JP6758093B2 - Imaging system with runout correction function - Google Patents

Description

The present invention relates to an imaging system with a shake correction function mounted on a moving object.

When an imaging unit is mounted on a moving object such as a vehicle or an airplane for shooting, a shake correction mechanism is used to suppress distortion of the captured image due to the shake of the imaging unit. As the shake correction mechanism, for example, a mechanism for swinging the imaging unit in the pitching direction and the yawing direction to correct the shake is used in response to pitching (pitching: tilting) and yawing (rolling: panning). .. The image pickup unit is equipped with a gyro for position detection, detects the runout of the image pickup unit based on the signal from the gyro, and controls the drive amount of the runout correction mechanism so as to cancel the detected runout.

It is also possible to cancel the distortion of the captured image due to the shake of the imaging unit by image processing. Patent Document 1 discloses a photographing apparatus that performs this type of image processing. In Patent Document 1, a photographing device and a runout detection device are mounted on a vehicle, and the rear of the vehicle is photographed from the photographing device. Then, the cutout position of the screen is corrected according to the amount of runout (shake of the photographing device) detected by the runout detection device. As a result, an image with less disturbance due to vehicle vibration can be obtained. In addition, when the captured image is displayed on the screen inside the vehicle, the amount of correction that detects the shake of the mirror used as the display screen and the shake of the driver's seat and corrects the cutout position of the screen is the shake of the mirror. The cutout position of the screen is corrected by adding a correction amount based on the difference in the runout of the driver's seat. As a result, the image reflected on the mirror can be made into an image with less disturbance when viewed from the driver's seat.

JP-A-2007-235532

The amount of runout detected by the runout detection device mounted on the image pickup unit is the amount of runout of the image pickup unit with respect to the external space. Here, as in Patent Document 1, when the outside of a moving body such as a vehicle equipped with an image pickup unit is photographed, the shake correction is performed based on the shake amount of the image pickup unit with respect to the external space to reduce the shake. You can get an image. However, when photographing the internal space (inside the vehicle) of an object (vehicle, etc.) on which the imaging unit is mounted, if the vibration correction is performed based on the amount of vibration of the imaging unit with respect to the external space, the shaking component of the vehicle itself is photographed. Since it is added as image distortion, it is not possible to obtain a captured image with less distortion. Patent Document 1 describes a correction method for an image that is less disturbed when viewed from the driver's seat when an image taken outside the vehicle is displayed inside the vehicle, but is a correction method for reducing the disturbance when taking an image inside the vehicle. Has not been proposed.

In view of the above problems, an object of the present invention is to reduce the disturbance of the captured image captured inside the object on which the imaging unit is mounted by the shake correction of the imaging unit.

In order to solve the above problems, the present invention is an imaging system with a shake correction function mounted on a moving body, which includes a movable body including an imaging module, a fixed body attached to the moving body, and the fixed body. On the other hand, the support mechanism that swingably supports the movable body, the optical axis direction of the imaging module, the first direction intersecting the optical axis direction, and the optical axis direction of the swinging directions of the movable body. A runout correction drive mechanism that swings the movable body around at least one of the second directions intersecting the first direction, a first runout detection unit provided on the movable body, and the fixed body. Alternatively, the runout correction drive is based on a correction value calculated based on a second runout detection unit provided at a predetermined position of the moving body, a signal of the first runout detection unit, and a signal of the second runout detection unit. It is characterized by having a control unit that controls the mechanism.

In the present invention, a movable body including an imaging module is swingably supported by a fixed body fixed to a moving body. The movable body is provided with a first runout detection unit that detects the runout of the imaging module with respect to the external space, and the moving body or the fixed body is provided with a second runout detection unit that detects the runout of the moving body or the fixed body with respect to the external space. Is provided. The correction value for driving the shake correction drive mechanism so as to cancel the relative runout of the image pickup module with respect to the moving body can be obtained from the signal of the first runout detection unit and the signal of the second runout detection unit. Therefore, by obtaining such a correction value and controlling the runout correction drive mechanism, it is possible to reduce the distortion of the image when the internal space of the moving body is photographed.

In the present invention, it is desirable that the fixed body is fixed to the moving body via a fixing member, and the second runout detection unit is fixed to the predetermined position of the moving body. As described above, by using the fixing member, the image pickup unit with the shake correction drive mechanism can be attached to various positions of the moving body, and the fixed body can be fixed reliably and easily. Further, since the second runout detection unit is attached to the moving body instead of the fixed part, even if the fixed body moves due to deformation of the fixing member interposed between the fixed body and the moving body, the imaging module for the moving body The relative runout can be calculated accurately. Therefore, it is possible to accurately reduce the distortion of the image when the internal space of the moving body is photographed.

In the present invention, when the moving body is a vehicle, it is desirable that the predetermined position of the moving body is the windshield of the vehicle. In this way, it is easy to attach the second runout detection unit when the image pickup unit with the runout correction function is mounted on the vehicle afterwards. Further, when the second runout detection unit is fixed to the windshield, the runout of the vehicle (moving body) can be detected without the influence of resonance. Therefore, the relative deflection of the imaging module with respect to the moving body can be accurately obtained, and the distortion of the image when the inside of the moving body is photographed can be accurately reduced.

In the present invention, the correction value is a difference between the detection amount detected by the first runout detection unit and the detection amount detected by the second runout detection unit. In this way, the runout correction drive mechanism can be driven so as to eliminate the difference. Therefore, the relative deflection of the imaging module with respect to the moving body can be accurately corrected.

In the present invention, the detected amount includes either a runout amount or an angular velocity. By driving the runout correction drive mechanism based on the difference between these detected amounts, it is possible to accurately correct the runout of the image pickup module relative to the moving body.

In the present invention, the runout correction drive mechanism swings the movable body in the first swing direction including the swing component in the vertical direction, and each of the first runout detection unit and the second runout detection unit The control unit can be configured to detect the runout in the first swing direction and calculate a value for canceling the runout in the first swing direction as the correction value. In a moving body such as a vehicle, the direction with the largest runout is the vertical direction. Therefore, if the vertical direction is selected as the first swing direction, it is possible to effectively correct the distortion of the image when the internal space of the moving body is photographed by the minimum runout correction of one direction.

In the present invention, the runout correction drive mechanism swings the movable body in the first swing direction and the second swing direction which intersects the first swing direction and includes a horizontal swing component. Each of the first runout detection unit and the second runout detection unit detects the runout in the first swing direction and the runout in the second swing direction of the movable body, and the control unit causes the control unit to move. As the correction value, it can be configured to calculate a value that cancels the runout in the first swing direction and the runout in the second swing direction. In this way, it is possible to correct the image distortion more accurately than the correction in only one direction.

In the present invention, the first swing direction is a swing direction around the first direction, the second swing direction is a swing direction around the second direction, and the runout correction drive mechanism The movable body is swung in the first swing direction, the second swing direction, and the third swing direction around the optical axis, and each of the first runout detection unit and the second runout detection unit is , The runout in the first swing direction, the runout in the second swing direction, and the runout in the third swing direction intersecting the first swing direction and the second swing direction are detected and controlled. The unit can be configured to calculate, as the correction value, a value that cancels the runout in the first swing direction, the runout in the second swing direction, and the runout in the third swing direction. By correcting the runouts in the three orthogonal directions in this way, it is possible to correct the image distortion with higher accuracy.

In the present invention, a movable body including an imaging module, which is an imaging unit, is swingably supported by a fixed body fixed to the moving body. The movable body is provided with a first runout detection unit that detects the runout of the imaging module with respect to the external space, and the fixed body or the moving body is provided with a second runout detection unit that detects the runout of the fixed body or the moving body with respect to the external space. Be done. The correction value for driving the shake correction drive mechanism so as to cancel the relative runout of the image pickup module with respect to the moving body can be obtained from the signal of the first runout detection unit and the signal of the second runout detection unit. Therefore, by obtaining such a correction value and controlling the runout correction drive mechanism, it is possible to reduce the distortion of the image when the internal space of the moving body is photographed.

It is a schematic block diagram which shows typically the image pickup system with the shake correction function to which this invention was applied. It is an external perspective view and the exploded perspective view of the image pickup unit with a shake correction function. It is an exploded perspective view of the internal mechanism of the image pickup unit with a shake correction function. It is an exploded perspective view which shows the mounting structure of the driving mechanism for rolling correction with respect to the upper unit provided with a movable body. It is an exploded perspective view of the upper unit. It is an exploded perspective view of the driving mechanism for rolling correction.

Hereinafter, embodiments of an imaging system with a shake correction function to which the present invention is applied will be described with reference to the drawings. In the present specification, the first direction, the second direction, and the third direction orthogonal to each other are defined as the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively. Further, the swing direction around the first direction (around the X axis) is set as the first swing direction, the swing direction around the second direction (around the Y axis) is set as the second swing direction, and the swing direction around the third direction (Z). The swing direction (around the axis) is defined as the third swing direction.

The image pickup system 100 with a shake correction function includes an image pickup module 5 (see FIGS. 2 to 5). The direction along the optical axis L (lens optical axis) of the image pickup module 5 is the Z-axis direction. Further, among the deflections of the imaging module, the rotation around the X-axis corresponds to pitching (pitching), the rotation around the Y-axis corresponds to yawing (rolling), and the rotation around the Z-axis corresponds to rolling. Further, one side in the X-axis direction is the + X direction, the other side is the -X direction, one side in the Y-axis direction is the + Y direction, the other side is the -Y direction, and one side (image side) in the Z-axis direction is + Z. Direction, the other side (subject side) is -Z
The direction.

(overall structure)
FIG. 1 is a schematic configuration diagram schematically showing an imaging system 100 with a shake correction function to which the present invention is applied. The image pickup system 100 with a shake correction function (hereinafter referred to as an image pickup system 100) is mounted on the moving body 200 and photographs the internal space of the moving body 200. The image pickup system 100 includes an image pickup unit 1 with a shake correction function (hereinafter referred to as an image pickup unit 1), a first shake detection unit 2 built in the image pickup unit 1, and a second runout provided in the moving body 200 or the image pickup unit 1. It includes a detection unit 3 and a control unit 4 built in the image pickup unit 1. For example, a gyroscope is used as the first runout detection unit 2 and the second runout detection unit 3.

The imaging unit 1 includes an imaging module 5 for photographing in which the optical axis L extends along the Z-axis direction. In the image pickup unit 1, if the moving body 200 is shaken or the like during shooting, the captured image is disturbed. Therefore, in the image pickup unit 1, the shake is detected by each of the first runout detection unit 2 and the second runout detection unit 3. Then, by driving the runout correction drive mechanism 6 based on the signals of the first runout detection unit 2 and the second runout detection unit 3, the movable body 10 provided with the image pickup module 5 is made into two axes orthogonal to the optical axis L. Pitching and yawing are corrected by swinging around (X-axis and Y-axis), and rolling is corrected by rotating the movable body 10 around the Z-axis (around the optical axis L).

As will be described later, the runout correction drive mechanism 6 includes a swing drive mechanism 50 that swings the movable body 10 around two axes orthogonal to the optical axis L, and is pitched by the swing drive mechanism 50. And correct yawing. Further, the runout correction drive mechanism 6 includes a rolling correction drive mechanism 70, and the rolling correction drive mechanism 70 corrects rolling. The control unit 4 functions as a control unit that controls the runout correction drive mechanism 6.

As shown in FIG. 1, the image pickup unit 1 is attached to a movable body 10 provided with an image pickup module 5, a fixed body 300 fixed to a predetermined position of the moving body 200 via a fixing member 7, and a fixed body 300. On the other hand, the support mechanism 8 (the gimbal mechanism 30, the connecting member 80, and the rotating shaft 745, which will be described later) that oscillately supports the movable body 10 and the above-mentioned runout correction drive mechanism 6 (swing drive mechanism 50, rolling correction) The drive mechanism 70) and the control unit 4 are provided. The moving body 200 is a vehicle having an internal space such as an automobile or a train. The imaging unit 1 may be mounted on a moving body 200 such as an aircraft or a ship.

The image pickup unit 1 is attached to a predetermined position of the moving body 200 via the fixing member 7 and the fixed body 300. The place where the fixed body 300 is fixed can be any place in the moving body 200, but it is desirable that the moving body 200 has less vibration when moving. For example, when the moving body is a vehicle, it can be attached to a predetermined location on the dashboard, an inner panel surrounding a front window, a side window, a rear window, or the like, or a predetermined location on a pillar. As the fixing member 7 for attaching the fixed body 300 to the moving body 200, for example, a double-sided tape or a member with a suction cup can be used. By using such a fixing member 7, it is easy to attach the image pickup unit 1 to the moving body 200 afterwards. The member with a suction cup is, for example, a member provided with a fixing portion for fixing the image pickup unit 1 at one end of a rigid body and a suction cup at the other end. The suction cup has a hook. When the hook is tilted to one side, the suction cup is strongly attached to the mounting surface, and when the hook is tilted to the other side, the suction cup is separated from the mounting surface. If an angle adjusting mechanism or the like is provided on the rigid body provided with the holding portion and the suction cup, the orientation of the imaging unit 1 can be adjusted, which is more convenient.

(Runout correction)
The first runout detection unit 2 is provided on the movable body 10 and detects the runout of the movable body 10. Since the image pickup module 5 for image pickup swings integrally with the movable body 10, the runout of the image pickup module 5 is detected by the first runout detection unit 2. On the other hand, the second runout detection unit 3 is fixed to the fixed body 300 of the imaging unit 1 or is attached to a predetermined position of the moving body 200. In FIG. 1, a state in which the second runout detection unit 3 is attached to the moving body 200 is shown by a solid line, and a state in which the second runout detection unit 3 is attached to the fixed body 300 is shown by a broken line. For example, when the moving body 200 is a vehicle, the windshield of the vehicle is suitable for the mounting position of the second runout detection unit 3. The second runout detection unit 3 is fixed to the surface of the windshield with double-sided tape or an adhesive. The fixed portion of the second runout detection unit 3 may be a rear glass instead of a windshield, or may be a surface of a dashboard, an inner panel, a pillar, or the like. Further, the second runout detection unit 3 can be provided on the rearview mirror located on the upper part of the windshield.

The control unit 4 includes a first runout amount calculation circuit 401 to which the signal of the first runout detection unit 2 is input, a second runout amount calculation circuit 402 to which the signal of the second runout detection unit 3 is input, and a correction value calculation. It includes a circuit 403, a control IC 404, and a drive current control circuit 405. The control IC 404 drives the runout correction drive mechanism 6 (rocking drive mechanism 50, rolling correction drive mechanism 70) for canceling the runout of the movable body 10 based on the correction value calculated by the correction value calculation circuit 403. Find the amount. Specifically, the drive amount required by the control IC 404 is a current value (correction current) for driving the swing drive mechanism 50 and the rolling correction drive mechanism 70. The control IC 404 gives a control instruction to the drive current control circuit 405 for controlling the amount of energization of the swing drive mechanism 50 and the rolling correction drive mechanism 70.

The first runout amount calculation circuit 401 and the second runout amount calculation circuit 402 obtain a predetermined detection amount based on the signals of the first runout detection unit 2 and the second runout detection unit 3. The predetermined detection amount is a runout amount (runout angle) or a velocity (angular velocity) for each of the runout directions around the three axes of the X-axis direction, the Y-axis direction, and the Z-axis direction. That is, the first runout detection unit 2 and the second runout detection unit 3 include either or both of the position detection sensor and the angular velocity sensor. For example, when an angular velocity sensor is used as the first runout detection unit 2 and the second runout detection unit 3, the first runout calculation circuit 401 and the second runout calculation circuit 402 rotate in the rotation direction (pitching direction) around the X axis. Obtain the angular velocities for each of the rotation direction (yawing direction) around the Y axis and the rotation direction (rolling direction) around the Z axis. Specifically, the first runout amount calculation circuit 401 obtains the angular velocity ωAx around the X-axis, the angular velocity ωAy around the Y-axis, and the angular velocity ωAz around the Z-axis as the detection amount of the first runout detection unit 2. Further, the second runout amount calculation circuit 402 obtains the angular velocity ωBx around the X axis, the angular velocity ωBy around the Y axis, and the angular velocity ωBz around the Z axis as the detection amount of the second runout detection unit 3.

The correction value calculation circuit 403 calculates a correction value from the detection amounts of the first runout detection unit 2 and the second runout detection unit 3. The correction value is the difference between the detection amounts of the first runout detection unit 2 and the second runout detection unit 3. For example, as described above, when the detection amount is the angular velocity around three axes, the correction value calculation circuit 403 uses the pitching correction amount ωAx-ωBx, the yawing correction amount ωAy-ωBy, and the rolling correction amount ωAz- as correction values. Calculate ωBz.

The control IC 404 is for rotating (swinging) the movable body 10 in the direction opposite to the swing direction by the correction value based on the correction value (relative angular velocity around three axes) calculated by the correction value calculation circuit 403. The drive amounts of the runout swing drive mechanism 50 and the rolling correction drive mechanism 70 are obtained. Since the swing drive mechanism 50 corrects runout around the X-axis (pitching direction) and around the Y-axis (yawing direction), the control IC 404 is used for swinging based on the pitching correction amount ωAx-ωBx and the yawing correction amount ωAy-ωBy. The current value (correction current) for driving the drive mechanism 50 is obtained. Further, the control IC 404 obtains a current value (correction current) for driving the rolling correction drive mechanism 70 based on the rolling correction amount ωAz−ωBz.

The correction value (difference between the detection amounts of the first runout detection unit 2 and the second runout detection unit 3) calculated by the correction value calculation circuit 403 is when the second runout detection unit 3 is attached to the moving body 200. , The amount of relative displacement (relative angular velocity) of the movable body 10 with respect to the moving body 200. Further, when the second runout detection unit 3 is attached to the fixed body 300, it is the relative displacement amount (relative angular velocity) of the movable body 10 with respect to the fixed body 300. In this case, if the fixed body 300 is integrally attached to the moving body 200, the angular velocity of the fixed body 300 substantially matches the angular velocity of the moving body 200, so that the first runout detection unit 2 and the second runout detection are performed. The difference in the detected amount of the part 3 substantially coincides with the relative displacement amount (relative angular velocity) of the movable body 10 with respect to the moving body 200.

Since the control IC 404 drives the runout correction drive mechanism 6 (vibration drive mechanism 50 and rolling correction drive mechanism 70) so as to cancel the relative displacement amount (relative runout amount) of the movable body 10 with respect to the moving body 200, The photographed image of the internal space of the moving body 200 is a photographed image that is not disturbed by the vibration of the moving body 200 or the like.

(Imaging unit)
Next, a specific configuration of the imaging unit 1 will be described. FIG. 2A is an external perspective view of the image pickup unit 1, and FIG. 2B is an exploded perspective view of the image pickup unit 1. FIG. 3 is an exploded perspective view of the internal mechanism of the imaging unit 1. Further, FIG. 4 is an exploded perspective view showing an attachment structure of the rolling correction drive mechanism 70 to the upper unit 9 including the movable body 10. FIG. 5 is an exploded perspective view of the upper unit 9, and FIG. 6 is an exploded perspective view of the rolling correction drive mechanism 70.

As shown in FIGS. 2A and 2B, the imaging unit 1 has a unit case 310 extending in the Z direction. Inside the unit case 310, the control unit 4, the rolling correction drive mechanism 70, and the upper unit 9 are arranged in this order from one side + Z in the Z direction toward the other side −Z. The unit case 310 includes a first case member 320 and a second case member 330. The first case member 320 and the second case member 330 are fixed to the support member 77 of the rolling correction drive mechanism 70 by screws 340, respectively. The first case member 320 and the second case member 330 cover the control unit 4, the rolling correction drive mechanism 70, and the upper unit 9 from both sides in the Y-axis direction.

The support member 77 and the unit case 310 function as the above-mentioned fixed body 300 in the imaging unit 1. That is, the imaging unit 1 is fixed to the moving body 200 via the fixing member 7 fixed to the unit case 310. The fixing member 7 can be fixed to the unit case 310, for example, by providing a fixing screw on the fixing member 7 and screwing the fixing screw into the screw hole of the unit case 310. Further, when the gyroscope functioning as the second runout detection unit 3 described above is provided on the fixed body 300 instead of the moving body 200, the second runout detection unit 3 can be fixed to the unit case 310 or the support member 77.

As shown in FIGS. 2B and 3, a spacer 171 is held at the end of the unit case 310 on the other side −Z in the Z-axis direction so as to cover the upper unit 9. A cover glass 172 is arranged between the spacer 171 and the upper unit 9.

The control unit 4 has a first board 351 on which a connector, an IC, and the like are mounted, and a second board 352 that inputs and outputs signals to and from the outside. The upper unit 9 and the first substrate 351 are connected by a flexible wiring board 353. The first runout amount calculation circuit 401, the second runout amount calculation circuit 402, the correction value calculation circuit 403, and the control IC 404 described above are mounted on the first substrate 351. Further, in the drive current control circuit 405, the circuit portion for pitching correction and yawing correction is mounted on the first substrate 351.

A signal from a gyroscope (not shown) that functions as the second runout detection unit 3 described above is input to the control unit 4. In this embodiment, the second runout detection unit 3 is provided outside the image pickup unit 1 as described above. Further, the upper unit 9 is equipped with a gyroscope 187 (see FIG. 1) that detects the runout of the movable body 10 provided in the upper unit 9 around the X-axis and the runout around the Y-axis. The gyroscope 187 functions as a part of the first runout detection unit 2 described above. The signal of the gyroscope 187 is input to the control unit 4.

Further, the control unit 4 has a circuit board 76 in which a control circuit of the rolling correction drive mechanism 70 (that is, a circuit portion of the drive current control circuit 405 for rolling correction) and the like are configured. The upper unit 9 and the circuit board 76 are connected by a flexible wiring board 78. A gyroscope 781 that detects runout (rolling) around the optical axis L of the upper unit 9 is mounted on one side end of the flexible wiring board 78 fixed to the upper unit 9. The gyroscope 781 functions as a part of the first runout detection unit 2 described above.

(Upper unit)
As shown in FIGS. 4 and 5, the upper unit 9 includes a support 20, a movable body 10 having an imaging module 5, and a gimbal mechanism 30 that swingably supports the movable body 10 with respect to the support 20. And a rocking drive mechanism 50 configured between the movable body 10 and the support 20. The gimbal mechanism 30 functions as a part of the support mechanism 8 that swingably supports the movable body 10 with respect to the fixed body 300. Further, the swing drive mechanism 50 swings the movable body 10 around two axes (first axis L1 and second axis L2) orthogonal to the optical axis L.

The support 20 includes a module case 21. The module case 21 has a rectangular tubular body portion 211 that surrounds the movable body 10 and a rectangular frame-shaped end plate portion that projects radially inward from the end portion of the body portion 211 on the other side −Z in the Z-axis direction. A rectangular opening 213 is formed in the end plate portion 212. Further, the support 20 has a cover 22 fixed to the other side −Z in the Z-axis direction of the module case 21 and a cover sheet 23 fixed to the other side −Z in the Z-axis direction of the cover 22 (see FIG. 5). Have. A window 230 is formed on the cover sheet 23 to guide the light from the subject to the image pickup module 5.

The support 20 has a rectangular first bottom plate 24 that covers one side + Z of the module case 21 in the Z-axis direction. The first bottom plate 24 includes a rectangular bottom plate portion 241 and a side plate portion 242 protruding from the outer edge of the bottom plate portion 241 toward the other side −Z in the Z-axis direction. The first bottom plate 24 is formed with an opening 240 for pulling out the flexible wiring boards 18 and 19 connected to the upper unit 9, and the opening 240 is one side + Z in the Z-axis direction with respect to the first bottom plate 24. It is covered by a second bottom plate 26 that overlaps with. Further, the support body 20 has a rectangular frame-shaped plate-shaped stopper 28 arranged so as to surround the movable body 10. The plate-shaped stopper 28 defines a movable range of the movable body 10 in the Z-axis direction on one side + Z.

The movable body 10 has an image pickup module 5 provided with an optical element such as a lens, a holder 14 for holding the image pickup module 5, and a weight 15. The coil 56 is held at both end portions in the X-axis direction and both end portions in the Y-axis direction of the holder 14. The holder 14 holds a lens, an actuator for driving the focusing, an image pickup circuit module including an image pickup element, and the like. The weight 15 is a non-magnetic metal component fixed to the holder 14 and adjusts the position of the center of gravity of the movable body 10 in the optical axis L direction.

A flexible wiring board 18 that outputs a signal obtained by the imaging circuit module is connected to the movable body 10. A gyroscope 187 (see FIG. 1) and other electronic components are mounted on a portion of the flexible wiring board 18 that overlaps with the holder 14. Gyroscope 1
87 functions as a part of the first runout detection unit 2 described above. The flexible wiring board 18 is pulled out from the movable body 10, curved at a plurality of places, and then pulled out to the outside of the support 20. Further, a flexible wiring board 19 for supplying power to the coil 56 is connected to the movable body 10. The flexible wiring boards 18 and 19 are connected to the flexible wiring board 353 via a connector 185 (see FIG. 3) mounted on the tip end portion 184 of the flexible wiring board 18.

The rocking drive mechanism 50 is a magnetic drive mechanism including a plate-shaped magnet 52 and a coil 56. The coil 56 is held by the holder 14 of the movable body 10, and the magnet 52 is held by the inner surface of the body portion 211 of the module case 21 in the support body 20. The magnet 52 is magnetized on different poles on the outer surface side and the inner surface side. Further, the magnet 52 is divided into two in the optical axis L direction, and the magnetic poles located on the coil 56 side are magnetized so as to be different in the optical axis L direction. Therefore, the upper and lower long side portions of the coil 56 are used as effective sides. The module case 21 is made of a magnetic material and functions as a yoke for the magnet 52.

A gimbal mechanism 30 is configured between the movable body 10 and the support 20. The gimbal mechanism 30 swingably supports the movable body 10 around the first axis L1 intersecting the optical axis L direction, and supports the movable body 10 in the optical axis L direction and the second axis L2 intersecting the first axis L1. Supports swingable around. In this embodiment, the first axis L1 and the second axis L2 are directions inclined by 45 degrees with respect to the X-axis direction and the Y-axis direction. The gimbal mechanism 30 supports the movable body 10 so as to be swingable around the X-axis direction and around the Y-axis direction by combining swinging around the first axis L1 and around the second axis L2.

As shown in FIG. 5B, in constructing the gimbal mechanism 30, a rectangular movable frame 38 is arranged between the rectangular fixed frame 25 fixed to the cover 22 and the holder 14. Of the four corners of the fixed frame 25, a support plate portion 251 protruding toward one side + Z in the Z-axis direction is formed at a corner located diagonally in the direction in which the first axis L1 extends. There is. Further, the fixed frame 25 is formed with convex portions 252 protruding toward the other side −Z in the Z-axis direction at four corner portions.

The movable frame 38 has a rectangular shape having four corners 381, 382, 383, and 384 around the optical axis L. Of the four corners 381, 382, 383, 384, the two corners 381, 383 located diagonally in the direction in which the first axis L1 extends are fixed frames via a sphere (not shown) or the like. The two corner portions 382 and 384, which are swingably supported by the support plate portion 251 of the 25 and are located diagonally in the direction in which the second axis L2 extends, are movable bodies via a sphere (not shown) or the like. The holder 14 of 10 is swingably supported. The movable frame 38 is made of a metal material having a spring property or the like. The four connecting portions 385 connecting the four corner portions 381, 382, 383, and 384 have a meandering portion 386 curved in a direction orthogonal to the extending direction and the Z-axis direction, respectively. Therefore, the movable frame 38 does not bend downward under the weight of the movable body 10, but has a spring property that can absorb the impact when an impact is applied from the outside.

A plate-shaped spring 40 is arranged between the fixed frame 25 and the cover 22. The plate-shaped spring 40 is connected to the movable body 10 and the fixed frame 25 of the support body 20 to define the posture of the movable body 10 when the rocking drive mechanism 50 is in the stopped state. The plate-shaped spring 40 is a spring member obtained by processing a metal plate into a predetermined shape, and has a rectangular frame-shaped fixed body side connecting portion 41, an annular movable body side connecting portion 42, and a fixed body side connecting portion 41 and a movable body side connecting portion. It has a leaf spring portion 43 that connects to the 42. The fixed body side connecting portion 41 is fixed to the convex portion 252 formed at the corner portion of the fixed frame 25 in a state of overlapping the other side −Z surface of the fixed frame 25 in the Z-axis direction. Further, the fixing frame 25 is fixed to the cover 22 with the convex portion 252 fitted into the hole 224 of the cover 22. The movable body side connecting portion 42 is fixed to the holder 14 by welding, adhesion, or the like.

(Pitching correction and yawing correction)
When the imaging unit 1 swings in the pitching direction and the yawing direction, such swing is detected by the gyroscope 187 provided in the upper unit 9. Further, when the moving body 200 swings in the pitching direction and the yawing direction as a whole, the swing is detected by the gyroscope as the second runout detecting unit 3 fixed to a predetermined position (for example, the windshield) of the moving body 200. .. The control unit 4 controls the swing drive mechanism 50 based on the signals from these two gyroscopes, and performs pitching correction and yawing correction. That is, as described above, the first runout calculation circuit 401 obtains the angular velocity ωAx around the X-axis and the angular velocity ωAy around the Y-axis, and the second runout calculation circuit 402 obtains the angular velocity ωBx around the X-axis and around the Y-axis. Find the angular velocity ωBy of. Then, the pitching correction amount ωAx-ωBx and the yawing correction amount ωAy-ωBy are calculated by the correction value calculation circuit 403, and the control IC 404 controls the swing drive mechanism 50 based on these correction amounts. As a result, a drive current corresponding to the pitching correction amount ωAx-ωBx and the yawing correction amount ωAy-ωBy is supplied to the coil 56, and as a result, the movable body 10 swings around the first axis L1 in the direction opposite to the swing direction. As it moves, it swings around the second axis L2 in the direction opposite to the swing direction. As a result, the runout in the pitching direction and the yawing direction is corrected.

(Rolling correction drive mechanism)
FIG. 6 is an exploded perspective view of the rolling correction drive mechanism 70. As shown in FIG. 4, in the imaging unit 1, the upper unit 9 is supported by the rotor 74 of the rolling correction drive mechanism 70 arranged on one side + Z in the Z-axis direction via the connecting member 80. The rolling correction drive mechanism 70 rotates the upper unit 9 in both directions around the optical axis L in a predetermined angle range to perform rolling correction.

As shown in FIGS. 4 and 6, the rolling correction drive mechanism 70 is an outer rotor type motor, and the stator 71 held by the support member 77 via the bearing holder 79 and the rotor 74 rotating around the optical axis L. And have. The rolling correction drive mechanism 70 is a single-phase motor, and the stator 71 has a stator core 72 having a plurality of salient poles 720 in the circumferential direction, and a stator coil 73 wound around the plurality of salient poles 720.

The rotor 74 has a cup-shaped rotor case 740 and a rotating shaft 745 fixed to the end plate portion 742 of the rotor case 740. The rotor 74 has a rotor magnet 75 held on the inner surface of the cylindrical body portion 743 of the rotor case 740, and the rotor magnet 75 faces the salient pole 720 on the outer side in the radial direction. In the rotor magnet 75, the inner peripheral surface facing the salient pole 720 is a magnetized surface 751 in which the S pole and the N pole are alternately magnetized at equal angular intervals in the circumferential direction, and the magnetized surface 751 is This is the surface on which the magnetizing heads are closely arranged during magnetizing. The body 743 of the rotor case 740 is a back yoke for the rotor magnet 75.

The rotating shaft 745 is rotatably supported by bearings 701 and 702 made of bearings at positions separated in the Z-axis direction. The bearings 701 and 702 are held inside the cylindrical portion 791 of the bearing holder 79. The bearing holder 79 is also used as a core holder for holding the stator core 72, and the stator core 72 is fitted on the radial outer side of the cylindrical portion 791. A retaining ring 703 is mounted on one side of the rotating shaft 745 in the Z-axis direction + Z end.

The bearing holder 79 has a disc-shaped flange portion 792 at a position adjacent to the cylindrical portion 791 on one side + Z in the Z-axis direction, and the flange portion 792 is fixed to the support member 77 by a screw 779. (See Fig. 4). The support member 77 is a pair of a rectangular bottom plate portion 771 to which the flange portion 792 of the bearing holder 79 is fixed and bent from both end portions of the bottom plate portion 771 in the X-axis direction toward the other side −Z in the Z-axis direction. Side plate portions 772 and 773, and a side plate portion 774 bent from one side of the bottom plate portion 771 in the Y-axis direction + Y end toward the other side −Z in the Z-axis direction. The side plate portions 772, 773, and 774 face the body portion 743 of the rotor case 740 on the outer side in the radial direction.

The upper unit 9 is connected to the end of the rotating shaft 745 of the rolling correction drive mechanism 70 on the other side −Z in the Z-axis direction via the connecting member 80. In the present embodiment, the connecting member 80 has a rectangular plate portion 81 that supports the upper unit 9 and a plate shape that is bent from both ends of the plate portion 81 in the X-axis direction toward the other side −Z in the Z-axis direction. The positioning protrusions 82 and 83 of the plate portion 81 and a pair of positioning protrusions 84 bent toward the other side −Z in the Z-axis direction at the end portion of the plate portion 81 on the other side −Y in the Y-axis direction. The upper unit 9 is fixed to the plate portion 81 in a state of being positioned by the positioning protrusions 82, 83, 84. Therefore, the upper unit 9 rotates integrally with the rotation shaft 745 (rotor 74). The connecting member 80 has a cylindrical portion (not shown) protruding from the plate portion 81 on one side in the Z-axis direction, and the rotating shaft 745 is screwed or the like with the rotating shaft 745 fitted in the cylindrical portion. Is fixed to.

The connecting member 80 includes a stopper convex portion 86 that protrudes from one end of the plate portion 81 in the X-axis direction + X to one side in the X-axis direction + X, and the other side −X of the plate portion 81 in the X-axis direction. It has a stopper convex portion 87 that further protrudes from the end portion of the shaft to the other side −X in the X-axis direction. When the connecting member 80, the upper unit 9 and the rotating shaft 745 rotate to one side around the optical axis L, the stopper convex portion 86 is a contact portion formed on the inner surface of the first case member 320 at a predetermined rotation position. Contact. Further, when the connecting member 80, the upper unit 9 and the rotating shaft 745 rotate to the other side around the optical axis L, the stopper convex portion 87 is formed on the inner surface of the first case member 320 at a predetermined rotation position. Contact the contact part. As a result, the movable range of the upper unit 9 is restricted.

In this way, the upper unit 9 is rotatably supported around the Z axis (around the optical axis L) via the connecting member 80 and the rotating shaft 745. That is, in this embodiment, the connecting member 80 and the rotating shaft 745 form a part of the support mechanism 8 that swingably supports the movable body 10 with respect to the fixed body 300.

(Rolling correction)
When the imaging unit 1 swings in a rolling manner, such swing is detected by the gyroscope 781 provided in the upper unit 9. Further, when the moving body 200 swings in the rolling direction as a whole, such swing is detected by a gyroscope as a second runout detecting unit 3 fixed to a predetermined position (for example, a windshield) of the moving body 200. The control unit 4 controls the rolling correction drive mechanism 70 based on the signals from these two gyroscopes to perform rolling correction. That is, as described above, the first runout calculation circuit 401 obtains the angular velocity ωAz of the movable body 10 around the Z axis, and the second runout calculation circuit 402 obtains the angular velocity ωBz of the moving body 200 around the Z axis. Then, the rolling correction amount ωAz−ωBz is calculated by the correction value calculation circuit 403, and the control IC 404 controls the rolling correction drive mechanism 70 based on these correction amounts. As a result, a drive current corresponding to the rolling correction amount ωAz-ωBz is supplied to the stator coil 73, and as a result, the rotor 74 and the upper unit 9 rotate around the optical axis L in the direction opposite to the swing direction.

(Main effect of this form)
As described above, in the image pickup system 100 of the present embodiment, the movable body 10 including the image pickup module 5 is swingably supported by the fixed body 300 (unit case 310 and support member 77) fixed to the moving body 200. .. The movable body 10 is provided with a first runout detection unit 2 (gyroscopes 187 and 781) for detecting the runout of the imaging module 5 with respect to the external space, and the moving body 200 or the fixed body 300 is provided with the moving body 200 with respect to the external space. Alternatively, a second runout detection unit 3 for detecting the runout of the fixed body 300 is provided. The correction value for driving the shake correction drive mechanism 6 (swing drive mechanism 50, rolling correction drive mechanism 70) so as to cancel the relative shake of the image pickup module 5 with respect to the moving body 200 is the first shake detection unit. It can be obtained from the signal of 2 (gyroscopes 187 and 781) and the signal of the second runout detection unit 3. Therefore, by controlling the runout correction drive mechanism 6 (rocking drive mechanism 50, rolling correction drive mechanism 70) for such a correction value, the image is distorted when the internal space of the moving body 200 is photographed. Can be reduced.

When the imaging system 100 of this embodiment is mounted on a moving body 200 such as a vehicle to photograph the inside of the vehicle, the vibration of the vehicle is not added as a disturbance of the captured image. Therefore, since the disturbance of the captured image does not worsen due to the vibration of the vehicle, it is possible to obtain the captured image in the vehicle with less disturbance. In other words, high shake correction capability can be achieved even when shooting inside the vehicle.

Further, in the present embodiment, the fixed body 300 (unit case 310 and support member 77) is fixed to the moving body 200 via the fixing member 7, and the second runout detection unit 3 moves to a predetermined position of the moving body 200, for example, moving. When the body 200 is a vehicle, it is fixed to the windshield. In this way, by using the fixing member 7, the image pickup unit 1 can be attached to various positions of the moving body 200, and the fixed body 300 can be fixed reliably and easily. Further, since the second runout detection unit 3 is attached to the moving body 200 instead of the fixed body 300, the fixed body 300 attaches to the moving body 200 due to deformation of the fixing member 7 interposed between the fixed body 300 and the moving body 200. Even in the case of relative movement, the relative deflection of the imaging module 5 with respect to the moving body 200 can be accurately obtained. Therefore, it is possible to accurately reduce the distortion of the image when the inside of the moving body 200 is photographed. Further, when the moving body 200 is a vehicle and the second runout detection unit 3 is fixed to the windshield, the runout of the vehicle can be detected without the influence of resonance. Therefore, the relative deflection of the image pickup module 5 with respect to the moving body 200 can be obtained more accurately, and the distortion of the image when the inside of the moving body 200 is photographed can be reduced more accurately.

In the present embodiment, the control unit 4 that controls the image pickup unit 1 uses the difference between the detection amount detected by the first runout detection unit 2 and the detection amount detected by the second runout detection unit 3 as the correction value used for the shake correction. .. Further, the detection amount detected by the first runout detection unit 2 and the detection amount detected by the second runout detection unit 3 can be a runout amount (runout angle). As a result, the runout correction drive mechanism 6 (swing drive mechanism 50, rolling correction drive mechanism 70) can be driven so as to eliminate the difference. Therefore, the relative deflection of the imaging module 5 with respect to the moving body 200 can be accurately corrected.

Further, the detection amount detected by the first runout detection unit 2 and the detection amount detected by the second runout detection unit 3 may be the runout amount (runout angle). Further, both the amount of runout (runout angle) and the angular velocity may be used. Accurate runout correction can be performed by performing runout correction using the difference in angular velocity and acceleration.

In this embodiment, the runout correction drive mechanism 6 (rocking drive mechanism 50, rolling correction drive mechanism 70) performs runout correction in three directions of the pitching direction, the yawing direction, and the rolling direction. By correcting the runout in the three orthogonal directions in this way, it is possible to correct the image distortion with high accuracy.

(Modification example)
(1) In the above embodiment, runout correction is performed in all directions in three directions orthogonal to each other, but runout correction in only one direction may be performed. For example, only the runout correction in the vertical direction (first swing direction: pitching direction) may be performed. Further, when all three axes of XYZ are tilted with respect to the vertical direction, the direction in which the swing component in the vertical direction is the largest is set as the first swing direction, and only the runout correction in the first swing direction is performed. You may. In the moving body 200 such as a vehicle,
The direction with the largest runout is the vertical direction. Therefore, in this way, it is possible to effectively correct the distortion of the image when the inside of the moving body 200 is photographed by the minimum runout correction of one direction.

In this case, the control unit 4 calculates a value for canceling the runout in the first swing direction as a correction value. For example, only the pitching correction amount ωAx-ωBx is calculated, and the current value (correction current) for driving the swing drive mechanism 50 is obtained based on the pitching correction amount ωAx-ωBx. Then, the coil 56 is energized based on the obtained correction current.

It should be noted that the runout correction in any one direction may be performed regardless of the vertical direction. In this case, either the yawing correction amount ωAy-ωBy or the rolling correction amount ωAz-ωBz is calculated, and the current value (correction current) for driving the swing drive mechanism 50 is obtained based on the calculated correction value. Just do it.

(2) In the above embodiment, only the runout correction in any two of the three directions orthogonal to each other may be performed. For example, only the vertical direction (first swing direction: pitching direction) runout correction and the horizontal direction (second swing direction: yawing direction) runout correction may be performed. Further, when all three axes of XYZ are tilted with respect to the vertical direction and the horizontal direction, the direction in which the vertical runout component is the largest is set as the first swing direction, and the direction in which the horizontal runout component is the largest is set as the first swing direction. The second direction may be used, and only the runout correction in the first swing direction and the second direction may be performed.

In this case, the control unit 4 calculates, as a correction value, a value that cancels the runout in the first swing direction and the second direction. For example, the pitching correction amount ωAx-ωBx and the yawing correction amount ωAy-ωBy are calculated, and the current value (correction current) for driving the swing drive mechanism 50 based on the pitching correction amount ωAx-ωBx and the yawing correction amount ωAy-ωBy. ). Then, the coil 56 is energized based on the obtained correction current. In addition, regardless of the vertical direction and the horizontal direction, only the runout correction in either two directions may be performed.

1 ... Imaging unit with shake correction function (imaging unit), 2 ... 1st runout detection unit, 3 ... Second runout detection unit, 4 ... Control unit, 5 ... Imaging module, 6 ... Correction drive mechanism, 7 ... Fixed member , 8 ... Support mechanism, 9 ... Upper unit, 10 ... Movable body, 14 ... Holder, 15 ... Weight, 18 ... Flexible wiring board, 19 ... Flexible wiring board, 20 ... Support, 21 ... Module case, 22 ... Cover, 23 ... Cover sheet, 24 ... Bottom plate, 25 ... Fixed frame, 26 ... Bottom plate, 28 ... Plate-shaped stopper, 30 ... Gimbal mechanism, 38 ... Movable frame, 40 ... Plate-shaped spring, 41 ... Fixed body side connecting part, 42 ... Movable Body side connecting part, 43 ... leaf spring part, 50 ... rocking drive mechanism, 52 ... magnet, 56 ... coil, 70 ... rolling correction drive mechanism, 71 ... stator, 72 ... stator core, 73 ... stator coil, 74 ... rotor, 75 ... rotor magnet, 76 ... circuit board, 77 ... support member, 78 ... flexible wiring board, 79 ... bearing holder, 80 ... connecting member, 81 ... plate part, 82, 83, 84 ... positioning convex part, 86, 87 ... Convex part for stopper, 100 ... Imaging system with shake correction function (imaging system), 171 ... Spacer, 172 ... Cover glass, 184 ... Tip, 185 ... Connector, 187 ... Gyroscope, 200 ... Moving body, 211 ... Body , 212 ... end plate, 213 ... opening, 224 ... hole, 230 ... window, 240 ... opening, 241 ... bottom plate, 242 ... side plate, 251 ... support plate, 252 ... convex, 300 ... fixed body , 310 ... unit case, 320 ... first case member, 330 ... second case member, 351 ... first board, 352 ... second board, 353 ... flexible wiring board, 381-384 ... corners, 385 ... connecting parts, 386 ... Serpentine part, 401 ... First runout amount calculation circuit, 402 ... Second runout amount calculation circuit, 403 ... Correction value calculation circuit, 404 ... Control IC, 405 ... Drive current control circuit, 701 ... Bearing, 703 ... Stop wheel , 720 ... salient pole, 740 ... rotor case, 742 ... end plate part, 743 ... body part, 745 ... rotating shaft, 751 ... magnetized surface, 771 ... bottom plate part, 772, 773, 774 ... side plate part, 779 ... screw , 781 ... Gyroscope, 791 ... Cylindrical part, 792 ... Flange part, L ... Optical axis, L1 ... 1st axis, L2 ... 2nd axis

Claims (8)

An imaging system with a shake correction function mounted on a moving body.
A movable body equipped with an imaging module and
A fixed body attached to the moving body and
A support mechanism that swingably supports the movable body with respect to the fixed body,
Of the swinging directions of the movable body, at least one of the optical axis direction of the imaging module, the first direction intersecting the optical axis direction, and the optical axis direction and the second direction intersecting the first direction. A runout correction drive mechanism that swings the movable body around the direction,
The first runout detection unit provided on the movable body and
A second runout detection unit provided at a predetermined position of the fixed body or the moving body,
A runout correction function having a control unit that controls the runout correction drive mechanism based on a correction value calculated based on the signal of the first runout detection unit and the signal of the second runout detection unit. Imaging system with. The fixed body is fixed to the moving body via a fixing member, and is fixed to the moving body.
The imaging system with a shake correction function according to claim 1, wherein the second runout detection unit is fixed at the predetermined position of the moving body. The moving body is a vehicle
The imaging system with a runout correction function according to claim 1 or 2, wherein the predetermined position of the moving body is the windshield of the vehicle. The correction value according to any one of claims 1 to 3, wherein the correction value is a difference between the detection amount detected by the first runout detection unit and the detection amount detected by the second runout detection unit. Imaging system with runout correction function. The imaging system with a shake correction function according to claim 4, wherein the detection amount includes either a runout amount or an angular velocity. The runout correction drive mechanism swings the movable body in the first swing direction including a swing component in the vertical direction.
Each of the first runout detection unit and the second runout detection unit detects the runout in the first swing direction and detects the runout.
The imaging system with a shake correction function according to any one of claims 1 to 5, wherein the control unit calculates, as the correction value, a value that cancels the runout in the first rocking direction. The runout correction drive mechanism swings the movable body in the first swing direction and the second swing direction that intersects the first swing direction and includes a horizontal swing component.
Each of the first runout detection unit and the second runout detection unit detects the runout in the first swing direction and the runout in the second swing direction.
The imaging system with a shake correction function according to claim 6, wherein the control unit calculates, as the correction value, a value for canceling the runout in the first swing direction and the runout in the second swing direction. .. The first swing direction is a swing direction around the first direction.
The second swing direction is a swing direction around the second direction.
The runout correction drive mechanism swings the movable body in the first swing direction, the second swing direction, and the third swing direction around the optical axis.
Each of the first runout detection unit and the second runout detection unit has the runout in the first swing direction and the runout.
The runout in the second swing direction and the runout in the third swing direction intersecting the first swing direction and the second swing direction are detected.
The control unit is characterized in that, as the correction value, a value for canceling the runout in the first swing direction, the runout in the second swing direction, and the runout in the third swing direction is calculated. The imaging system with a shake correction function according to 7.

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