system is inversely proportional ^{to the display window 64 and 66 at the top and on the side of the 6o.} More precisely, camera housing 34 on. Under the windows 64 and the stabilized lens system of an optical 66 , dial blades 67 and 68 are provided, so that apparatus which supplies an image field, for stabilization, are visible to the user of the camera. The result of the image position in space under- or over-scale leaves are connected to the housing 34 compensation, depending on an upright and have boundary lines is generated to the pre ⁶ 5 or an inverted image 69,
determined small angular range for accidental movements. With the gyro system, one shown schematically in FIGS. 12 and 13. B. with the arm 44, pointers 71 and 72 are a different telescope, which provides an inverted image,

13 14

explained in more detail. This telescope has an objective observer-appearing image move in this 73 and an eyepiece 74, which are arranged at opposite ends of the housing 76 at an opposite type of compensation by an angle Q. In the above an angle Q (1 + V) in the non-compensated position, the housing is unintentionally relocated. This already means a substantial angle Θ with respect to the line of sight 77 which is an improvement over an uncompensated pivoting device, and the device enters parallel to the line of sight. Would z. B. in a telescope with 20 times the light rays 78, the angular deviation will be 0.5 ° in an image point 79 magnification, the focal plane 81, whose distance from the objective would be the focal length /,; is united. The image is advised by 0.5 ° compared to 10.5 ° if you do not notice that the image point is not shifted in the axis of the io compensated device. The stabilization telescope lies. This image point is a point of the effect emerges from a comparison of FIGS. 12 and 13, real ones designed by the objective in the focal plane. The remaining small angle Q of the Bildver-Bild, which represents the shift observed through the eyepiece, can, however, by the introduction of a small object. The distance between the additional compensation QIV in the case of the prism 82 formed by the focal plane 81 and the eyepiece 74 is equal to its focal length f _e . Those proceeding from image point 79 are still to be compensated. In the present case diverging light rays fall into the eyepiece of a telescope that delivers an inverted image under slightly different angles one, as would be the case brings an overcompensation of the prism around when the telescope axis with the line of sight amount Q V, the additional stabilization of the Image coincide and the image point on this would be optimal 20 to V (QIV) = Q. Therefore the prism would lie on a breach axis. The light rays emerging from the eyepiece have parallels Q (I + 1 / V) , so that the angle β allele to one another, which can be perceived by the light eye of the observer emerging from the eyepiece 74, and the line of sight 77 are zero will. If one multiplies the angle of refraction of the prism against the optical axis of the telescope by the magnification under an angle Q ' and against the line of sight 77 25 tion, VQ (I + VV), one obtains the angle inclined at an angle β. The emerging angle compensation for the field of view of the observation light rays are therefore not parallel to these ters VQ + Q, the image shift when not axes, which would be the case if the telescope corresponds to the compensated telescope and therefore one would be aligned in the line of sight. The angle Q ' provides perfect compensation. Similarly, it has the value VQ, where V is the magnification of the 3 ° way, it can be shown that for an optical device, a telescope, accordingly, V = fjf _e . The angle that provides an upright image that must be under-compensated by the stabilization between the exiting light rays and the prism formed by an angle QIV line of sight 77, so that the from the ocular = β 4- a '= α (ι 4 - y \ l ^ar exiting rays exactly parallel to the sight

35 lines run and the field of view of the observer

This is the angle at which it is completely stabilized by the observer. The general formula

The image being viewed appears to be in motion when the distance for the angle of refraction Φ of the prism for stabilization

tube is pivoted into the position shown. It sizing an image against angular deviations

it can be shown that with the arrangement of a stable optical device that delivers an image field,

based lens system, which is a 40 for a camera: Φ = Q (1 + VV).

The stabilized optical systems described so far in the telescope shown or a similar optical system can cause optical errors, the device can see a compensating deflection angle Q, under certain circumstances impermissibly large, which corresponds to the angular deviation of the device and thus the image quality The position of the 45 viewed by the observer speaks although the image is almost stabilized against vibrations of the optical image. The viewed image is fully stabilized across the line of sight. B. a kind of coma always cause small movements, and there is still an error, if the outer surfaces of the improvement possibility, whereby lenses of an element pair are curved through elimination rization is achievable. Curvature of the outer lens surfaces. If the above information is based on the stabilized lens system of biconcave fig. 13 explains in more detail, according to which the telephoto and biconvex lenses are put together, which tube, inclined at an angle Q relative to the line of sight, is one of the possible combinations mentioned at the beginning, just as in FIG. 12, but according to FIG on. For the present invention in front of the objective 73, a different application, the coma error-to-stabilization lens is arranged, which has a prism 82 with casual; where it is not permissible, it can form angles corresponding to the line of sight by combining the angular deviation of the telescope from the turning of lenses with flat or almost flat angles. Outer surfaces avoided or negligibly small if the prism kept a ⁶ ° refraction of light rays. In the case of the angle Q shown in the drawing, the broken illustrated embodiments occur, planoconcave and light rays parallel to the axis of the telescope are used in planoconvex lenses, so that the coma error can enter the objective 73 and emerge from the eyepiece 74,
parallel to this axis. Since the housing 76 of the telescope according to the invention has another optical defect of the telescope according to the invention at an angle Q relative to the visor-stabilized optical system, which is inclined along the line, the angle β between the two must be considered, that caused by the dispersion in The light rays entering the line of sight 77 and the prisms formed by the lens pairs decay to the value Q. The image field and the chromatic aberration caused by it. When enlarging

15 16

the optical devices with an eyepiece, e.g. B. in this construction, the pair 88 forms a prism telescopes, binoculars and the like Device is reinforced. Günsatzes 83. The lenses of the pairs 84 consist, usually in practice with stabilized parts 86 and 87 from crown glass and those of the pair 88 from scopes and the like with high magnification with large flint glass. Different crown and flint deflection angles and therefore stronger chromatic types of glass can be selected in order to pair the angular velocity of the image in the crown glass aberration to obtain a total dispersion that is also large, so that the eye corresponds to the chromatic dispersion in the flint glass pair. If you don't notice the di-aberration in the rapidly moving picture. The io spersion the individual Kronglaspaare D _1, D ₂ .. .D _n same beneficial effect occurs in rapid dispersion of the camera and the flint glass pair D is' such pivoting movements on. In other cases, however, such as that D ' = 2D _h then the total dispersion when observing an immovable object or through all lens pairs is zero, since the prism formed from the flint during slow camera pans, with the glass lenses forming a prism for the deflection angle color dispersion, is inadmissibly large could, 15 none of the prisms formed from the crown glass lenses can result in the stabilized optical system on simple opposite deflection angles. Correct achromatically in such a way. ger lens set is achromatic, that is, it causes

An achromatic stabilized optical system does not have chromatic aberration. In other words, it is

according to the invention, as shown in Fig. 14, condition for achromatic correction

consists of an achromatic lens set 83 with 20 v (a 1 \ -? (λ i \

the element pairs 84, 86, 87 and 88 from Plan- * \ A, jv _k ) - ζ \ Δ, ΐν,),

convex and plano-concave lenses 89 and 91, 92 and where A _{k is} a measure of the refraction of the Fraunhofer

93, 94 and 96 as well as 97 and 98. The light corresponding to each other by Hoffer's D-line in the

hearing lenses of each pair are on the initially crown glass pairs, Δ, the corresponding measure for the

above-mentioned manner pivotable against each other, where 25 flint glass pair, v _k the reciprocal value of the dispersion

one lens of each pair with the housing 99 of the be of the crown glass for two standard wavelengths, approximately

corresponding optical device coaxially to its opti- according to the Fraunhofer lines F and C,

shear axis is connected. The other lenses of the for which the achromatic correction is performed

Pairs are through a gyro stabilizer 101 which is to be, and V ₁ the reciprocal value of the dispersion

previously described type, which is in the housing on the flint glass for the same standard wavelengths;

is ordered, stabilized. The gyro stabilizer holds _ _

the lenses connected to it despite the angular deviation - ^k ~ ⁿ ° ~ '

chungen Θ of the case from the original where n _{D is} the refractive index of the crown glass for the

Line of sight 102 is in a fixed spatial orientation to the D-line;

this line of sight. In the case of angular deviations in the range 35 Δ - η '- 1

from the line of sight are the lenses of the ' ^D '

individual pairs of prisms, which together form the deflection where n _D 'is the refractive index of the flint glass for the

angle Θ result. The prisms are arranged so D line is;

that as a result of the total angular deflection of the outward - Δ / (n - n)
light rays passing through the device a stable 40 ^kk ^ ^{1 2 "}
a sated image is created. More precisely, in one where n _x and n ₂ are values of the refractive index of the camera or similar optical device in crown glass for those two standard wavelengths for which the image is on a fixed image plane in the housing for which the achromatic correction is carried out 100 should be stabilized, must be; and
the entire 45 ν = Δ / (n '- η')
pre-called deflection angle equal to the angular deviation '' ^ ^{1 2 h}
Θ of the housing must be away from the line of sight. Where Ti ₁ 'and n ₂ ' are values of the refractive index of the telescope, binoculars, etc., which are an image field of flint glasses for the same wavelengths. By generating, the image of which is to be stabilized, there is a selection of crown and flint glass types whose physically total deflection angle of the light rays due to 50 kaiic characteristic values the individual lens pairs still satisfy the above equations, is an achromatic correction of the compensation Θ / V, so that a deflection angle of the entire lens set can be achieved.
Θ (1 ± VV) results. It should be noted that the condition that the

The chromatic aberration can be eliminated by one of the whole abnormal arrangement caused by the lens set that the deflection of the angular deviation of the housing of lens pairs 84, 86 and 87 corresponds to positive prisms and that of the line of sight, by deflecting pair 88, a negative prism form. The planoconcave lenses 91, 93 and 96 of the crown and flint glass pairs are connected to the housing 99 by the pairs 84, 86 and 87, expressions z1 _& and Δ ,, determined for this light corresponding to the D-line in the individual purpose can be. The camera compared to the planoconvex lenses 89, 92 and 94 of these 60 image stabilizers is first calculated using the example of a pair of cameras connected to the gyro stabilizer 101, in which the entire camera is deflected. In the case of pair 88, however, the positive or planing Φ _ο corresponding to the D-line light in convex lens 97 is connected to the housing, while the stabilized optics equal the angular deviation Θ of the negative or plano-concave lens 98 with the housing from the line of sight is. One forms gyro stabilizer is connected. Preferably 65 is the sum of the convex lens 94 of the pair 87 and the concave deflections caused by the individual prisms, so one obtains:
lens 98 of the pair 88 cemented together and as
Unit connected to the gyro stabilizer. By Z <b _k - ΣΦ; = Θ,

' 009527/173

where <P _{k is} the deflection of the Z) line by the crown glass prisms and Φ, the deflection of the D line by the flint glass prisms. As noted earlier, the refraction or deflection Φ of a thin prism results in air

where η is the refractive index for a certain wavelength and α is the refractive angle of the prism. In the present case, α = Θ, and for the D-line applies to the crown glass elements

n _D - 1 = A _k
and for the flint glass elements

n _D '-l = A _f .

The equation for stabilizing the image is then:

2A _k & - ΣΔ, Θ = Θ.

Dividing both sides of the equation by 0 gives:

This last equation must be fulfilled at the same time as the condition for achromatic correction.

In the case of telescopes, binoculars and other optical devices that provide an image field, the additional compensation element Θ / V must be taken into account in the above equation, so that the equation for such devices is:

2A _tl - 2Ai = 1 ± 1 / V.

Three identical pairs of crown glasses are to be provided for a telescope lens set with 20x magnification. The equation for zero total dispersion is:
3.733 · ΙΟ- ² (! _ | _ _Ec y = y _Vf . _Δί (! _{+ (5 /} ).

To fulfill this equation, a flint glass with a constant AfIv ₁ must be used, which comes as close as possible to the value 3.733 · ΙΌ " ^2. Von ίο Kodak Flintglas F is the constant

AfIvf = 3.74 · ΙΟ " ² _}

and this value is pretty close to
3 ^ / ^ = 3.733-10-2.

Another point to consider when choosing the right crown and flint glasses to use for the lens pairs is that the correction factors δ _Η and δ should not be greater than 0.2, if possible, in order to keep the coma error of the lens set negligibly small. These correction factors ö _k and δ / can serve to match the corresponding members of the equations, and in the present case they will be very small, since the equation for the achromatic correction is already almost fulfilled. However, it must be the condition for image stabilization at the same time

2A _k (l + <5 _fe ) -

+ δ,) = 1 ± 1 / V

The above equations for achromatic correction and image stabilization apply to the use of pairs of plano-concave and plano-convex lenses. They can also be used for pairs of lenses whose outer surfaces are slightly curved, if correction factors ö _k and ö _{f are} added to the individual elements. These correction factors can be determined by comparison with the common radii of curvature of the lens pairs, namely is

d _k = r _k / R _k and δ, = r, / R; ,

where r _k and r, the corresponding common radii of curvature of the adjacent lens surfaces of each pair and R ₁ , and R _{f are} the very large radii of curvature of the outer surfaces of the crown and flint glass lenses. Taking these correction factors into account, the condition for achromatic correction of the lens system is:

l / r * · 2 A ₁₁ (1 + ö _k ) = l / v, ■ 2 A ₁ (1 + δ,) .

The condition for image stabilization is also obtained, for a camera:

2A ₁₁ (I + ö _k ) -2Af (I + δ,) = 1,

and for an optical device that provides an image field:

2 A ₁₁ (1 + δ _Ι; ) - 2A _f (1 + δ,) = 1 ± VV.

also with small correction factors ö _k and δ ,, if possible smaller than 0.2, be fulfilled. For Kodak Flint Glass F, A ₁ = 0.995. After inserting this value and the already mentioned value A _k = 0.62 for the crown glass elements in the equation for the image stabilization, it can be seen that the necessary correction factors ö _k and A _{f are} actually very small. The equation for image stabilization is:

1.86 (1 + ^) - 0.995 (1 + <J,) = 0.95.
From this equation and the dispersion equation

3.733

d _k ) = 3.74

Finally, a numerical example is given for the calculation of an achromatic stabilized lens system according to the invention, Schott Kronglas SSK 9 being used for the crown glass elements. The characteristic values of SSK 9 are A ₁ . = 0.62 and AiJv ₁ , = 1.245 * IQ- ² . The correction factors can be calculated for the achromatic one, namely δ, = 0.089 and δ ,. = 0.091. The correction factors are negligibly small for a set of lenses consisting of three pairs of crown glasses made of Schott Kronglas SSK 9 and a pair of flint glasses made of Kodak Flint glass F, which can be used for a telescope which has a magnification of 20 times and provides an upright image Stabilization of the image with negligible chromatic aberration and negligible coma error. Of course, other optical systems can be constructed according to the invention, other combinations of types of glass and different numbers of lens pairs for image stabilization and achromatic correction for certain optical devices with almost any desired magnification can be used .

Claims (14)

Patent claims: 1. Device to compensate for random movements of optical devices with a Housing and an optical system arranged thereon or in it for focusing the incident light, characterized in that that at least one set of lenses is provided, which consists of mutually matching positive tive and negative lens elements, which together form a pair of elements with variable Form refraction, with one lens of each set firmly connected to the housing is, while the other lens with a device for holding in a predetermined spatial orientation, regardless of random movement or angular deviation of the housing, and wherein the entirety of the lens sets of the optical System in the manner of a prism with variable refraction an essentially the angular deviation of the housing from a line of sight corresponding deflection of the passing through Light rays causes the light rays to hit the body regardless of movement focus on the same spot. 2. Device according to claim 1, characterized in that the device for holding in a predetermined spatial orientation is a freely movable gyro (22) which is suspended in the housing (11) by means of brackets (23), the axes of rotation of which are through a common Go to the center of curvature of all lenses in the individual sets. 3. Device according to claim 2, characterized in that one with the gyro (38) cooperating Adjustment device (52) is provided so that when a small predetermined angular range is exceeded Movement of the housing of the gyroscope and the lenses connected to it pivotable with the housing are. 4. Device according to claims 1 to 3, characterized in that each lens set of the variable prism consisting of positive and negative plano-convex and plano-concave lenses has a refractive index on the order of 2. 5. Device according to claims 1 to 4, characterized in that all lenses have one have a common center of curvature and that all movable lenses at radii around this center are pivotable. 6. Device according to claims 1 to 5, characterized in that the dispersion of the The light in the first set of lenses is essentially the same size, but opposite to the dispersion of the light is in the totality of all other sets of lenses, so that it is through the sets of lenses formed variable prism is achromatic. 7. Device according to claims 1 to 6, characterized in that in one of the focal length The distance from the lenses of the optical system corresponding to the last lens is a film window is arranged and that two sets "of plano-convex and plano-concave lenses are provided and the lenses of each set are pivotable with respect to one another, the opposed to one another Surfaces are essentially oppositely curved and very close to each other lie. 8. Device according to claims 1 to 7, characterized in that with the device to hold the movable lenses in a predetermined spatial orientation Display device connected to the horizontal and vertical deviation of the lenses from the direction of sight. 9. Device according to claims 1 to 8, characterized in that the optical device consists of objective and eyepiece and that the sum of the deflection angles of the individual lens ^sentences φ = β (1 + VV) where Θ is the angular deviation of the housing and V is the magnification of the device. 10. Device according to claim 9, characterized in that the sum of the deflection angles for an optical device that provides an inverted image, 0 (1 + VV) and for a device that provides an upright image, 0 (1-1 / F)
amounts to. 11. Device according to claims 3 to 10, characterized in that the adjusting device is arranged in the housing that the direction of action of the adjustment forces perpendicular to the Direction of housing movements that exceed a predetermined small range, runs and that the adjusting force is essentially uniform with the change in the housing position increases in order to transfer the change in position to the gyro, so that a desired Pivoting movement of the housing over the small area within which compensation is required takes place, is also made possible without the operation of the compensation device disturb. 12: Device according to claims 3 to 11, characterized in that the gyro rotor (42) has a coaxially arranged electrically conductive end face (53) and that in the housing, coaxial to the permanently connected lenses of the individual sets, at a short distance from A magnet (54) is arranged on this end face of the rotor, so that eddy currents are induced by induction a force to readjust the gyro is caused. - 13. Device according to claim 12, characterized in that the facing the magnet The end face of the rotor (42) has the shape of a spherical segment (53) and that therein a plurality circular grooves (55) is provided, the mutual spacing of which increases with increasing Radius increases. 14. Device according to claims 3 to 11, characterized in that on one end face of the gyro rotor (42) protruding pins (57) are provided which, starting outside of a certain radius, set closer and closer with increasing distance from the rotor axis are, and that arranged on the housing projections (60) in the inside of the specific Radius lying pin-free space in front of the rotor face protrude so that when the housing is pivoted, a predetermined small Exceeds area, the protrusions with the pins come into contact to the gyro to track the movement of the housing with the movable lenses. For this purpose 2 sheets of drawings