JP3900756B2 - Image stabilization device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In the present invention, when an optical device such as a monocular, binoculars, or even a video camera is subjected to vibration, an emission angle of a light beam from an observation object with respect to an optical axis of the optical device varies, and an optical image is blurred and observed. The present invention relates to an image stabilizing device disposed in the optical device.
[0002]
[Prior art]
When holding and operating optical devices such as monoculars or binoculars that are intended for optical observation, especially when bringing the optical device into an aircraft or vehicle for use, The oscillation is transmitted to the optical device, and the emission angle of the light beam from the observation object with respect to the optical axis fluctuates, often degrading the observed optical image. Even if the amplitude of the vibration transmitted to such an optical device is small, the viewing angle of monoculars or binoculars is narrow and the observation object is magnified, so the fluctuation angle with respect to the optical axis is also magnified. The Therefore, even when the angle fluctuation speed is relatively small, there is a problem that the observation object moves rapidly in the field of view, or when the angle of fluctuation is large, the object is out of the field of view. In addition, when swinging with a relatively high angle fluctuation speed, the angle fluctuation speed of the image of the observation object is increased by the magnification of the optical device even if the fluctuation angle is relatively small, and this causes image blurring. There is a disadvantage that the image is deteriorated.
[0003]
Until now, various devices for image stabilization have been proposed in order to prevent the observed image from deteriorating due to fluctuations in the emission angle of the light beam with respect to the optical axis due to vibrations and oscillations transmitted to the optical device. .
[0004]
For example, Japanese Examined Patent Publication No. 57-37852 discloses a technique in which a vibration isolating means using a rotating inertial body (gyro motor) is provided in the binoculars in order to correct blurring of an observation image in the binoculars.
[0005]
That is, in this technique, an erecting prism is arranged on the optical axis between the objective lens and the eyepiece of the binoculars, and the erecting prism is fixed on the gimbal suspension means to which the rotating inertial body is attached. Even if it vibrates due to camera shake or the like, the erecting prism is held in substantially the same posture to prevent the observation image of the binoculars from blurring.
[0006]
The conventional technology using the rotary inertia body and the gimbal suspension means can stabilize the image with high accuracy, but requires a high-speed rotary body to obtain a large inertia force in a small space. Since it is necessary to reduce the generated vibration, it is necessary to have high accuracy. The problem with this demand for small size, high speed, and high accuracy is that the price and life, and the time from when the power is turned on until the required inertial force is obtained are disadvantageous. In addition, if the effective diameter of the objective lens is increased as the magnification and resolution of the binoculars are increased, the erecting prism becomes larger, which requires a larger inertial force and further increases the above problem. In addition, the power consumption increases accordingly.
[0007]
Therefore, the applicant of the present invention mounts an angular velocity sensor instead of the rotary inertia body on the gimbal suspension means, and controls the rotation of the gimbal suspension means based on the output value from the angular velocity sensor, thereby Has proposed an image stabilization device that fixes the image to the earth (inertial system) (Japanese Patent Laid-Open No. 6-250100). According to this apparatus, basically, the upright prism held by the gimbal suspension means has an inertial force, and in particular, a vibration with a high vibration frequency and a vibration frequency with a relatively high amplitude. The ability to maintain posture is high. Therefore, the rotational position control force based on the output from the angular velocity sensor may be small. However, vari-angle prisms and other image stabilization devices that drive lenses require an aggressive drive, and the drive needs to be moved at high speed to correct large amplitudes in high frequency vibrations. Therefore, it is difficult to correct in a large angle range.
[0008]
By the way, when using binoculars and video cameras, panning and tilting are often performed at high speed. For example, when observing a flying object such as a bird or an airplane, a quick pan / tilt operation is required.
[0009]
Therefore, if not only the angular velocity of the gimbal suspension means but also its angular position is detected, and feedback control for image stabilization is performed based on both detection values, the optical system in the apparatus is used during pan / tilt. Can smoothly follow the moving direction of the observation object.
[0010]
[Problems to be solved by the invention]
By the way, the above-described apparatus for image stabilization requires electric power for driving the image stabilizing means, and the electric power is generally supplied by a battery incorporated in binoculars or the like. For this reason, if the anti-vibration means is always operated, the battery is consumed, and frequent battery replacement is required.
[0011]
Therefore, it is desirable to develop an image stabilization device that can minimize battery consumption by switching the image stabilization device between a standby mode that is in a standby state and an operation mode that is in an active state by a simple operation. It is rare.
In addition, when the power supply voltage decreases due to battery exhaustion or the like, normal image stabilization control cannot be performed.
Furthermore, if the power on / off is left to the user's operation, the user may forget to turn off the power, and in this case, the battery is consumed.
[0012]
The present invention has been made in view of such circumstances, and an image stabilization device capable of switching an image stabilization device between a standby mode in a standby state and an operation mode in an operating state by a simple operation. It is intended to provide.
The present invention also provides an image stabilization apparatus that can display the state of the power supply voltage to perform normal image stabilization control and minimize battery consumption by preventing forgetting to turn off the power supply. The purpose is to provide.
[0013]
[Means for Solving the Problems]
  The image stabilization apparatus of the present invention has a monocular optical system or a binocular optical system in which an erecting prism is disposed between an objective lens and an eyepiece, and the objective lens and eyepiece of the optical system are fixed in a case. An image stabilization device mounted on an optical device comprising:
  Gimbal suspension means having two rotation shafts extending in the left-right direction and the up-down direction of the optical device, and rotatably mounting the upright prism to the case;
  An actuator for rotating the gimbal suspension means around the two rotation axes;
  Two angular position detecting means for detecting the angular position of the gimbal suspension means around the two rotation axes,
  Two angular velocity detecting means fixed to the gimbal suspension means for detecting angular velocities of the gimbal suspension means around the two rotation axes;
  Based on the angular position and angular velocity detected by the angular position detecting means and the angular velocity detecting means, the actuator is driven to fix the erecting prism with respect to the inertial system, and the rotation of the gimbal suspension means is controlled. Feedback control means;
  Select the control mode of the feedback control meansforA mode selection switch that can be operated by the user;
  Mode switching means for selectively switching the feedback control means between an operation mode for image stabilization and a standby mode for this operation mode in response to an operation of the mode selection switch.And
  The mode switching means is
  After the first operation of the mode selection switch, until the first monitoring time set in advance, the feedback control means is set to a standby mode,
  When the second operation of the mode selection switch is performed before the first monitoring time elapses, the feedback control means is set to the operation mode,
  Thereafter, each time the mode selection switch is operated, the standby mode and the operation mode are switched, and
  When the second operation of the mode selection switch is not performed before the first monitoring time elapses in the standby mode, the power is turned off.
  The power supply is turned off when there is no predetermined input from the angular velocity detection means after the transition from the standby mode to the operation mode and before a preset second monitoring time elapses. Has beenIt is characterized by this.
[0016]
In the image stabilization device, identification display means for emitting light in a different color for each mode may be provided corresponding to the standby mode and the operation mode.
In the image stabilization device, the feedback control means includes a voltage monitoring means for monitoring a power supply voltage state,
The voltage monitoring means may be configured to issue a warning when it is determined that the power supply voltage is not more than a predetermined value.
[0017]
  In the image stabilization apparatus, the identification display unit warns that the power supply voltage has decreased when the voltage monitoring unit determines that the power supply voltage is equal to or lower than a predetermined value.forIt can also be configured to emit light.
  Furthermore, in the image stabilization device, a power off switch for forcibly turning off a power source for driving the feedback control means may be provided.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
2, 3, 4, and 5 are a cross-sectional plan view, a front cross-sectional view, a side cross-sectional view, and a perspective view, respectively, showing a state in which the image stabilization device according to the embodiment of the present invention is incorporated in binoculars. As shown in the figure, the binoculars incorporating the image stabilizing device 20 of the present embodiment in the case 30 are a pair of objective lens systems 1a and 1b, a pair of eyepiece systems 2a and 2b, and a pair of uprights. The objective lens 1a, the eyepiece lens 2a, and the erecting prism 3a constitute a first telescope system 10a, and the objective lens 1b, the eyepiece lens 2b, and the erecting prism 3b are similarly provided with the second prism 3a and 3b. A telescope system 10b is configured, and a pair of the first and second telescope systems 10a and 10b configures a binocular system.
[0019]
The pair of objective lens systems 1a and 1b and the eyepiece systems 2a and 2b constituting this binocular system are fixed to the case 30 of the present optical device, and the upright prisms 3a and 3b are arranged in the vertical direction of the device (on the optical axis). A gimbal suspension having rotating shafts 6 and 106 (see FIG. 6) extending in the extending direction and the direction orthogonal to the arrangement direction of the objective lens systems 1a and 1b) and in the horizontal direction of the apparatus (the arrangement direction of the objective lens systems 1a and 1b). It is rotatably mounted on the case 30 via members 7 and 107.
[0020]
In addition, on the back surface of the case 30, a main switch 50 and a gain changeover switch 40 for instructing gain changeover, which enables externally changing the gain in a control loop described later, are disposed. The main switch 50 is also used for forcibly turning off the power when a mode selection switch 220 (to be described later) is operated and the power is on.
[0021]
Hereinafter, basic functions which are the premise of the apparatus of the present embodiment will be described with reference to FIGS. 6 and 7. In the present specification, the vertical direction of the apparatus indicates the direction of arrow A in the figure, and the horizontal direction of the apparatus indicates the direction of arrow C in the figure.
[0022]
In FIG. 6, the erecting prisms 3a and 3b to which the erecting prisms 3a and 3b are attached are fixed to the case 30, and therefore the erecting prisms 3a and 3a attached to the gimbal suspension members 7 and 107 are fixed. In a state in which 3b is fixed to the case 30, the present optical apparatus has a normal binocular system configuration. At this time, the optical axes 4a and 4b of the telescope optical systems 10a and 10b are referred to as optical axes of the present optical apparatus. I will do it.
[0023]
The appropriate arrangement positions of the objective lens systems 1a and 1b, the eyepiece systems 2a and 2b, the erecting prisms 3a and 3b, the gimbal suspension members 7 and 107, the rotating shafts 6 and 106, and the like are known (for example, Since this is described in detail in JP-B-57-37852, it is omitted here.
[0024]
As shown in FIG. 6, in the present embodiment, the inner gimbal suspension member 107 is pivotally supported by the outer gimbal suspension member 7, and the gimbal suspension device has a double structure. The outer gimbal suspension member 7 is rotated so as to correct the image blur in the vertical direction by the rotation shaft 6 extending in the horizontal direction of the apparatus, whereas the inner gimbal suspension member 107 is rotated to extend in the vertical direction of the apparatus. The shaft 106 is rotated so as to correct the image blur in the left-right direction. The erecting prisms 3a and 3b are attached to the inner gimbal suspension member 107. In FIG. 6, the vertical relationship is shown to be opposite to that in FIGS.
[0025]
In addition, an angular velocity sensor 8 is fixed at the center portion of the upper side wall portion of the outer gimbal suspension member 7, while an angular velocity sensor 108 is fixed at the center portion of the front side wall portion of the inner gimbal suspension member 107. Has been. When the angular velocity sensor 8 rotates the outer gimbal suspension member 7 in the direction of the arrow B as the case 30 moves vertically, the rotational angular velocity ω₁In contrast, the angular velocity sensor 108 detects the rotational angular velocity ω when the inner gimbal suspension member 107 rotates in the direction of arrow D as the case 30 moves in the left-right direction.₂It is a sensor which detects.
[0026]
In addition, at one end of the rotation shaft 6, the rotation angle θ of the rotation shaft 6 is used to perform position feedback control in addition to the speed feedback control based on the detected angular velocity.₁Is attached to the other end of the rotary shaft 6 and the erecting prisms 3a and 3b are attached to the other end of the rotating shaft 6 based on the detected values from the angular velocity sensor 8 and the position sensor 9. On the other hand, a rotation drive motor 5 for rotating the rotation shaft 6 of the gimbal suspension member 7 is attached so as to always return to the initial posture. On the other hand, at one end of the rotation shaft 106, the rotation angle θ of the rotation shaft 106 is used to perform position feedback control in addition to speed feedback control based on the detected angular velocity.₂Is attached to the other end of the rotating shaft 106 based on the detected values from the angular velocity sensor 108 and the position sensor 109. A rotation drive motor 105 that rotates the rotation shaft 106 of the inner gimbal suspension member 107 is attached so as to always return to the initial posture with respect to the direction blur.
[0027]
As shown in FIGS. 2 and 3, at one end of the gimbal suspension members 7 and 107 in the case 30, when the image stabilization control described later is not performed, the rotation of the gimbal suspension members 7 and 107 is restricted. A caging means 200 is provided for preventing damage. The caging means 200 includes a pair of pressing levers 213 that sandwich and hold both the gimbal suspension members 7 and 107 at the same time, and a caging actuator 211 that drives the pressing lever 213. In this caging means 200, the caging actuator 211 is driven, so that the holding lever 213 sandwiches both the gimbal suspension members 7 and 107 at the same time and restricts their rotation, or moves away from both the gimbal suspension members 7 and 107. Allow its rotation.
[0028]
Further, the case 30 is provided with a mode selection switch 220 that protrudes upward and externally. By operating the mode selection switch 220, image stabilization control to be described later can be switched between a standby mode and an operation mode. . In order to facilitate the pressing operation of the mode selection switch 220, the case 30 has a peripheral portion of the mode selection switch 220 bulging upward and a portion near the top of the mode selection switch 220 formed in a concave shape.
[0029]
In addition, the case 30 is provided with a mode / voltage display LED 212 for displaying the current operation mode and battery voltage state in the vicinity of the mode selection switch 220. The mode / voltage display LED 212 is a three-color LED capable of emitting light in three colors of green, orange, and red, and the emission color and emission mode (lights up or blinks) depending on the current image stabilization control mode and the battery voltage state. ) Is changed. Note that the mode / voltage display LED 212 is not limited to a three-color light emitting LED, and can be configured by three LEDs that emit light in three colors of green, orange, and red, respectively.
[0030]
As shown in FIGS. 9 and 10, a torsion coil spring 240 is provided between the gimbal suspension member 107 (inner gimbal) and the gimbal suspension member 7 (outer gimbal). The torsion coil spring 240 is provided so as to be wound around the rotating shaft 106, and both end portions thereof are locked to the gimbal suspension members 7 and 107. The gimbal suspension member 107 is biased in one direction with respect to the gimbal suspension member 7 by the elastic force of the torsion coil spring 240. The torsion coil spring 240 is attached such that the rotational biasing force acts on the gimbal suspension member 107 within the range of the maximum rotation angle of the gimbal suspension member 107 in the image stabilization control (the total width is about 10 °). . However, the spring constant of the torsion coil spring 240 is set to a sufficiently small value so that an excessive load is not applied to the rotation drive motor 105 during the image stabilization control.
[0031]
A torsion coil spring (not shown) similar to the torsion coil spring 240 is also provided between the gimbal suspension member 7 (outer gimbal) and the case 30, and the gimbal suspension member 7 is attached by the elastic force of the torsion coil spring. The case 30 is urged to rotate in one direction.
[0032]
Next, the basic concept of the control loop of the apparatus of this embodiment will be described with reference to FIG.
As shown in the figure, this apparatus amplifies the angular velocity signal from the angular velocity sensor 8 and the angular signal from the position sensor 9, respectively, and the upright prisms 3a, 3b based on the angular velocity signal and the angular signal. CPU 12 that calculates the drive amount of the rotary drive motor 5 so as to return to the original posture, outputs a control signal based on this calculation, and a motor drive that drives the rotary drive motor 5 by amplifying the control signal from the CPU 12 A circuit 13 is provided. The drive control of the rotary drive motor 5 by the CPU 12 is performed by PWM (Pulse Width Modulation) control that is excellent in responsiveness and has good power utilization efficiency.
[0033]
Connected to the CPU 12 are a ROM 12a in which various programs are stored, and a gain changeover switch 40 that instructs the CPU 12 to switch the gain of the control loop. On the other hand, the detection signals from the angular velocity sensor 108 and the position sensor 109 are converted into control signals by a control loop similar to the control loop shown in FIG. 7, similarly to the detection signals from the angular velocity sensor 8 and the position sensor 9. The rotation drive motor 105 is driven by this control signal.
[0034]
Therefore, in this embodiment, two sets of control loops are required to return the two outer and inner gimbal suspension members 7 and 107 to their original positions, but the CPU 12 may be the same.
[0035]
Next, a detailed configuration of the control loop will be described with reference to FIG.
This control loop is composed of a double feedback loop of a speed (angular velocity) feedback loop and a position (angle) feedback loop, and this control loop is a software loop and a hardware loop by a microcomputer program of the CPU 12. It is composed of a combination of loops.
[0036]
First, the velocity feedback loop detects the angular velocity ω around the rotation shafts 6 and 106 of the gimbal suspension 70 (7, 107) by the angular velocity sensor 61 (8, 108), and amplifies the detected value by the hardware amplifier 62. After that, the detected value ω is negatively fed back to the motor drive system 68 through the subtractor 66 and the amplifier 67 (first speed feedback loop). As a result, a reverse rotational torque is generated in the motor 69, and the gimbal suspension 70 is returned to its original posture against vibrations such as camera shake. , 3b is controlled to be fixed with respect to the earth (inertial system).
[0037]
  In this speed feedback loop, the detected value detected by the angular velocity sensor 61 is input to the integrator 65 via the subtractor 63 and the amplifier 64, and then the output value from the integrator 65 is input.When,Detection value directly input from the amplifier 62 in the subtractor 66WhenSubtractprocessingThe subtraction result is negatively fed back to the motor drive system 68 (second speed feedback loop). In this way, the detection value by the angular velocity sensor 61 is negatively fed back via the integrator 65 to control even when the steady deviation is zero with respect to the speed command, that is, when the speed input value and the speed output value of the feedback loop are equal. Since the system can be functioned and the loop gain can be doubled, the gimbal suspension 70 can be stabilized at a high speed (stabilization accuracy can be increased).
[0038]
The integrator 65 has a function of averaging the input values, and the output value is subtracted from the detected angular velocity value by the subtractor 66, thereby preventing oscillation of the first velocity feedback loop. It can be said that it has a damper function.
[0039]
On the other hand, the position feedback loop detects the angular position θ around the rotation shaft 6, 106 of the gimbal suspension 70 by the position sensor 81 (9, 109) and amplifies the detected value by the hardware amplifier 82, and then the motor. By returning to the drive system 68, the rotational drive motor 69 (5, 105) moves the gimbal suspension 70 to the angular position θ of the visual axis midpoint.₀It is controlled so as to be close to.
[0040]
In an optical apparatus such as binoculars, panning or tilting may be performed largely. In such a case, if the control is performed using only the speed feedback loop, the response to panning or tilting is poor. Therefore, there is a possibility that the gimbal suspension device 70 is largely rotated and collides with the movable limit end portion of the case 30.
[0041]
Therefore, in this position feedback loop, when it is detected that the gimbal suspension device 70 has rotated greatly, a signal corresponding to the detected value is returned to the motor drive system 68 so that the gimbal suspension device 70 is in the visual axis. The motor 69 is driven so as to return strongly to the point direction.
[0042]
This prevents unforeseen situations where the gimbal suspension device 70 collides with the movable limit end of the case 30 during panning or tilting, and has good follow-up performance when performing panning or tilting. It is said.
[0043]
By the way, when actually using binoculars, it is often observed while following a flying object such as a bird or an airplane. In such a case, quick pan / tilt operation, particularly quick panning is required. Such panning operation requires the optical system in the apparatus to smoothly follow the direction of movement of the observation object, so that the above-mentioned prevention of fixing the optical system to its original position against vibration is required. A function contrary to the vibration function is required, and when performing such a pan / tilt operation, it is rather necessary to disable the image stabilization function. Since such a pan / tilt operation is performed as needed according to the needs of the observer, it is desirable to switch between, for example, the panning mode and the image stabilization mode by the observer's operation.
[0044]
Therefore, in the present embodiment device, as described above, the gain changeover switch 40 is disposed on the back surface of the case 30, and the gain of the control loop described above is changed in accordance with the changeover of the gain changeover switch 40. It is possible to switch between an image stabilization mode in which the gain is small and a panning mode in which the gain of the control loop is large.
[0045]
In other words, the speed feedback loop is mainly intended for the anti-vibration function, while the position feedback loop is mainly intended for the pan / tilt function that is a follow-up function for the case 30.
[0046]
Therefore, if the feedback ratio of the position feedback loop is relatively large, the system is mainly a pan / tilt function. On the other hand, if the feedback ratio of the position feedback loop is relatively small, the anti-vibration function is mainly used. It becomes the system.
[0047]
Therefore, in the above embodiment, as shown in FIG. 1, the first amplifier 83 having a small gain and the second amplifier 84 having a large gain are arranged in the position feedback loop, and the operation of the gain changeover switch 40 described above is performed. In response to the switching operation by the user, the low gain mode in which the detection signal from the position sensor 81 is fed back through the first amplifier 83 and the high gain mode in which the detection signal is fed back through the second amplifier 84 are switched. To be made. The mode switching in the control loop is performed by the soft switch unit 85 that switches the loop connection based on a gain switching signal according to the switching operation of the gain switching switch 40 by the operator.
[0048]
That is, when the soft switch unit 85 is connected to the first amplifier 83, the value from the position feedback loop input to the subtractor 63 becomes small, and the input value from the speed feedback loop becomes relatively large to prevent it. The vibration mode (low gain mode) is set, and the gimbal suspension device 70 can be well fixed to the earth (inertial system) against vibrations such as camera shake.
[0049]
On the other hand, when the soft switch unit 85 is connected to the second amplifier 84, the value from the position feedback loop input to the subtractor 63 becomes large, and the input value from the speed feedback loop becomes relatively small and panning is performed. / Tilt mode (high gain mode), and good followability to panning or tilting.
[0050]
As described above, in the present embodiment, the drive control of the rotation drive motors 5 and 105 by the CPU 12 is performed by PWM control. In this PWM control, drive control is generally performed by charging / discharging the capacitor, but charging / discharging of the capacitor is not performed unless the angular position of the gimbal suspension means 7, 107 is changed, so that image stabilization control is generally started. Immediately after that, the driving direction of the rotary drive motors 5 and 105 is not fixed, and therefore the response of the PWM control cannot be improved.
[0051]
In this respect, in the present embodiment, the gimbal suspension member 107 is twisted between the gimbal suspension member 107 and the gimbal suspension member 7 as a one-side biasing means that urges the gimbal suspension member 7 to rotate in one direction. A coil spring 240 is provided, and a similar torsion coil spring is also provided between the gimbal suspension member 7 and the case 30. Therefore, when image stabilization control is started, an elastic biasing force of the torsion coil spring 240 or the like is applied. The angular position of the gimbal suspension means 7 and 107 changes immediately and the capacitor is charged at an early stage, thereby improving the responsiveness of the PWM control.
[0052]
In addition, in the present embodiment, when the image stabilization control is not performed, the caging means 200 regulates the rotation of both the gimbal suspension members 7 and 107, so that the gimbal during the image stabilization control is controlled. Since it is sufficient to attach the torsion coil spring 240 or the like so that the rotation biasing force acts on the gimbal suspension member 107 within the rotation angle range of the suspension member 107, the spring constant of the torsion coil spring 240 or the like can be set to a sufficiently small value. Thus, it is possible to prevent an extra load from being applied to the rotational drive motor 105 during the image stabilization control.
[0053]
In addition, the apparatus of this embodiment uses a battery as a power source. If image stabilization control is always performed, the battery is consumed and the battery needs to be replaced at an early stage. Furthermore, if the power on / off is left to the user's operation, the user may forget to turn off the power, and in this case, the battery is consumed.
[0054]
Therefore, in the present embodiment, a mode selection switch 220 is provided, and by operating the mode selection switch 220, it is possible to switch between a standby mode in which the image stabilization control is in a standby state and an operation mode in which the image stabilization control is in an operational state. . In addition, when the mode selection switch 220 is not operated or the predetermined input from the angular velocity sensor is not performed before the predetermined time elapses after the power is turned on, the power is turned off. It is like that.
[0055]
That is, as shown in FIG. 1, the mode switching means 86 realized by microcomputer software processing includes a mode selection signal from the mode selection switch 220 and an angular velocity sensor 61 (8, 108) after being amplified by the amplifier 62. The mode switching signal is output from the mode switching means 86 to the motor drive system 68, and the standby mode for setting the image stabilization control to the standby state and the image stabilization control to the operating state are input. Switch between operating modes. In the mode switching means 86, a comparator for determining whether or not the signal input from the angular velocity sensor 61 is within a predetermined value range is implemented in software, but a hardware comparator is interposed after the amplifier 62. You may let them.
[0056]
The mode switching means 86 outputs an LED control signal to the mode / voltage display LED 212 in order to display the current mode, and the current mode is confirmed by the display mode of the mode / voltage display LED 212. Can do.
[0057]
Also, in the apparatus of the present embodiment, normal image stabilization control cannot be performed when the voltage of the power supply battery falls below a predetermined value. Therefore, as shown in FIG. 1, the battery voltage is monitored by the voltage monitoring means 87 realized by the microcomputer software processing, and when the battery voltage is not more than a predetermined value, the mode / voltage display LED 212 is set to the predetermined light emission. Lights or blinks in color to give a warning.
[0058]
A mode switching process and a battery voltage monitoring process performed by the mode selection switch 220 will be described with reference to FIGS.
As shown in FIGS. 12 and 13, when the mode selection switch 220 is operated from a power-off state (S1), the power is turned on (S2), and a standby mode is set in which the image stabilization control is in a standby state ( S3). In this state, the rotation of the gimbal suspension members 7 and 107 is restricted by the pressing lever 213 of the caging means 200. Then, a timer T that initializes each value used in the process and measures the first monitoring time₁Is started (S4), and a gyro stabilization process is performed (S5). Here, the gyro stabilization process (S5) is a process for appropriately controlling the gimbal by changing the amplification degree of the input signal from the position sensor 81 only for a predetermined period immediately after the power is turned on. . In this standby mode, the mode / voltage display LED 212 is lit in orange.
[0059]
In this standby mode, it is determined whether or not the mode selection switch 220 has been operated (S6), and the timer T₁If the mode selection switch 220 is not operated within the predetermined time set in (S7), the power is turned off (S8). That is, when no action is taken during the standby mode, it is considered that the apparatus of this embodiment is not being used, so the power is turned off to prevent battery consumption.
[0060]
Timer T₁Battery voltage value V within the predetermined time set in_BATA / D converted and captured (S9), current battery voltage value V_BATThe voltage value V, which is the lower limit of the allowable use range₁, And voltage value V which is an upper limit value outside the allowable use range₂(S10).
[0061]
Where the battery voltage value V_BATV is the lower limit of the allowable use range₁In the above case, the process after the operation determination process (S6) of the mode selection switch 220 is repeated. In this case, the mode / voltage display LED 212 remains lit in orange.
[0062]
The battery voltage value V_BATIs not outside the allowable operating range, but V is the lower limit of the allowable operating range.₁V, which is an upper limit value that is lower than the allowable use range.₂If it is higher, the mode / voltage display LED 212 blinks in orange because it is necessary to prompt the user to replace or charge the battery (S11). Furthermore, the battery voltage value V_BATIs the upper limit value outside the allowable range of use₂In the following cases, the mode / voltage display LED 212 is lit in red to give a warning (S12), and the power is turned off (S13).
[0063]
Timer T₁If the mode selection switch 220 is further operated within the predetermined time set in (1), the operation mode is shifted to the operation mode for performing image stabilization control (S14). In this operation mode, the mode / voltage display LED 212 is lit in green.
[0064]
In this operation mode, first, the caging actuator 211 of the caging means 200 is driven, and an uncaging process for permitting the rotation of both the gimbal suspension members 7 and 107 whose rotation is restricted by the pressing lever 213 is performed (S15).
[0065]
Next, a timer T for measuring the second monitoring time₂Is started (S16), and detection signals from the angular velocity sensor 108 and the position sensor 109 are read (S17), and the pan / tilt mode (high gain mode) described above is set so that followability to panning or tilting is improved. The calculation and integration process in the control loop described above is started (S18).
[0066]
Then, it is determined whether there is a valid input from the angular velocity sensor 61 (S19), and the timer T₂If there is no valid input from the angular velocity sensor 61 within the predetermined time set in (S20), the caging actuator 211 of the caging means 200 is driven and the gimbal suspension members 7, 107 are rotated by the holding lever 213. The power supply is turned off by performing a cage process that regulates (S21). That is, when no action is taken during the operation mode, it is considered that the apparatus of this embodiment is not being used, so that the power is turned off to prevent the battery from being consumed. In step 21, the power is turned off after the gimbal cage processing is performed.₂When it is determined that there is no valid input from the angular velocity sensor 61 within the predetermined time set in (S20), the timer T₁T used in₁After clearing, the operation determination process (S6) for the mode selection switch 220 in the standby mode may be performed.
[0067]
On the other hand, timer T₂When a valid input is made from the angular velocity sensor 61 within the predetermined time set in step S1, the timer T₂Measured value t₂Is reset to the initial value (S22).
Further, it is determined whether or not the integrated value is saturated, for example, when the gimbal suspension device 70 pivots greatly and collides with the movable limit end of the case 30 (S23), and the integrated value is saturated. In this case, the system is stopped and the mode / voltage display LED 212 is flashed in red to warn of a system error (S24). By performing such a process, when the gimbal suspension device 70 is largely rotated and collides with the movable limit end portion of the case 30, it is possible to prevent a failure such as the motor being burned out.
[0068]
If the integrated value is not saturated, a motor drive signal is output to the motor drive system 68 (S25), and image stabilization control is performed.
Also in this operation mode, the battery voltage as described above is checked (S26). That is, although not shown in the drawing, the same processing as in Steps 9 to 13 described above is performed, and the state of the battery voltage is displayed by the mode / voltage display LED 212.
[0069]
Where the battery voltage value V_BATV is the lower limit of the allowable use range₁In the above case, the mode / voltage display LED 212 remains lit in green. The battery voltage value V_BATIs not outside the allowable operating range, but V is the lower limit of the allowable operating range.₁V, which is an upper limit value that is lower than the allowable use range.₂If it is higher, the mode / voltage display LED 212 blinks in green because it is necessary to prompt the user to replace or charge the battery. Furthermore, the battery voltage value V_BATIs the upper limit value outside the allowable range of use₂In the following cases, the mode / voltage display LED 212 is lit in red to give a warning, and after performing the cage process, the power is turned off.
[0070]
Next, it is determined whether or not the mode selection switch 220 has been operated (S27). If the mode selection switch 220 has been operated, cage processing is performed (S28), and a timer for measuring the first monitoring time T₁Measured value t₁Is initialized (S29), the process shifts to the standby mode, and the processes in and after step 6 are performed.
[0071]
On the other hand, when the mode selection switch 220 is not operated, the processing after step 17 is performed to maintain the operation mode. That is, when the mode selection switch 220 is operated in the operation mode, the mode is shifted to the standby mode. As described above, when the mode selection switch 220 is operated in the standby mode, the mode is switched to the operation mode. With this configuration, every time the mode selection switch 220 is operated, the standby mode and the operation mode can be switched selectively.
[0072]
In the present embodiment described above, the biasing biasing means is constituted by the torsion coil spring 240 attached to the rotating shafts 6 and 106, but it is of course possible to use other biasing biasing means. .
For example, as shown in FIG. 11, it is possible to employ a tension coil spring 242 instead of the torsion coil spring 240.
[0073]
The urging biasing means shown in FIG. 5 (a) has a tab 107a formed at one end of the gimbal suspension member 107, and a pin 107b is erected on the tab 107a, and a pin 7a is provided at one end of the gimbal suspension member 7. The gimbal suspension member 107 is configured to be urged to rotate in one direction with respect to the gimbal suspension member 7 by standing and extending a tension coil spring 242 between the pins 7a and 107a.
[0074]
In addition, the one-side biasing means shown in FIG. 2B has an L-shaped pin 107c standing at one end of the gimbal suspension member 107 and a pin 7a standing at one end of the gimbal suspension member 7. By extending a tension coil spring 242 between the pins 7a and 107c, the gimbal suspension member 107 is configured to be urged to rotate in one direction with respect to the gimbal suspension member 7.
[0075]
In the present embodiment, the above-mentioned erecting prisms 3a and 3b include Schmidt erecting prisms, Abbe erecting prisms, Bauern fend erecting prisms, and polo erecting prisms. Among them, FIG. 8 shows a Schmitt erecting prism. As shown in the figure, the Schmidt erecting prism is composed of a prism 23 and a prism 24, and a part 25 of the prism 24 is a roof reflecting surface. In such an erecting prism, there is an incident optical axis position where the incident optical axis 21 and the outgoing optical axis 22 can be on the same straight line as shown in the figure. In such an erecting prism in which the incident optical axis 21 and the outgoing optical axis 22 can be on the same straight line, as shown in FIG. 8, it is parallel to the optical axis 21 separated from the optical axis 21 by h. After passing through the erecting prism, the light beam 21 'has the property of becoming a light beam 22' parallel to the optical axis 22 that is separated by h below the emission optical axis 22. In addition, as long as it is an erecting prism, the incident optical axis and the outgoing optical axis are not limited to the same straight line, and other prisms can be used.
[0076]
Further, the angular velocity sensors 8 and 108 are piezoelectric vibration gyro sensors using a Coriolis force composed of a columnar vibrator such as a columnar shape and a plurality of piezoelectric ceramics, and at least two on the side surface of the columnar vibrator. A detection piezoelectric ceramic and at least one feedback piezoelectric ceramic are provided.
[0077]
Each detection piezoelectric ceramic outputs a detection signal having a different value in accordance with vibration, and an angular velocity is obtained by calculating a difference between them.
The feedback piezoelectric ceramic is used for phase correction of the detection signal.
[0078]
Since the angular velocity sensors 8 and 108 have a simple structure and are ultra-compact, the image stabilization device 20 itself can have a simple structure and a small size. Further, since the high S / N ratio and high accuracy, the angular velocity control can be made highly accurate.
[0079]
The image stabilizing device of the present invention is not limited to the above embodiment, and various other modes can be changed. For example, as the angular velocity information detecting means, a cylindrical vibrator type piezoelectric device can be used. In addition to the vibration gyro sensor, it is possible to use a piezoelectric vibration gyro sensor using various types of vibrators such as a triangular prism vibrator type, a quadrangular prism vibrator type and a tuning fork vibrator type. Various angular velocity sensors can be used.
[0080]
Further, it is possible to turn off the power when a predetermined input is not made from the position sensor instead of the angular velocity sensor.
In the above embodiment, the drive control of the rotary drive motor is performed by PWM control, but the present invention can also be applied to the drive control of the rotary drive motor using an operational amplifier.
[0081]
As the angle position information detecting means, various angle sensors such as a resolver, a synchro, and a rotary encoder can be used instead of the position sensor.
In addition, although the above-described embodiment device is configured to be applied to binoculars, the image stabilization device of the present invention may be configured to be applicable to monoculars. Further, the same effect can be obtained even when mounted on a camera such as a video camera.
[0082]
【The invention's effect】
According to the image stabilization apparatus of the present invention, the mode selection unit that selects the control mode of the feedback control unit is provided, and the mode selection unit performs the image stabilization by using the feedback control unit as the standby mode in the standby state. Mode switching means for selectively switching between the operation modes is provided, and the standby mode and the operation mode are switched based on the operation of a mode selection switch that can be operated by the user.
[0083]
Therefore, according to a user's request, the image stabilization apparatus can be easily switched between a standby mode that is a standby state and an operation mode that is an active state, and battery consumption can be suppressed.
[0084]
Further, since the power is automatically turned off when a predetermined time has elapsed in the standby mode, battery consumption can be minimized even if the user forgets to turn off the power.
In addition, since the identification display means for emitting light in different colors is provided corresponding to the standby mode and the operation mode, the current mode can be easily recognized.
[0085]
In addition, since voltage monitoring means for providing a warning when it is determined that the power supply voltage is less than or equal to a predetermined value is provided, it is possible to recognize in advance that the power supply voltage has fallen. Normal image stabilization control can always be performed by exchanging for example.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a control loop of an image stabilization apparatus according to an embodiment of the present invention.
FIG. 2 is a plan sectional view showing binoculars incorporating an image stabilization device according to an embodiment of the present invention.
FIG. 3 is a front sectional view showing binoculars incorporating an image stabilizing device according to an embodiment of the present invention.
FIG. 4 is a side sectional view showing binoculars incorporating an image stabilization device according to an embodiment of the present invention.
FIG. 5 is a perspective view showing binoculars incorporating an image stabilizing device according to an embodiment of the present invention.
FIG. 6 is a schematic perspective view of an apparatus for explaining functions of an image stabilization apparatus according to an embodiment of the present invention.
FIG. 7 is a block diagram for explaining the functions of the image stabilization apparatus according to the embodiment of the invention.
8 is a side view for explaining the erecting prism shown in FIG. 2. FIG.
FIG. 9 is a perspective view showing a main part of binoculars incorporating an image stabilization device according to an embodiment of the present invention.
10 is a side sectional view of FIG. 9;
FIG. 11 is a perspective view of main parts showing a modification of the embodiment of the present invention.
FIG. 12 is a flowchart for explaining mode switching processing and voltage monitoring processing of the image stabilization device according to the embodiment of the present invention;
FIG. 13 is a flowchart for explaining mode switching processing and voltage monitoring processing of the image stabilization device according to the embodiment of the present invention;
[Explanation of symbols]
      1a, 1b Objective lens (objective lens system)
      2a, 2b Eyepiece (eyepiece system)
      3a, 3b Upright prism
      4a, 4b Optical axis
      5,105 Rotation drive motor
      6,106 Rotating shaft
      7 Gimbal suspension member (outside gimbal)
      7a pin
      8, 61, 108 Angular velocity sensor
      9, 81, 109 Position sensor
      10a, 10b Telescope optics
      12 CPU
      12a ROM
      30 cases
      40Gain switchingswitch
      68 Motor drive system
      70 Gimbal suspension
      83 First amplifier
      84 Second amplifier
      85 Soft switch
      86 Mode switching means
      87 Voltage monitoring means
      107 Gimbal suspension member (inner gimbal)
      107a tab
      107b, 107c pins
      200 Caging means
      213 Holding lever
      210 Rotation restriction mechanism
      220 Mode selection switch
      211 Caging actuator
      212 Mode / Voltage Display LED
      240 torsion coil spring (one-side biasing means)
      242 Tensile coil spring

Claims (5)

A monocular optical system or binocular optical system in which an erecting prism is disposed between an objective lens and an eyepiece lens, and the objective lens and eyepiece lens of these optical systems are mounted in an optical device that is fixed in a case. An image stabilization device,
Gimbal suspension means having two rotation shafts extending in the left-right direction and the up-down direction of the optical device, and rotatably mounting the upright prism to the case;
An actuator for rotating the gimbal suspension means around the two rotation axes;
Two angular position detecting means for detecting the angular position of the gimbal suspension means around the two rotation axes,
Two angular velocity detecting means fixed to the gimbal suspension means for detecting angular velocities of the gimbal suspension means around the two rotation axes;
Based on the angular position and angular velocity detected by the angular position detecting means and the angular velocity detecting means, the actuator is driven to fix the erecting prism with respect to the inertial system, and the rotation of the gimbal suspension means is controlled. Feedback control means;
A mode selection switch which the user operable to select a control mode of the feedback control means,
In response to an operation of the mode selection switch, the feedback control means comprises mode switching means for selectively switching between an operation mode for image stabilization and a standby mode for this operation mode ,
The mode switching means is
After the first operation of the mode selection switch, until the first monitoring time set in advance, the feedback control means is set to a standby mode,
When the second operation of the mode selection switch is performed before the first monitoring time elapses, the feedback control means is set to the operation mode,
Thereafter, each time the mode selection switch is operated, the standby mode and the operation mode are switched.
When the second operation of the mode selection switch is not performed before the first monitoring time elapses in the standby mode, the power is turned off.
The power supply is turned off when there is no predetermined input from the angular velocity detection means after the transition from the standby mode to the operation mode and before a preset second monitoring time elapses. An image stabilization apparatus characterized by being made.   2. The image stabilization apparatus according to claim 1, further comprising identification display means for emitting light in a different color for each mode corresponding to the standby mode and the operation mode. The feedback control means includes voltage monitoring means for monitoring the state of the power supply voltage,
3. The image stabilizing apparatus according to claim 1, wherein the voltage monitoring unit issues a warning when it is determined that the power supply voltage is equal to or lower than a predetermined value. Said identification means, when the power supply voltage in said voltage monitoring means is determined to be equal to or less than the predetermined value, the image of claim 3, wherein the emitting light to alert the reduction of the supply voltage Stabilizer. Image stabilizer of any one of claims 1-4, characterized in that a power-off switch for forcibly turning off the power for driving the feedback control means.

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