JP6793006B2

JP6793006B2 - Optical unit

Info

Publication number: JP6793006B2
Application number: JP2016214137A
Authority: JP
Inventors: 猛須江; 伸司南澤
Original assignee: Nidec Sankyo Corp
Current assignee: Nidec Sankyo Corp
Priority date: 2016-11-01
Filing date: 2016-11-01
Publication date: 2020-12-02
Anticipated expiration: 2036-11-01
Also published as: JP2018072657A

Description

本発明は、移動体に搭載される光学ユニットに関する。 The present invention relates to an optical unit mounted on a moving body.

有人または無人の移動体（例えば、ヘリコプターやドローンなどの飛行体）に撮影用の光学ユニットを搭載して移動しながら撮影を行う場合に、前進や旋回により機体が傾いたときに撮影画像の傾きを補正する傾き補正機構が用いられる。傾き補正機構は、ピッチング（縦揺れ／チルティング）、ヨーイング（横揺れ／パンニング）、ローリング（光軸を中心とする回転）の３方向の傾きを補正する。特許文献１には、移動体に搭載される撮影手段が開示されている。特許文献１の撮影手段は、撮像部の傾きを補正する傾き補正機構として、移動体の前後軸を中心として撮像部を回転させる機構（ロール機構）、垂直軸を中心として撮像部を回転させる機構（チルト機構）、左右軸を中心として撮像部を回転させる機構（パン機構）を備える。 When shooting while moving by mounting an optical unit for shooting on a manned or unmanned moving object (for example, a flying object such as a helicopter or drone), the tilt of the captured image when the aircraft tilts due to forward movement or turning A tilt correction mechanism is used to correct. The tilt correction mechanism corrects tilts in three directions: pitching (pitch / tilting), yawing (rolling / panning), and rolling (rotation about the optical axis). Patent Document 1 discloses a photographing means mounted on a moving body. The photographing means of Patent Document 1 is a mechanism for rotating the image pickup unit (roll mechanism) about the front-rear axis of the moving body and a mechanism for rotating the image pickup unit around the vertical axis as a tilt correction mechanism for correcting the inclination of the image pickup unit. It is equipped with a (tilt mechanism) and a mechanism (pan mechanism) that rotates the imaging unit around the left and right axes.

特許文献１の傾き補正機構は、撮像部に対して外付けで組み付けられており、モータの回転に基づいて傾き補正を行う。チルト機構は、撮像部に連結された棒状部材をモータによって上下方向に移動させる機構である。パン機構は、撮像部を支持する枠体をモータによって垂直軸回りに回転させる機構である。ロール機構は、撮像部の後端に取り付けられた回転軸をモータによって回転させる機構である。 The tilt correction mechanism of Patent Document 1 is externally attached to the imaging unit, and tilt correction is performed based on the rotation of the motor. The tilt mechanism is a mechanism for moving a rod-shaped member connected to an imaging unit in the vertical direction by a motor. The pan mechanism is a mechanism that rotates a frame body that supports an imaging unit around a vertical axis by a motor. The roll mechanism is a mechanism for rotating a rotating shaft attached to the rear end of the imaging unit by a motor.

特開２００２−３１１４９８号公報JP-A-2002-311498

特許文献１の傾き補正機構は、撮像部（光学ユニット）に対して外付けで回転軸や枠体が組み付けられている。また、駆動源としてモータを用いるため、モータの設置スペースも必要である。そのため、傾き補正機構を含む撮影装置が全体として大型になってしまう。従って、移動体に搭載する場合に占有スペースが大きくなってしまう。 In the tilt correction mechanism of Patent Document 1, a rotating shaft and a frame are externally attached to an imaging unit (optical unit). In addition, since a motor is used as a drive source, a space for installing the motor is also required. Therefore, the photographing device including the tilt correction mechanism becomes large as a whole. Therefore, when it is mounted on a moving body, the occupied space becomes large.

本発明の課題は、このような点に鑑みて、傾き補正機構を有する光学ユニット全体の大型化を抑制し、移動体に搭載される場合の占有スペースを少なくすることにある。 In view of these points, an object of the present invention is to suppress an increase in the size of the entire optical unit having a tilt correction mechanism and to reduce the occupied space when mounted on a moving body.

上記の課題を解決するために、本発明は、光学素子を備える光学モジュールと、固定体と、前記固定体に対して前記光学モジュールを傾斜させる傾き補正機構と、を有し、前記傾き補正機構は、前記光学モジュールの光軸回りに前記光学モジュールを回転させる第１傾き補正用駆動機構と、前記光学モジュールの光軸方向と直交する回転軸回りに前記光学モジュールを回転させる第２傾き補正用駆動機構と、を備え、前記第１傾き補正用駆動機構および前記第２傾き補正用駆動機構のそれぞれは、磁石と、前記磁石の着磁面に対して垂直な軸回りに巻き回されたコイルとを対向させた磁気駆動機構であり、前記光軸方向から見た場合に前記光学モジュールの外周側に配置される中枠部を有し、前記固定体は前記光軸方向から見た場合に前記中枠部の外周側に配置され、前記中枠部は前記固定体によって前記回転軸回りに回転可能に支持され、前記中枠部と前記固定体とを連結する回転軸受部が設けられた角度位置には、前記中枠部と前記光学モジュールとの間に前記第１傾き補正用駆動機構が配置され、前記回転軸受部が設けられた角度位置と異なる角度位置には、前記固定体と前記中枠部との間に前記第２傾き補正用駆動機構が配置されていることを特徴とする。
In order to solve the above problems, the present invention includes an optical module including an optical element, a fixed body, and a tilt correction mechanism for tilting the optical module with respect to the fixed body. Is a drive mechanism for first tilt correction that rotates the optical module around the optical axis of the optical module, and a second tilt correction drive mechanism that rotates the optical module around a rotation axis that is orthogonal to the optical axis direction of the optical module. A drive mechanism is provided, and each of the first tilt correction drive mechanism and the second tilt correction drive mechanism is a magnet and a coil wound around an axis perpendicular to the magnetic plane of the magnet. DOO Ri magnetic drive mechanism der made to face, and has a middle frame portion which is disposed on the outer peripheral side of the optical module when viewed from the optical axis direction, when the fixing body is viewed from the optical axis direction Is arranged on the outer peripheral side of the middle frame portion, the middle frame portion is rotatably supported around the rotation axis by the fixed body, and a rotary bearing portion for connecting the middle frame portion and the fixed body is provided. The first tilt correction drive mechanism is arranged between the middle frame portion and the optical module at the angle position, and the fixed body is located at an angle position different from the angle position where the rotary bearing portion is provided. The second tilt correction drive mechanism is arranged between the and the middle frame portion .

本発明によれば、磁石とコイルとを対向させた磁気駆動機構によって光学モジュールの傾き補正を行っており、磁石とコイルとを対向させた磁気駆動機構は全体として薄型に構成できる。従って、光軸回りおよび光軸方向と直交する回転軸回りの２軸回りに光学モジュールを回転させる第１傾き補正用駆動機構および第２傾き補正用駆動機構を設けた場合に、その占有スペースを少なくすることができる。よって、移動体に搭載した場合に移動体の前進や旋回によって移動体が傾いたときの光学モジュールの傾き補正を行うことができる構成でありながら、光学ユニットの大型化を抑制でき、占有スペースを少なくするこ
とができる。このように、中枠部を設けて固定体と中枠部を回転軸受部によって連結することにより、光学モジュールを安定して回転させることができる。また、中枠部を設けたことにより、中枠部の内側において回転軸受部と同じ角度位置に傾き補正用の駆動機構を配置することができる。
According to the present invention, the inclination of the optical module is corrected by the magnetic drive mechanism in which the magnet and the coil face each other, and the magnetic drive mechanism in which the magnet and the coil face each other can be configured to be thin as a whole. Therefore, when the first tilt correction drive mechanism and the second tilt correction drive mechanism that rotate the optical module around the optical axis and around the rotation axis orthogonal to the optical axis direction are provided, the occupied space is occupied. Can be reduced. Therefore, when mounted on a moving body, it is possible to correct the tilt of the optical module when the moving body is tilted due to the forward movement or turning of the moving body, but it is possible to suppress the increase in size of the optical unit and occupy a space. Can be reduced. In this way, by providing the middle frame portion and connecting the fixed body and the middle frame portion by the rotary bearing portion, the optical module can be stably rotated. Further, by providing the middle frame portion, the drive mechanism for tilt correction can be arranged at the same angle position as the rotary bearing portion inside the middle frame portion.

本発明において、前記固定体は、前記光軸方向から見た場合に前記回転軸の軸線方向に対向する一対の第１壁部を備え、前記一対の第１壁部に前記回転軸受部が固定され、前記固定体は、前記光軸方向および前記回転軸と直交する方向に対向する一対の第２壁部を備え、前記一対の第２壁部に前記第２傾き補正用駆動機構を構成する磁石またはコイルが固定されることが望ましい。このように、固定体が対向する壁部を備える形状であれば、対向する壁部に回転軸受部や磁気駆動機構を設けることができる。 In the present invention, the fixed body includes a pair of first wall portions facing the axial direction of the rotating shaft when viewed from the optical axis direction, and the rotary bearing portion is fixed to the pair of first wall portions. The fixed body is provided with a pair of second wall portions facing the optical axis direction and a direction orthogonal to the rotation axis, and the pair of second wall portions constitute the second inclination correction drive mechanism. It is desirable that the magnet or coil be fixed. As described above, if the fixed body has a shape having facing wall portions, a rotary bearing portion and a magnetic drive mechanism can be provided on the facing wall portions.

本発明において、前記第１傾き補正用駆動機構は、前記光学モジュールに保持された前記磁石および前記中枠部に保持された前記コイルを備え、前記第２傾き補正用駆動機構は、前記中枠部および前記固定体の一方に保持された前記磁石および他方に保持された前記コイルを備えることが望ましい。このように、光学モジュール側に第１傾き補正用駆動機構の磁石を配置すれば、第１傾き補正用駆動機構のへの給電用の配線を光学モジュールに設ける必要がない。従って、光学モジュールへの配線を簡略化できる。また、この場合に、前記第２傾き補正用駆動機構は、前記中枠部に保持された前記コイルおよび前記固定体に保持された前記磁石を備える構成とすれば、中枠部に第１傾き補正用駆動機構と第２傾き補正用駆動機構のコイルを集約することができるため、配線を簡略化することができる。 In the present invention, the first tilt correction drive mechanism includes the magnet held by the optical module and the coil held by the middle frame portion, and the second tilt correction drive mechanism includes the middle frame. It is desirable to include the magnet held in one of the portion and the fixed body and the coil held in the other. By arranging the magnet of the first tilt correction drive mechanism on the optical module side in this way, it is not necessary to provide the optical module with wiring for supplying power to the first tilt correction drive mechanism. Therefore, the wiring to the optical module can be simplified. Further, in this case, if the second tilt correction drive mechanism includes the coil held in the middle frame portion and the magnet held in the fixed body portion, the first tilt correction drive mechanism is provided in the middle frame portion. Since the coils of the correction drive mechanism and the second inclination correction drive mechanism can be integrated, wiring can be simplified.

本発明において、前記第１傾き補正用駆動機構を構成する磁石の着磁分極線と対向する位置に配置される磁気センサを有し、前記第１傾き補正用駆動機構は、前記磁気センサの信号に基づいて検出される原点位置に基づいて制御されることが望ましい。このようにすると、原点位置に復帰させるためのばねを設ける必要がない。また、ばねによって原点位置に復帰させる構成と異なり、原点位置に復帰する際の揺れ戻りをなくすことができる。また、駆動方向を検出して第１傾き補正用駆動機構の制御を行うことができる。 In the present invention, the first tilt correction drive mechanism has a magnetic sensor arranged at a position facing the magnetizing polarization line of the magnet constituting the first tilt correction drive mechanism, and the first tilt correction drive mechanism is a signal of the magnetic sensor. It is desirable to control based on the origin position detected based on. In this way, it is not necessary to provide a spring for returning to the origin position. Further, unlike the configuration in which the position is returned to the origin position by a spring, it is possible to eliminate the swing back when returning to the origin position. Further, the drive direction can be detected to control the first tilt correction drive mechanism.

本発明において、移動体のピッチング方向が前記回転軸回りの回転方向と一致し、前記移動体のローリング方向が前記光軸回りの回転方向と一致する姿勢で、前記移動体に搭載されることが望ましい。このようにすると、移動体に光学ユニットを搭載する場合に、第１傾き補正用駆動機構はローリング方向の傾き補正を行うことができる。また、第２傾き補正用駆動機構はピッチング方向の傾き補正を行うことができる。従って、例えば、飛行体に光学ユニットを搭載した場合に、飛行体が旋回する場合の機体のローリング方向の傾きによる撮影画像の傾きを補正できる。また、飛行体上昇あるいは降下する際に、移動体が進行方向に対して前傾あるいは後傾する場合のる撮影画像の傾きを補正できる。 In the present invention, the moving body may be mounted on the moving body in a posture in which the pitching direction of the moving body coincides with the rotation direction around the rotation axis and the rolling direction of the moving body coincides with the rotation direction around the optical axis. desirable. In this way, when the optical unit is mounted on the moving body, the first tilt correction drive mechanism can perform tilt correction in the rolling direction. Further, the second tilt correction drive mechanism can perform tilt correction in the pitching direction. Therefore, for example, when an optical unit is mounted on an airframe, it is possible to correct the inclination of the captured image due to the inclination of the airframe in the rolling direction when the airframe turns. In addition, it is possible to correct the inclination of the captured image when the moving object tilts forward or backward with respect to the traveling direction when the flying object ascends or descends.

本発明において、前記光学モジュールは、前記光学素子を前記光軸方向と直交する第１軸線回りの第１揺動方向、および前記光軸方向および前記第１軸線と直交する第２軸線回りの第２揺動方向に揺動させる揺動用磁気駆動機構を備えることが望ましい。このようにすると、傾き補正に加えて、光学ユニットの揺れに伴う振れ補正を行うことができる。従って、より見やすい撮影画像を得ることができる。 In the present invention, the optical module has a first swing direction around a first axis orthogonal to the optical axis direction of the optical element, and a second axis around the optical axis direction and a second axis orthogonal to the first axis direction. 2 It is desirable to provide a swing magnetic drive mechanism that swings in the swing direction. In this way, in addition to the tilt correction, it is possible to perform the runout correction due to the shake of the optical unit. Therefore, it is possible to obtain a photographed image that is easier to see.

本発明によれば、磁石とコイルとを対向させた磁気駆動機構によって光学モジュールの傾き補正を行っており、磁石とコイルとを対向させた磁気駆動機構は全体として薄型に構成できる。従って、光軸回りおよび光軸方向と直交する回転軸回りの２軸回りに光学モジュールを回転させる第１傾き補正用駆動機構および第２傾き補正用駆動機構を設けた場合に、その占有スペースを少なくすることができる。よって、移動体に搭載した場合に移動体の前進や旋回によって移動体が傾いたときの光学モジュールの傾き補正を行うことができる構成でありながら、光学ユニットの大型化を抑制でき、占有スペースを少なくすることができる。 According to the present invention, the inclination of the optical module is corrected by the magnetic drive mechanism in which the magnet and the coil face each other, and the magnetic drive mechanism in which the magnet and the coil face each other can be configured to be thin as a whole. Therefore, when the first tilt correction drive mechanism and the second tilt correction drive mechanism that rotate the optical module around the optical axis and around the rotation axis orthogonal to the optical axis direction are provided, the occupied space is occupied. Can be reduced. Therefore, when mounted on a moving body, it is possible to correct the tilt of the optical module when the moving body is tilted due to the forward movement or turning of the moving body, but it is possible to suppress the increase in size of the optical unit and occupy space. Can be reduced.

本発明を適用した光学ユニットを模式的に示す正面図および断面図である。It is a front view and sectional drawing which shows typically the optical unit to which this invention is applied. 光学モジュールを模式的に示す正面図および断面図である。It is a front view and a cross-sectional view which shows typically the optical module. 光学モジュールが搭載される移動体およびピッチング方向の傾き補正を模式的に示す説明図である。It is explanatory drawing which shows typically the moving body which mounts an optical module, and the inclination correction in a pitching direction. 光学モジュールが搭載される移動体およびローリング方向の傾き補正を模式的に示す説明図である。It is explanatory drawing which shows typically the moving body which mounts an optical module, and the inclination correction in a rolling direction.

（全体構成）
以下に、図面を参照して、本発明を適用した光学ユニットの実施の形態を説明する。本明細書において、ＸＹＺの３軸は互いに直交する方向であり、Ｘ軸方向の一方側を＋Ｘ、他方側を−Ｘで示し、Ｙ軸方向の一方側を＋Ｙ、他方側を−Ｙで示し、Ｚ軸方向の一方側を＋Ｚ、他方側を−Ｚで示す。Ｚ軸方向は、光学ユニットに搭載される光学モジュールの光軸方向Ｌと一致する。−Ｚ方向は光軸方向Ｌの像側、＋Ｚ方向は光軸方向Ｌの被写体側である。 (overall structure)
Hereinafter, embodiments of an optical unit to which the present invention is applied will be described with reference to the drawings. In the present specification, the three axes of XYZ are orthogonal to each other, one side in the X-axis direction is indicated by + X, the other side is indicated by −X, one side in the Y-axis direction is indicated by + Y, and the other side is indicated by −Y. , One side in the Z-axis direction is indicated by + Z, and the other side is indicated by −Z. The Z-axis direction coincides with the optical axis direction L of the optical module mounted on the optical unit. The −Z direction is the image side of the optical axis direction L, and the + Z direction is the subject side of the optical axis direction L.

図１（ａ）は本発明を適用した光学ユニット１を模式的に示す正面図（被写体側から見た図）であり、図１（ｂ）は断面図（図１（ａ）のＡ−Ａ断面図）である。光学ユニット１は、例えばラジコンヘリコプター等の飛行体、あるいは、飛行体以外の移動体に搭載される。また、飛行体などの移動体に載る人が持つ携帯機器やウエアラブルカメラ等に搭載される。光学ユニット１が搭載された移動体が移動中に傾くと、撮影画像が傾く。光学ユニット１は、撮影画像が傾くことを回避するため、光学モジュール１０の傾きを補正する。 FIG. 1A is a front view (viewed from the subject side) schematically showing an optical unit 1 to which the present invention is applied, and FIG. 1B is a cross-sectional view (AA of FIG. 1A). Sectional view). The optical unit 1 is mounted on a flying object such as a radio-controlled helicopter or a moving body other than the flying object. In addition, it is mounted on a portable device, a wearable camera, etc. owned by a person who rides on a moving body such as a flying object. When the moving body on which the optical unit 1 is mounted is tilted during movement, the captured image is tilted. The optical unit 1 corrects the tilt of the optical module 10 in order to prevent the captured image from tilting.

光学ユニット１は、光学素子２を備える光学モジュール１０と、光学モジュール１０を支持する中枠部２０と、中枠部２０を介して光学モジュール１０を支持する固定体３０と、固定体３０に対する光学モジュール１０の傾きを変化させる傾き補正機構４０を備える。傾き補正機構４０は、光学モジュール１０の光軸回りに光学モジュール１０を回転させる第１傾き補正用駆動機構４０Ａと、光学モジュール１０の光軸方向Ｌ（Ｚ軸方向）と直交する回転軸Ｌ０回りに光学モジュール１０を回転させる第２傾き補正用駆動機構４０Ｂを備える。回転軸Ｌ０の向きはＸ軸方向と一致する。 The optical unit 1 includes an optical module 10 including an optical element 2, a middle frame portion 20 that supports the optical module 10, a fixed body 30 that supports the optical module 10 via the middle frame portion 20, and optics for the fixed body 30. A tilt correction mechanism 40 for changing the tilt of the module 10 is provided. The tilt correction mechanism 40 includes a first tilt correction drive mechanism 40A that rotates the optical module 10 around the optical axis of the optical module 10 and a rotation axis L0 rotation orthogonal to the optical axis direction L (Z-axis direction) of the optical module 10. A second tilt correction drive mechanism 40B for rotating the optical module 10 is provided. The direction of the rotation axis L0 coincides with the direction of the X axis.

図１（ｂ）に示すように、光学モジュール１０の像側（−Ｚ方向）には回転軸受部５０が配置される。回転軸受部５０は中枠部２０に固定される。光学モジュール１０は像側（−Ｚ方向）を向く後端面１１を備え、回転軸受部５０は後端面１１に連結される。光学モジュール１０は、回転軸受部５０によって光軸回りに回転可能に支持される。図１（ａ）に示すように、中枠部２０の光軸方向Ｌと直交する方向の両側には、回転軸受部６０Ｌ、６０Ｒが配置される。回転軸受部６０Ｌ、６０Ｒは固定体３０に固定される。光学モジュール１０および中枠部２０は、回転軸受部６０Ｌ、６０Ｒによって光軸方向Ｌと直交する回転軸Ｌ０回りに回転可能に支持される。回転軸Ｌ０はＸ軸方向と一致する方向を向いており、回転軸受部６０Ｌは光学モジュール１０および中枠部２０の−Ｘ方向側に配置され、回転軸受部６０Ｒは光学モジュール１０および中枠部２０の＋Ｘ方向側に配置される。 As shown in FIG. 1B, the rotary bearing portion 50 is arranged on the image side (−Z direction) of the optical module 10. The rotary bearing portion 50 is fixed to the inner frame portion 20. The optical module 10 includes a rear end surface 11 facing the image side (−Z direction), and the rotary bearing portion 50 is connected to the rear end surface 11. The optical module 10 is rotatably supported around the optical axis by the rotary bearing portion 50. As shown in FIG. 1A, rotary bearing portions 60L and 60R are arranged on both sides of the middle frame portion 20 in a direction orthogonal to the optical axis direction L. The rotary bearing portions 60L and 60R are fixed to the fixed body 30. The optical module 10 and the middle frame portion 20 are rotatably supported by the rotary bearing portions 60L and 60R around the rotation axis L0 orthogonal to the optical axis direction L. The rotary shaft L0 faces in the direction corresponding to the X-axis direction, the rotary bearing portion 60L is arranged on the −X direction side of the optical module 10 and the middle frame portion 20, and the rotary bearing portion 60R is the optical module 10 and the middle frame portion. It is arranged on the + X direction side of 20.

中枠部２０は、光学モジュール１０の外周側に配置される。中枠部２０は、光学モジュール１０の像側（−Ｚ方向）に配置される底部２１と、底部２１から＋Ｚ方向側に立ち上がる側壁部２２を備える。光学モジュール１０を光軸回りに回転可能に支持する回転軸受部５０は、底部２１に固定される。側壁部２２は、Ｘ軸方向に対向する一対の第１壁部２３、２４と、Ｙ軸方向に対向する一対の第２壁部２５、２６と、Ｘ軸方向およびＹ軸方向に対して４５度傾斜する第３壁部２７を備える。第１壁部２３、２４はＹ軸方向に延在し、第２壁部２５、２６はＸ軸方向に延在する。第３壁部２７は、Ｙ軸方向に延在する壁部（第１壁部２３、２４）とＸ軸方向に延在する壁部（第２壁部２５、２６）とが繋がる４箇所の角部に設けられている。従って、中枠部２０は、光軸方向Ｌから見た場合に略８角形である。 The middle frame portion 20 is arranged on the outer peripheral side of the optical module 10. The middle frame portion 20 includes a bottom portion 21 arranged on the image side (−Z direction) of the optical module 10 and a side wall portion 22 rising from the bottom portion 21 on the + Z direction side. The rotary bearing portion 50 that rotatably supports the optical module 10 around the optical axis is fixed to the bottom portion 21. The side wall portions 22 include a pair of first wall portions 23 and 24 facing in the X-axis direction, a pair of second wall portions 25 and 26 facing in the Y-axis direction, and 45 with respect to the X-axis direction and the Y-axis direction. A third wall portion 27 that is inclined by a degree is provided. The first wall portions 23 and 24 extend in the Y-axis direction, and the second wall portions 25 and 26 extend in the X-axis direction. The third wall portion 27 has four locations where the wall portion extending in the Y-axis direction (first wall portions 23, 24) and the wall portion extending in the X-axis direction (second wall portions 25, 26) are connected. It is provided at the corner. Therefore, the middle frame portion 20 is substantially octagonal when viewed from the optical axis direction L.

固定体３０は、中枠部２０の外周側に配置される。固定体３０は、中枠部２０の像側（−Ｚ方向）に配置される底部３１と、底部３１から＋Ｚ方向側に立ち上がる側壁部３２を備える。側壁部３２は、Ｘ軸方向に対向する一対の第１壁部３３、３４と、Ｙ軸方向に対向する一対の第２壁部３５、３６と、Ｘ軸方向およびＹ軸方向に対して４５度傾斜する第３壁部３７を備える。第１壁部３３、３４は、回転軸Ｌ０の軸線方向に対向する。回転軸受部６０Ｌは第１壁部３４の内側面に固定され、回転軸受部６０Ｒは第１壁部３３の内側面に固定される。第１壁部３３、３４はＹ軸方向に延在し、第２壁部３５、３６はＸ軸方向に延在する。第３壁部３７は、Ｙ軸方向に延在する壁部（第１壁部３３、３４）とＸ軸方向に延在する壁部（第２壁部３５、３６）とが繋がる４箇所の角部に設けられている。従って、固定体３０は、光軸方向Ｌから見た場合に略８角形である。 The fixed body 30 is arranged on the outer peripheral side of the middle frame portion 20. The fixed body 30 includes a bottom portion 31 arranged on the image side (−Z direction) of the middle frame portion 20, and a side wall portion 32 rising from the bottom portion 31 in the + Z direction side. The side wall portions 32 include a pair of first wall portions 33 and 34 facing in the X-axis direction, a pair of second wall portions 35 and 36 facing in the Y-axis direction, and 45 with respect to the X-axis direction and the Y-axis direction. A third wall portion 37 that is inclined by a degree is provided. The first wall portions 33 and 34 face each other in the axial direction of the rotation axis L0. The rotary bearing portion 60L is fixed to the inner surface of the first wall portion 34, and the rotary bearing portion 60R is fixed to the inner surface of the first wall portion 33. The first wall portions 33 and 34 extend in the Y-axis direction, and the second wall portions 35 and 36 extend in the X-axis direction. The third wall portion 37 has four locations where the wall portion extending in the Y-axis direction (first wall portions 33, 34) and the wall portion extending in the X-axis direction (second wall portions 35, 36) are connected. It is provided at the corner. Therefore, the fixed body 30 is substantially octagonal when viewed from the optical axis direction L.

（傾き補正用駆動機構）
第１傾き補正用駆動機構４０Ａは、中枠部２０と固定体３０とを連結する回転軸受部６０Ｌ、６０Ｒが設けられた角度位置に配置される。すなわち、第１傾き補正用駆動機構４０Ａは、光学モジュール１０のＸ軸方向の一方側（＋Ｘ方向）および他方側（−Ｘ方向）において、光学モジュール１０と中枠部２０との間に配置される２組の磁気駆動機構４１Ａを備える。磁気駆動機構４１Ａは、磁石４２Ａと、磁石４２Ａの着磁面に対して垂直な軸回りに巻き回されたコイル４３Ａとを備え、磁石４２Ａとコイル４３ＡはＸ軸方向に対向する。光学モジュール１０は光軸方向Ｌから見た場合に略８角形であり、Ｘ軸方向の一方側（＋Ｘ方向）および他方側（−Ｘ方向）を向く一対の側面１２、１３を備える。磁石４２Ａは側面１２、１３に固定され、コイル４３Ａは中枠部２０の第１壁部３３、３４の内側面に固定される。 (Drive mechanism for tilt correction)
The first inclination correction drive mechanism 40A is arranged at an angle position where the rotary bearing portions 60L and 60R for connecting the middle frame portion 20 and the fixed body 30 are provided. That is, the first tilt correction drive mechanism 40A is arranged between the optical module 10 and the middle frame portion 20 on one side (+ X direction) and the other side (−X direction) of the optical module 10 in the X-axis direction. It is provided with two sets of magnetic drive mechanisms 41A. The magnetic drive mechanism 41A includes a magnet 42A and a coil 43A wound around an axis perpendicular to the magnetizing surface of the magnet 42A, and the magnet 42A and the coil 43A face each other in the X-axis direction. The optical module 10 is substantially octagonal when viewed from the optical axis direction L, and includes a pair of side surfaces 12 and 13 facing one side (+ X direction) and the other side (−X direction) in the X axis direction. The magnet 42A is fixed to the side surfaces 12 and 13, and the coil 43A is fixed to the inner side surface of the first wall portions 33 and 34 of the middle frame portion 20.

第２傾き補正用駆動機構４０Ｂは、中枠部２０と固定体３０とを連結する回転軸受部６０Ｌ、６０Ｒが設けられた角度位置と異なる角度位置に配置される。すなわち、第２傾き補正用駆動機構４０Ｂは、回転軸受部６０Ｌ、６０Ｒが設けられた角度位置から９０度回転した角度位置に配置される。第２傾き補正用駆動機構４０Ｂは、中枠部２０のＹ軸方向の一方側（＋Ｙ方向）および他方側（−Ｙ方向）において、中枠部２０と固定体３０との
間に配置される２組の磁気駆動機構４１Ｂを備える。磁気駆動機構４１Ｂは、磁石４２Ｂと、磁石４２Ｂの着磁面に対して垂直な軸回りに巻き回されたコイル４３Ｂとを備え、磁石４２Ｂとコイル４３ＢはＹ軸方向に対向する。磁石４２Ｂは中枠部２０の第２壁部２５、２６の外側面に固定され、コイル４３Ｂは固定体３０の第２壁部３５、３６の内側面に固定される。 The second inclination correction drive mechanism 40B is arranged at an angle position different from the angle position where the rotary bearing portions 60L and 60R connecting the middle frame portion 20 and the fixed body 30 are provided. That is, the second inclination correction drive mechanism 40B is arranged at an angle position rotated by 90 degrees from the angle position where the rotary bearing portions 60L and 60R are provided. The second tilt correction drive mechanism 40B is arranged between the middle frame portion 20 and the fixed body 30 on one side (+ Y direction) and the other side (−Y direction) of the middle frame portion 20 in the Y-axis direction. It includes two sets of magnetic drive mechanisms 41B. The magnetic drive mechanism 41B includes a magnet 42B and a coil 43B wound around an axis perpendicular to the magnetizing surface of the magnet 42B, and the magnet 42B and the coil 43B face each other in the Y-axis direction. The magnet 42B is fixed to the outer surface of the second wall portions 25 and 26 of the inner frame portion 20, and the coil 43B is fixed to the inner surface of the second wall portions 35 and 36 of the fixed body 30.

磁気駆動機構４１Ａを構成する磁石４２Ａは、光軸回りの周方向に２分割され、磁気駆動機構４１Ｂを構成する磁石４２Ｂは、光軸方向Ｌに２分割されている。磁石４２Ａ、４２Ｂは、コイル４３Ａ、４３Ｂと対向する面の磁極が分割位置（着磁分極線）を境にして異なるように着磁されている。コイル４３Ａ、４３Ｂは空芯コイルであり、コイル４３Ａは光軸方向Ｌに延在する辺が有効として利用され、コイル４３Ｂは周方向に延在する辺が有効辺として利用される。２組の磁気駆動機構４１Ａは、通電時に光軸回りの同一方向の磁気駆動力が発生するように配線接続されている。また、２組の磁気駆動機構４１Ｂは、通電時に回転軸Ｌ０周りの同一方向の磁気駆動力が発生するように配線接続されている。 The magnet 42A constituting the magnetic drive mechanism 41A is divided into two in the circumferential direction around the optical axis, and the magnet 42B constituting the magnetic drive mechanism 41B is divided into two in the optical axis direction L. The magnets 42A and 42B are magnetized so that the magnetic poles on the surfaces facing the coils 43A and 43B are different with respect to the divided position (magnetized polarization line). The coils 43A and 43B are air-core coils, the side extending in the optical axis direction L is effectively used for the coil 43A, and the side extending in the circumferential direction is used as the effective side for the coil 43B. The two sets of magnetic drive mechanisms 41A are wired and connected so that magnetic driving forces in the same direction around the optical axis are generated when energized. Further, the two sets of magnetic drive mechanisms 41B are wired and connected so that a magnetic drive force in the same direction around the rotation shaft L0 is generated when energized.

光学ユニット１は、第１傾き補正用駆動機構４０Ａの磁気駆動機構４１Ａを構成する磁石４２Ａの着磁分極線と対向する位置に配置される磁気センサ４４（図１（ａ）参照）を備える。磁気センサ４４は、コイル４３Ａが固定された中枠部２０における第１壁部３３の内側面に固定される。第１傾き補正用駆動機構４０Ａは、磁気センサ４４からの信号に基づいて検出されたローリング方向の原点位置に基づいて制御される。 The optical unit 1 includes a magnetic sensor 44 (see FIG. 1A) arranged at a position facing the magnetizing polarization line of the magnet 42A constituting the magnetic driving mechanism 41A of the first tilt correction driving mechanism 40A. The magnetic sensor 44 is fixed to the inner surface of the first wall portion 33 in the inner frame portion 20 to which the coil 43A is fixed. The first tilt correction drive mechanism 40A is controlled based on the origin position in the rolling direction detected based on the signal from the magnetic sensor 44.

（光学モジュール）
図２（ａ）は光学モジュール１０を模式的に示す正面図（被写体側（＋Ｚ方向）から見た図）であり、図２（ｂ）は断面図（図２（ａ）のＢ−Ｂ断面図）である。光学モジュール１０は、光学素子２を備える可動体１４と、ホルダ１５と、可動体１４をホルダ１５に対して揺動可能に支持するジンバル機構１６（図２（ａ）参照）と、可動体１４をホルダ１５に対して揺動させる揺動用磁気駆動機構１７と、可動体１４とホルダ１５とを接続するバネ部材１８（図２（ｂ）参照）を備える。図２（ａ）ではバネ部材１８の図示を省略し、図２（ｂ）ではジンバル機構１６の図示を省略している。 (Optical module)
FIG. 2A is a front view schematically showing the optical module 10 (a view seen from the subject side (+ Z direction)), and FIG. 2B is a cross-sectional view (cross section BB of FIG. 2A). Figure). The optical module 10 includes a movable body 14 including an optical element 2, a holder 15, a gimbal mechanism 16 (see FIG. 2A) that swingably supports the movable body 14 with respect to the holder 15, and the movable body 14. A rocking magnetic drive mechanism 17 for swinging the holder 15 and a spring member 18 (see FIG. 2B) for connecting the movable body 14 and the holder 15 are provided. FIG. 2A omits the illustration of the spring member 18, and FIG. 2B omits the illustration of the gimbal mechanism 16.

可動体１４は、ジンバル機構１６により、光軸方向Ｌと直交する第１軸線Ｒ１回りに揺動可能に支持されているとともに、光軸方向Ｌおよび第１軸線Ｒ１と直交する第２軸線Ｒ２回りに揺動可能に支持されている。第１軸線Ｒ１および第２軸線Ｒ２は、ホルダ１５の対角方向であり、Ｘ軸方向およびＹ軸方向に対して４５度傾いている。 The movable body 14 is swingably supported around the first axis R1 orthogonal to the optical axis direction L by the gimbal mechanism 16 and around the second axis R2 orthogonal to the optical axis direction L and the first axis R1. It is supported so that it can swing. The first axis R1 and the second axis R2 are diagonal directions of the holder 15 and are inclined by 45 degrees with respect to the X-axis direction and the Y-axis direction.

可動体１４は、光学素子２のＸ軸方向の両側においてＹ軸方向に延在する一対の側面１４１、１４２と、光学素子２のＹ軸方向の両側においてＸ軸方向に延在する一対の側面１４３、１４４を備える。ホルダ１５は、Ｘ軸方向に対向する一対の壁部１５１、１５２と、Ｙ軸方向に対向する一対の壁部１５３、１５４を備えており、壁部１５１、１５２の外側面は、第１傾き補正用駆動機構４０Ａの磁石４２Ａが固定される側面１２、１３を構成する。 The movable body 14 includes a pair of side surfaces 141 and 142 extending in the Y-axis direction on both sides of the optical element 2 in the X-axis direction, and a pair of side surfaces extending in the X-axis direction on both sides of the optical element 2 in the Y-axis direction. It includes 143 and 144. The holder 15 includes a pair of wall portions 151 and 152 facing in the X-axis direction and a pair of wall portions 153 and 154 facing in the Y-axis direction, and the outer surfaces of the wall portions 151 and 152 have a first inclination. The side surfaces 12 and 13 to which the magnet 42A of the correction drive mechanism 40A is fixed are configured.

ジンバル機構１６は、可動体１４とホルダ１５との間に構成されている。ジンバル機構１６は、可動体１４の第１軸線Ｒ１上の対角位置に設けられた第１揺動支持部１６１と、ホルダ１５の第２軸線Ｒ２上の対角位置に設けられた第２揺動支持部１６２と、第１揺動支持部１６１および第２揺動支持部１６２によって支持される可動枠１６３を備える。可動枠１６３は、光軸回りの４か所に設けられた支点部１６４と、光軸回りで隣り合う支点部１６４を繋ぐ連結部１６５を備える板状ばねである。 The gimbal mechanism 16 is configured between the movable body 14 and the holder 15. The gimbal mechanism 16 includes a first swing support portion 161 provided at a diagonal position on the first axis R1 of the movable body 14, and a second swing provided at a diagonal position on the second axis R2 of the holder 15. It includes a dynamic support portion 162 and a movable frame 163 supported by the first rocking support portion 161 and the second rocking support portion 162. The movable frame 163 is a plate-shaped spring including fulcrum portions 164 provided at four locations around the optical axis and connecting portions 165 connecting adjacent fulcrum portions 164 around the optical axis.

可動枠１６３における各支点部１６４の内側面には溶接等によって金属製の球体（図示
省略）が固定されている。この球体は、可動体１４に設けられた第１揺動支持部１６１に保持される接点ばね（図示省略）、および、ホルダ１５に設けられた第２揺動支持部１６２に保持される接点ばね（図示省略）と点接触する。接点ばねは板状ばねであり、第１揺動支持部１６１に保持される接点ばねは第１軸線Ｒ１方向に弾性変形可能であり、第２揺動支持部１６２に保持される接点ばねは第２軸線Ｒ２方向に弾性変形可能である。従って、可動枠１６３は、光軸方向Ｌと直交する２方向（第１軸線Ｒ１方向および第２軸線Ｒ２方向）の各方向回りに回転可能な状態で支持される。 A metal sphere (not shown) is fixed to the inner surface of each fulcrum portion 164 of the movable frame 163 by welding or the like. The sphere has a contact spring (not shown) held by the first swing support portion 161 provided on the movable body 14 and a contact spring held by the second swing support portion 162 provided on the holder 15. (Not shown) makes point contact. The contact spring is a plate-shaped spring, the contact spring held by the first swing support portion 161 is elastically deformable in the direction of the first axis R1, and the contact spring held by the second swing support portion 162 is the first. It can be elastically deformed in the direction of the two axes R2. Therefore, the movable frame 163 is supported in a state in which it can rotate in each of the two directions (the first axis R1 direction and the second axis R2 direction) orthogonal to the optical axis direction L.

揺動用磁気駆動機構１７は、可動体１４とホルダ１５の間に設けられた４組の磁気駆動機構１７１を備える。各磁気駆動機構１７１は、磁石１７２とコイル１７３を備える。コイル１７３は可動体１４のＸ軸方向の両側の側面１４１、１４２、ならびに可動体１４のＹ軸方向の両側の側面１４３、１４４に保持される。磁石１７２は、ホルダ１５の壁部１５１、１５２、１５３、１５４の内側面に保持される。従って、可動体１４とホルダ１５との間では、＋Ｘ方向側、−Ｘ方向側、＋Ｙ方向側、−Ｙ方向側のいずれにおいても、磁石１７２とコイル１７３とが対向する。磁石１７２は光軸方向Ｌ（すなわち、Ｚ軸方向）に２分割され、内面側の磁極が分割位置（着磁分極線）を境にして異なるように着磁されている。コイル１７３は空芯コイルであり、＋Ｚ方向側および−Ｚ方向側の長辺部分が有効辺として利用される。 The swing magnetic drive mechanism 17 includes four sets of magnetic drive mechanisms 171 provided between the movable body 14 and the holder 15. Each magnetic drive mechanism 171 includes a magnet 172 and a coil 173. The coil 173 is held on both side surfaces 141 and 142 of the movable body 14 in the X-axis direction, and on both side surfaces 143 and 144 of the movable body 14 in the Y-axis direction. The magnet 172 is held on the inner surface of the wall portions 151, 152, 153, 154 of the holder 15. Therefore, between the movable body 14 and the holder 15, the magnet 172 and the coil 173 face each other on any of the + X direction side, the −X direction side, the + Y direction side, and the −Y direction side. The magnet 172 is divided into two in the optical axis direction L (that is, in the Z-axis direction), and the magnetic poles on the inner surface side are magnetized differently with the divided position (magnetized polarization line) as a boundary. The coil 173 is an air-core coil, and the long side portions on the + Z direction side and the −Z direction side are used as effective sides.

可動体１４の＋Ｙ方向側および−Ｙ方向側に位置する２組の磁石１７２およびコイル１７３からなる２組の磁気駆動機構１７１は、通電時にＸ軸回りの同一方向の磁気駆動力が発生するように配線接続されている。従って、これら２組の磁気駆動機構１７１のコイル１７３に通電することにより、Ｘ軸回りの振れ補正を行うことができる。また、可動体１４の＋Ｘ方向側および−Ｘ方向側に位置する２組の磁石１７２とコイル１７３からなる２組の磁気駆動機構１７１は、通電時にＹ軸回りの同一方向の磁気駆動力が発生するように配線接続されている。従って、これら２組の磁気駆動機構１７１のコイル１７３に通電することにより、Ｙ軸回りの振れ補正を行うことができる。 The two sets of magnetic drive mechanisms 171 consisting of two sets of magnets 172 and coils 173 located on the + Y direction side and the −Y direction side of the movable body 14 generate a magnetic drive force in the same direction around the X axis when energized. Wiring connection to. Therefore, by energizing the coils 173 of these two sets of magnetic drive mechanisms 171, it is possible to correct the runout around the X axis. Further, the two sets of magnetic drive mechanisms 171 composed of two sets of magnets 172 and coils 173 located on the + X direction side and the −X direction side of the movable body 14 generate a magnetic drive force in the same direction around the Y axis when energized. The wiring is connected so as to do. Therefore, by energizing the coils 173 of these two sets of magnetic drive mechanisms 171, it is possible to correct the runout around the Y axis.

バネ部材１８は、光学モジュール１０の−Ｚ方向の端部に配置され、可動体１４とホルダ１５を接続する。揺動用磁気駆動機構１７が駆動されていない静止状態にあるときの可動体１４の姿勢は、バネ部材１８によって定まる。バネ部材１８は、金属板を加工した矩形枠状の板バネである。バネ部材１８は、その外周部に設けられた固定体側連結部１８１がホルダ１５に固定され、内周部に設けられた可動体側連結部１８２が可動体１４に固定され、固定体側連結部１８１と可動体側連結部１８２はアーム部１８３によって繋がっている。 The spring member 18 is arranged at the end of the optical module 10 in the −Z direction, and connects the movable body 14 and the holder 15. The posture of the movable body 14 when the swinging magnetic drive mechanism 17 is in a stationary state where it is not driven is determined by the spring member 18. The spring member 18 is a rectangular frame-shaped leaf spring formed by processing a metal plate. In the spring member 18, the fixed body side connecting portion 181 provided on the outer peripheral portion thereof is fixed to the holder 15, the movable body side connecting portion 182 provided on the inner peripheral portion is fixed to the movable body 14, and the spring member 18 and the fixed body side connecting portion 181 The movable body side connecting portion 182 is connected by the arm portion 183.

（飛行体に搭載した場合の傾き補正）
図３（ａ）は光学モジュールが搭載される移動体を模式的に示す側面図であり、図３（ｂ）はピッチング方向の傾き補正を示す説明図である。また、図４（ａ）は光学モジュールが搭載される移動体を模式的に示す平面図であり、図４（ｂ）はローリング方向の傾き補正を示す説明図である。光学ユニット１は、移動体１００のピッチング方向が回転軸Ｌ０回りの回転方向と一致し、移動体１００のローリング方向が光軸回りの回転方向と一致する姿勢で移動体１００に搭載される。すなわち、図３（ａ）、図４（ａ）に示すように、移動体１００の進行方向Ｆ（直進方向）と光軸方向Ｌとが一致し、回転軸Ｌ０が進行方向Ｆと直交し、且つ、移動体１００の左右方向Ｈ（図４（ａ）参照）と一致する姿勢となるように移動体１００に搭載される。 (Inclination correction when mounted on an air vehicle)
FIG. 3A is a side view schematically showing a moving body on which the optical module is mounted, and FIG. 3B is an explanatory view showing tilt correction in the pitching direction. Further, FIG. 4A is a plan view schematically showing a moving body on which the optical module is mounted, and FIG. 4B is an explanatory view showing inclination correction in the rolling direction. The optical unit 1 is mounted on the moving body 100 in a posture in which the pitching direction of the moving body 100 coincides with the rotation direction around the rotation axis L0 and the rolling direction of the moving body 100 coincides with the rotation direction around the optical axis. That is, as shown in FIGS. 3A and 4A, the traveling direction F (straight direction) of the moving body 100 and the optical axis direction L coincide with each other, and the rotation axis L0 is orthogonal to the traveling direction F. Moreover, it is mounted on the moving body 100 so as to have a posture that matches the left-right direction H (see FIG. 4A) of the moving body 100.

移動体１００が飛行体である場合、移動体１００はピッチング方向に傾くことがある。例えば、図３（ｂ）に示すように、移動体１００が下降方向Ｆ１へ移動するとき、移動体１００はピッチング方向に傾く。光学ユニット１は、光学モジュール１０に搭載されたジ
ャイロスコープなどの傾き検出機構によって光学モジュール１０のピッチング方向の傾きを検出し、第２傾き補正用駆動機構４０Ｂを駆動して回転軸Ｌ０回りに中枠部２０および光学モジュール１０を回転させてピッチング方向の傾きを補正する。例えば、図３（ｂ）に示すように、中枠部２０を−Ｆ１方向へ回転させてピッチング方向の傾きを補正し、光軸方向Ｌと進行方向Ｆを一致させる。中枠部２０が回転すると、光学モジュール１０は中枠部２０と一体になって−Ｆ１方向に回転するので、光軸方向Ｌと進行方向Ｆを一致させることができる。 When the moving body 100 is a flying body, the moving body 100 may tilt in the pitching direction. For example, as shown in FIG. 3B, when the moving body 100 moves in the descending direction F1, the moving body 100 tilts in the pitching direction. The optical unit 1 detects the inclination of the optical module 10 in the pitching direction by an inclination detecting mechanism such as a gyroscope mounted on the optical module 10, and drives the second inclination correction drive mechanism 40B to rotate around the rotation axis L0. The frame portion 20 and the optical module 10 are rotated to correct the inclination in the pitching direction. For example, as shown in FIG. 3B, the middle frame portion 20 is rotated in the −F1 direction to correct the inclination in the pitching direction, and the optical axis direction L and the traveling direction F are matched. When the middle frame portion 20 rotates, the optical module 10 is integrated with the middle frame portion 20 and rotates in the −F1 direction, so that the optical axis direction L and the traveling direction F can be matched.

また、移動体１００が飛行体である場合、移動体が図４（ａ）に示す旋回方向Ｆ２に旋回するとき、図４（ｂ）に示すように、移動体１００はローリング方向に傾くことがある。図４（ｂ）は移動体１００を正面から（進行方向の前方から）見た状態を示す。光学ユニット１は、ジャイロスコープなどの傾き検出機構によって光学モジュール１０のローリング方向の傾きを検出し、第１傾き補正用駆動機構４０Ａを駆動して回転軸Ｌ０回りに光学モジュール１０を回転させてローリング方向の傾きを補正する。例えば、図４（ｂ）に示すように、光学モジュール１０をＦ３方向へ回転させてローリング方向の傾きを補正する。この場合には、中枠部２０は回転せず、光学モジュール１０は中枠部２０に対して回転軸Ｌ０回りに相対回転する。 Further, when the moving body 100 is a flying body, when the moving body turns in the turning direction F2 shown in FIG. 4A, the moving body 100 may tilt in the rolling direction as shown in FIG. 4B. is there. FIG. 4B shows a state in which the moving body 100 is viewed from the front (from the front in the traveling direction). The optical unit 1 detects the tilt of the optical module 10 in the rolling direction by a tilt detection mechanism such as a gyroscope, drives the first tilt correction drive mechanism 40A, and rotates the optical module 10 around the rotation axis L0 to roll. Correct the tilt of the direction. For example, as shown in FIG. 4B, the optical module 10 is rotated in the F3 direction to correct the inclination in the rolling direction. In this case, the middle frame portion 20 does not rotate, and the optical module 10 rotates relative to the middle frame portion 20 around the rotation axis L0.

（本形態の主な作用効果）
以上のように、本形態の光学ユニット１は、光学素子２を備える光学モジュール１０を固定体３０に対して光軸回りに回転させる第１傾き補正用駆動機構４０Ａ、および、光学モジュール１０を光軸方向Ｌと直交する回転軸Ｌ０回りに回転させる第２傾き補正用駆動機構４０Ｂを備え、第１傾き補正用駆動機構４０Ａは磁石４２Ａとコイル４３Ａを対向させた磁気駆動機構４１Ａを備え、第２傾き補正用駆動機構４０Ｂは磁石４２Ｂとコイル４３Ｂを対向させた磁気駆動機構４１Ｂを備える。磁石とコイルとを対向させた磁気駆動機構４１Ａ、４１Ｂは全体として薄型に構成できるため、第１傾き補正用駆動機構４０Ａおよび第２傾き補正用駆動機構４０Ｂの占有スペースが少ない。よって、移動体１００に搭載した場合に移動体１００が傾いたときの光学モジュール１０の傾き補正を行うことができる構成でありながら、光学ユニット１の大型化を抑制でき、占有スペースを少なくすることができる。 (Main action and effect of this form)
As described above, the optical unit 1 of the present embodiment illuminates the first tilt correction drive mechanism 40A for rotating the optical module 10 including the optical element 2 about the optical axis with respect to the fixed body 30, and the optical module 10. A second tilt correction drive mechanism 40B that rotates around a rotation axis L0 orthogonal to the axial direction L is provided, and the first tilt correction drive mechanism 40A includes a magnetic drive mechanism 41A in which a magnet 42A and a coil 43A face each other. 2. The tilt correction drive mechanism 40B includes a magnetic drive mechanism 41B in which the magnet 42B and the coil 43B face each other. Since the magnetic drive mechanisms 41A and 41B in which the magnet and the coil face each other can be configured to be thin as a whole, the space occupied by the first tilt correction drive mechanism 40A and the second tilt correction drive mechanism 40B is small. Therefore, although the structure is such that the tilt of the optical module 10 can be corrected when the moving body 100 is tilted when mounted on the moving body 100, it is possible to suppress the increase in size of the optical unit 1 and reduce the occupied space. Can be done.

本形態では、固定体３０の内側に中枠部２０を設け、固定体３０と中枠部２０を回転軸受部６０Ｌ、６０Ｒによって連結する。このように、中枠部２０を介して回転させることにより、光学モジュール１０を安定して回転させることができる。また、中枠部２０を設けたことにより、中枠部２０の内側において回転軸受部６０Ｌ、６０Ｒと同じ角度位置に第１傾き補正用駆動機構４０Ａを配置することができる。従って、光学ユニット１の大型化を抑制できる。 In this embodiment, the middle frame portion 20 is provided inside the fixed body 30, and the fixed body 30 and the middle frame portion 20 are connected by the rotary bearing portions 60L and 60R. By rotating the optical module 10 via the middle frame portion 20 in this way, the optical module 10 can be stably rotated. Further, by providing the middle frame portion 20, the first inclination correction drive mechanism 40A can be arranged at the same angle position as the rotary bearing portions 60L and 60R inside the middle frame portion 20. Therefore, it is possible to suppress the increase in size of the optical unit 1.

本形態では、固定体３０は光軸方向Ｌから見た場合に略８角形であり、Ｘ軸方向に対向する一対の第１壁部３３、３４と、Ｙ軸方向に対向する一対の第２壁部３５、３６を備える。このように、対向する壁部を備える形状であれば、対向する壁部に回転軸受部６０Ｌ、６０Ｒや第２傾き補正用駆動機構４０Ｂを設けることができる。 In this embodiment, the fixed body 30 is substantially octagonal when viewed from the optical axis direction L, and is a pair of first wall portions 33 and 34 facing the X-axis direction and a pair of second wall portions facing the Y-axis direction. The walls 35 and 36 are provided. As described above, if the shape includes the facing wall portions, the rotary bearing portions 60L and 60R and the second inclination correction drive mechanism 40B can be provided on the facing wall portions.

本形態では、中枠部２０は光軸方向Ｌから見た場合に略８角形であり、Ｘ軸方向に対向する一対の第１壁部２３、２４と、Ｙ軸方向に対向する一対の第２壁部２５、２６を備える。このように、対向する壁部を備える形状であれば、対向する壁部に第１傾き補正用駆動機構４０Ａおよび第２傾き補正用駆動機構４０Ｂを設けることができる。 In this embodiment, the middle frame portion 20 is substantially octagonal when viewed from the optical axis direction L, and the pair of first wall portions 23 and 24 facing the X-axis direction and the pair of first wall portions 23 and 24 facing the Y-axis direction. Two wall portions 25 and 26 are provided. As described above, if the shape includes the facing wall portions, the first tilt correction drive mechanism 40A and the second tilt correction drive mechanism 40B can be provided on the facing wall portions.

本形態では、光学モジュール１０に第１傾き補正用駆動機構４０Ａの磁石４２Ａを配置しているので、第１傾き補正用駆動機構４０Ａのコイル４３Ａへの給電用の配線を光学モ
ジュール１０に設ける必要がない。従って、光学モジュール１０への配線を簡略化できる。なお、本形態では、第２傾き補正用駆動機構４０Ｂのコイル４３Ｂを固定体３０に固定しているが、コイル４３Ｂを中枠部２０に集約すれば、コイル４３Ａ、４３Ｂへの給電用の配線を中枠部２０に集約することができる。 In this embodiment, since the magnet 42A of the first tilt correction drive mechanism 40A is arranged in the optical module 10, it is necessary to provide the optical module 10 with wiring for supplying power to the coil 43A of the first tilt correction drive mechanism 40A. There is no. Therefore, the wiring to the optical module 10 can be simplified. In this embodiment, the coil 43B of the second tilt correction drive mechanism 40B is fixed to the fixed body 30, but if the coil 43B is integrated in the middle frame portion 20, the wiring for supplying power to the coils 43A and 43B is provided. Can be aggregated in the middle frame portion 20.

本形態では、第１傾き補正用駆動機構４０Ａを構成する磁石４２Ａの着磁分極線と対向する位置に配置される磁気センサ４４の出力に基づいてローリング方向の原点位置を検出する。このように、磁気センサ４４の信号に基づいて原点位置へ復帰させる制御を行えば、原点位置に復帰させるためのばねを設ける必要がない。また、ばねによって原点位置に復帰させる構成と異なり、原点位置に復帰する際の揺れ戻りをなくすことができる。また、磁気センサ４４の信号に基づいて駆動方向を検出することもできる。 In this embodiment, the origin position in the rolling direction is detected based on the output of the magnetic sensor 44 arranged at a position facing the magnetizing polarization line of the magnet 42A constituting the first inclination correction drive mechanism 40A. In this way, if the control for returning to the origin position is performed based on the signal of the magnetic sensor 44, it is not necessary to provide a spring for returning to the origin position. Further, unlike the configuration in which the position is returned to the origin position by a spring, it is possible to eliminate the swing back when returning to the origin position. It is also possible to detect the drive direction based on the signal of the magnetic sensor 44.

本形態では、移動体１００が飛行体である場合に、飛行体のピッチング方向が回転軸Ｌ０回りの回転方向と一致し、飛行体のローリング方向が光軸回りの回転方向と一致する姿勢で、光学ユニット１を移動体１００に搭載する。従って、飛行体（移動体１００）が旋回する場合の機体のローリング方向の傾きによる撮影画像の傾きを補正できる。また、飛行体上昇あるいは降下する際に、移動体が進行方向に対して前傾あるいは後傾する場合のる撮影画像の傾きを補正できる。 In the present embodiment, when the moving body 100 is a flying body, the pitching direction of the flying body coincides with the rotation direction around the rotation axis L0, and the rolling direction of the flying body coincides with the rotation direction around the optical axis. The optical unit 1 is mounted on the moving body 100. Therefore, it is possible to correct the inclination of the captured image due to the inclination of the airframe in the rolling direction when the flying object (moving object 100) turns. In addition, it is possible to correct the inclination of the captured image when the moving object tilts forward or backward with respect to the traveling direction when the flying object ascends or descends.

本形態の光学ユニット１に搭載される光学モジュール１０は、光学素子２を備える可動体１４を光軸方向Ｌと直交する第１軸線Ｒ１回りの第１揺動方向、および光軸方向Ｌおよび第１軸線Ｒ１と直交する第２軸線Ｒ２回りの第２揺動方向に揺動させる揺動用磁気駆動機構１７を備える。このため、傾き補正に加えて、光学ユニット１の揺れに伴う振れ補正を行うことができる。従って、より見やすい撮影画像を得ることができる。 The optical module 10 mounted on the optical unit 1 of the present embodiment has a movable body 14 including an optical element 2 in a first swing direction around a first axis R1 orthogonal to the optical axis direction L, and an optical axis direction L and a third. A swing magnetic drive mechanism 17 that swings in a second swing direction around a second axis R2 orthogonal to the first axis R1 is provided. Therefore, in addition to the tilt correction, it is possible to perform the runout correction due to the shake of the optical unit 1. Therefore, it is possible to obtain a photographed image that is easier to see.

（変形例）
（１）上記形態の第１傾き補正用駆動機構４０Ａおよび第２傾き補正用駆動機構４０Ｂは、光学モジュール１０の両側に１組ずつ磁気駆動機構４１Ａ、４１Ｂを配置しているが、磁気駆動機構４１Ａ、４１Ｂは１組のみであってもよい。 (Modification example)
(1) In the first tilt correction drive mechanism 40A and the second tilt correction drive mechanism 40B of the above embodiment, one set of magnetic drive mechanisms 41A and 41B are arranged on both sides of the optical module 10, but the magnetic drive mechanism Only one set of 41A and 41B may be used.

（２）上記形態では、第１傾き補正用駆動機構４０Ａが設けられた角度位置は、第２傾き補正用駆動機構４０Ｂが設けられた角度位置から９０度回転した角度位置であるが、これらは異なる角度位置に設けられていればよい。例えば、第１傾き補正用駆動機構４０Ａは、第２傾き補正用駆動機構４０Ｂの角度位置から４５度回転した角度位置（第３壁部２７が設けられた角度位置）に設けられていてもよい。 (2) In the above embodiment, the angle position where the first tilt correction drive mechanism 40A is provided is an angle position rotated by 90 degrees from the angle position where the second tilt correction drive mechanism 40B is provided. It suffices if they are provided at different angular positions. For example, the first tilt correction drive mechanism 40A may be provided at an angle position (an angle position where the third wall portion 27 is provided) rotated by 45 degrees from the angle position of the second tilt correction drive mechanism 40B. ..

（３）第１傾き補正用駆動機構４０Ａを構成する磁石４２Ａとコイル４３Ａの配置を逆にしてもよい。また、第２傾き補正用駆動機構４０Ｂを構成する磁石４２Ｂとコイル４３Ｂの配置を逆にしてもよい。 (3) The arrangement of the magnet 42A and the coil 43A constituting the first tilt correction drive mechanism 40A may be reversed. Further, the arrangement of the magnet 42B and the coil 43B constituting the second inclination correction drive mechanism 40B may be reversed.

（４）上記形態の固定体３０および中枠部２０は光軸方向Ｌから見た形状が略８角形であるが、矩形（正方形、長方形）あってもよい。また、対向する壁部は平面でなくてもよく、円弧面であってもよい。例えば、固定体３０は光軸を中心とする円弧面を備える形状であってもよい。円弧面であっても回転軸受部６０Ｌ、６０Ｒを固定することができ、第１傾き補正用駆動機構４０Ａおよび第２傾き補正用駆動機構４０Ｂを設けることができる。円弧面に第１傾き補正用駆動機構４０Ａもしくは第２傾き補正用駆動機構４０Ｂを設ける場合には、磁石およびコイルを円弧面に沿う形状にすればよい。 (4) The fixed body 30 and the middle frame portion 20 of the above-described form are substantially octagonal in shape as viewed from the optical axis direction L, but may be rectangular (square, rectangular). Further, the facing wall portions may not be flat and may be arcuate. For example, the fixed body 30 may have a shape having an arc surface centered on the optical axis. The rotary bearing portions 60L and 60R can be fixed even on an arcuate surface, and the first tilt correction drive mechanism 40A and the second tilt correction drive mechanism 40B can be provided. When the first inclination correction drive mechanism 40A or the second inclination correction drive mechanism 40B is provided on the arc surface, the magnet and the coil may be shaped along the arc surface.

１…光学ユニット、２…光学素子、１０…光学モジュール、１１…後端面、１２、１３…
側面、１４…可動体、１５…ホルダ、１６…ジンバル機構、１７…揺動用磁気駆動機構、１８…バネ部材、２０…中枠部、２１…底部、２２…側壁部、２３、２４…第１壁部、２５、２６…第２壁部、２７…第３壁部、３０…固定体、３１…底部、３２…側壁部、３３、３４…第１壁部、３５、３６…第２壁部、３７…第３壁部、４０…傾き補正機構、４０Ａ…第１傾き補正用駆動機構、４０Ｂ…第２傾き補正用駆動機構、４１Ａ、４１Ｂ…磁気駆動機構、４２Ａ、４２Ｂ…磁石、４３Ａ、４３Ｂ…コイル、４４…磁気センサ、５０…回転軸受部、６０Ｌ、６０Ｒ…回転軸受部、１００…移動体、１４１、１４２、１４３、１４４…側面、１５１、１５２、１５２、１５４…壁部、１６１…第１揺動支持部、１６２…第２揺動支持部、１６３…可動枠、１６４…支点部、１６５…連結部、１７１…磁気駆動機構、１７２…磁石、１７３…コイル、１８１…固定体側連結部、１８２…可動体側連結部、１８３…アーム部、Ｆ…進行方向、Ｆ１…下降方向、Ｆ２…旋回方向、Ｈ…左右方向、Ｌ…光軸方向、Ｌ０…回転軸、Ｒ１…第１軸線、Ｒ２…第２軸線 1 ... Optical unit, 2 ... Optical element, 10 ... Optical module, 11 ... Rear end face, 12, 13 ...
Side surface, 14 ... movable body, 15 ... holder, 16 ... gimbal mechanism, 17 ... rocking magnetic drive mechanism, 18 ... spring member, 20 ... middle frame part, 21 ... bottom, 22 ... side wall part, 23, 24 ... first Walls, 25, 26 ... 2nd wall, 27 ... 3rd wall, 30 ... Fixed body, 31 ... Bottom, 32 ... Side wall, 33, 34 ... 1st wall, 35, 36 ... 2nd wall , 37 ... 3rd wall, 40 ... tilt correction mechanism, 40A ... first tilt correction drive mechanism, 40B ... second tilt correction drive mechanism, 41A, 41B ... magnetic drive mechanism, 42A, 42B ... magnet, 43A, 43B ... coil, 44 ... magnetic sensor, 50 ... rotary bearing part, 60L, 60R ... rotary bearing part, 100 ... moving body, 141, 142, 143, 144 ... side surface, 151, 152, 152, 154 ... wall part, 161 ... 1st rocking support, 162 ... 2nd rocking support, 163 ... movable frame, 164 ... fulcrum, 165 ... connecting part, 171 ... magnetic drive mechanism, 172 ... magnet, 173 ... coil, 181 ... fixed body side Connecting part, 182 ... Movable body side connecting part, 183 ... Arm part, F ... Traveling direction, F1 ... Downward direction, F2 ... Turning direction, H ... Left and right direction, L ... Optical axis direction, L0 ... Rotation axis, R1 ... First Axis, R2 ... 2nd axis

Claims

It has an optical module including an optical element, a fixed body, and a tilt correction mechanism for tilting the optical module with respect to the fixed body.
The tilt correction mechanism includes a first tilt correction drive mechanism that rotates the optical module around the optical axis of the optical module, and a second tilt correction mechanism that rotates the optical module around a rotation axis orthogonal to the optical axis direction of the optical module. Equipped with a drive mechanism for tilt correction
Each of the first tilt correction drive mechanism and the second tilt correction drive mechanism is a magnetic drive in which a magnet and a coil wound around an axis perpendicular to the magnetized surface of the magnet are opposed to each other. mechanism der is,
It has a middle frame portion arranged on the outer peripheral side of the optical module when viewed from the optical axis direction.
The fixed body is arranged on the outer peripheral side of the middle frame portion when viewed from the optical axis direction, and the middle frame portion is rotatably supported around the rotation axis by the fixed body.
The first tilt correction drive mechanism is arranged between the middle frame portion and the optical module at an angular position where the rotary bearing portion that connects the middle frame portion and the fixed body is provided.
An optical unit characterized in that the second tilt correction drive mechanism is arranged between the fixed body and the middle frame portion at an angle position different from the angle position where the rotary bearing portion is provided .

The fixed body includes a pair of first wall portions facing the axial direction of the rotating shaft when viewed from the optical axis direction, and the rotary bearing portion is fixed to the pair of first wall portions.
The fixed body includes a pair of second wall portions facing the optical axis direction and a direction orthogonal to the rotation axis, and the pair of second wall portions are magnets or magnets constituting the second inclination correction drive mechanism. The optical unit according to claim 1 , wherein the coil is fixed.

The first tilt correction drive mechanism includes the magnet held by the optical module and the coil held by the middle frame portion.
The optics according to claim 1 or 2 , wherein the second inclination correction drive mechanism includes the magnet held by one of the middle frame portion and the fixed body and the coil held by the other. unit.

The optical unit according to claim 3 , wherein the second inclination correction drive mechanism includes the coil held by the middle frame portion and the magnet held by the fixed body.

It has a magnetic sensor arranged at a position facing the magnetizing polarization line of the magnet constituting the first tilt correction drive mechanism.
The optical unit according to any one of claims 1 to 4 , wherein the first tilt correction drive mechanism is controlled based on an origin position detected based on an output of the magnetic sensor.

A claim characterized in that the moving body is mounted on the moving body in a posture in which the pitching direction of the moving body coincides with the rotation direction around the rotation axis and the rolling direction of the moving body coincides with the rotation direction around the optical axis. Item 6. The optical unit according to any one of Items 1 to 5 .

In the optical module, the optical element has a first swing direction around the first axis orthogonal to the optical axis direction, and a second swing direction around the optical axis direction and the second axis orthogonal to the first axis direction. The optical unit according to any one of claims 1 to 6 , further comprising a swinging magnetic drive mechanism for swinging.