JP6872191B2 - Camera drive unit - Google Patents

Description

The present invention relates to the structure of a camera drive unit that drives a camera unit including a lens barrel and an image pickup element in a yawing direction and a pitching direction, and drives the camera unit in a rolling direction about an optical rotation axis of the camera unit.

Many of the digital cameras on the market in recent years are provided with a camera shake correction device that corrects image shake of a captured image due to camera shake. In this image stabilization device, a lens, a lens barrel, an image pickup element, or the like may be tilted with respect to the optical axis of the camera, or the entire camera may be tilted to tilt the optical axis of the camera itself.

For example, Patent Document 1 has a driving means for supporting the entire camera on two axes orthogonal to each other and tilting the camera in two dimensions. Further, Patent Document 2 has a structure in which the entire camera is supported by two axes orthogonal to each other, drive means is provided on each axis, and the lens barrel is tilted two-dimensionally with respect to the optical axis. Further, in Patent Document 3, the entire camera is tilted two-dimensionally by the pivot support structure and rotated with respect to the optical axis of the camera.

Japanese Unexamined Patent Publication No. 4-104666 Japanese Unexamined Patent Publication No. 7-318866 International Publication No. 2010/010712

Generally, the camera shake angle that occurs when a person shoots at rest is about ± 0.3 degrees, and it is necessary to perform camera shake correction control in a frequency band up to about 10 Hz. As described above, when the photographer takes a picture with the camera in a stationary state, the camera shake angle is relatively small and the frequency is also relatively low. Therefore, the conventional correction device that corrects the image shake of the captured image due to the camera shake at rest is two-dimensional with the tilt angle of the lens, lens barrel, image pickup element, etc. with respect to the optical axis of the camera and the plane orthogonal to the optical axis. Despite the small amount of movement that is linearly moved to the lens, good camera shake correction was achieved.

In recent years, the usage scenes of cameras have expanded and expanded, and in addition to shooting with a camera, a camera is attached to an unmanned flying object such as a bicycle, a car, various exploration vehicles, or a drone. There is a demand for special shooting conditions that have never been seen before. When performing such special shooting, the above-mentioned conventional camera may not sufficiently correct the image shake, and the camera unit is controlled with a larger degree of freedom or controlled in a high frequency band. Is required. Therefore, even in the camera drive unit, there is a possibility that further technical problems may occur in the structure of the support system that supports the camera unit and the drive system that drives the camera unit.

The present invention corrects a camera drive unit capable of correcting a larger amount of image shake than a conventional digital camera, for example, a shake angle of ± 20 degrees or more in the yawing direction and the pitching direction, and further corrects the camera in the rolling direction. The purpose is to realize a camera drive unit that can correct the shake.

In order to solve the above problems, the camera drive unit of the first embodiment of the present invention includes an image pickup element having an image pickup surface, a lens having an optical axis and forming a subject image on the image pickup surface, and a lens barrel holding the lens. A camera unit including a camera unit, a first movable unit having a base for holding the camera unit, and a second movable unit that rotatably supports the first movable unit around a first rotation axis that coincides with an optical axis. The movable portion and the second movable portion are rotatably supported around the second rotation axis that passes through the reference point on the first rotation axis and is orthogonal to the first rotation axis. The third movable part is rotatably supported around the third movable part and the third rotation axis that passes through the reference point and is orthogonal to the first rotation axis and the second rotation axis. A fixed portion, a detector that detects the rotation angles of the first movable portion, the second movable portion, and the third movable portion, and the first rotation of the first movable portion with respect to the second movable portion. A first driving means for rotating a shaft, a second driving means for rotating a second movable portion with respect to a third movable portion about a second rotating shaft, and a third movable portion. A third driving means for rotating the fixed portion about a third rotating shaft, and the first driving means, the second driving means, and the third driving means are the first times. Projected from the direction of the drive axis, tilted 45 degrees around the reference point with respect to the second and third rotation axes, and with the second rotation axis and the third rotation axis. It is arranged in each of the four non-interfering projection areas.

In one preferred first embodiment, the first driving means creates a first magnetic gap between the plurality of first magnets provided in the projected region of the second movable portion and the first magnet. While forming, the first magnetic yoke provided at a position facing the first magnet of the second movable portion and the first magnetic yoke provided in the projected region of the first movable portion while being loosely inserted into the first magnetic gap. First movable by the interaction of a first electromagnetic force generated between the first drive coil, the first magnet, and the first magnetic yoke, which are provided with a first driven coil and are energized. The portion is rotated about the first rotation shaft with respect to the second movable portion.

In one preferred first embodiment, the second drive means and the third drive means are located between the plurality of second magnets provided in the projection area of the second movable portion and the second magnet. A second magnetic yoke provided at a position facing the second magnet in the projection region of the fixed portion while forming a second magnetic gap, and a second drive coil wound around the second magnetic yoke. And, by the interaction of the second electromagnetic force generated between the second drive coil, the second magnetic yoke and the second magnet that are energized, the second with respect to the third moving part. The movable portion is rotated about the second rotation shaft, and the third movable portion is rotated about the third rotation shaft with respect to the fixed portion.

In one preferred first embodiment, the second electromagnetic force is applied to a rotational driving force and a fixed portion that rotate the second movable portion around the second rotating shaft with respect to the third movable portion. It is a combined driving force with a rotational driving force that rotates the third movable portion around the third rotating shaft.

In one preferred first embodiment, the second drive means and the third drive means are a pair of second magnets, a pair of second magnetic yokes, and a pair of second, respectively, facing each other via a reference point. The second drive means and the third drive means are arranged at positions rotated by 90 degrees with respect to the reference point.

In one preferred first embodiment, the second magnet is the first magnet.

In one preferred first embodiment, the first magnet forms a first magnetic gap with the first magnetic yoke with magnetic flux from one side magnetized on the north or south pole, and A second magnetic gap is formed with the second magnetic yoke by the magnetic flux from the opposite side surface magnetized to the S pole or the N pole.

In one preferred first embodiment, the first magnetic yoke and the second magnetic yoke each have a concave, partially curved shape centered on a reference point.

In one preferred first embodiment, the first coil winding centerline, which is the coil winding centerline of the first drive coil, is a straight line perpendicular to the optical axis and is of the first coil winding centerline. The straight line connecting the midpoint and the reference point has an inclination angle of 45 degrees or less with respect to a plane perpendicular to the optical axis and passing through the reference point.

In one preferred first embodiment, the second coil winding centerline of the second drive coil is an arc having a predetermined radius about a reference point.

In one preferred first embodiment, the straight line connecting the midpoint of the coil winding centerline of the second drive coil and the reference point is inclined by 45 degrees or less with respect to a plane perpendicular to the optical axis and passing through the reference point. Has an angle.

In one preferred first embodiment, the detectors are provided on a second movable portion, a first detector that detects a rotation angle of the first movable portion around a first rotation axis, and a third. A second detector provided on the movable portion of the second movable portion to detect the rotation angle around the second rotation axis of the second movable portion, and a third rotation of the third movable portion provided on the fixed portion. It comprises a third detector that detects the rotation angle around the axis.

In one preferred first embodiment, the reference point coincides with the position of the center of gravity of the first movable portion, coincides with the position of the center of gravity of the second movable portion, and coincides with the position of the center of gravity of the third movable portion. ..

In a preferred first embodiment, a first aspect further provided in a fixed portion to detect angular velocities around a first, second, and third rotating shafts that are orthogonal to each other. The angular velocity sensor, the arithmetic processing unit that generates the target rotation angle signal based on the output from the angular velocity sensor, and the first driving means, the second driving means, and the third driving means are driven based on the target rotation angle signal. It is provided with a drive circuit that generates a signal to be generated.

In order to solve the above problems, the camera drive unit of the second embodiment of the present invention includes an image pickup element having an image pickup surface, a lens having an optical axis and forming a subject image on the image pickup surface, and a lens barrel holding the lens. A second movable portion that rotatably supports the first movable portion around a first rotating shaft that coincides with the optical axis, a first movable portion that has a base that holds the camera portion, and a camera unit that includes the camera unit. The second movable part is rotatably supported around the movable part and the second rotation axis that passes through the reference point on the first rotation axis and is orthogonal to the first rotation axis. The third movable part is rotatably supported around the third movable part and the third rotation axis that passes through the reference point and is orthogonal to the first rotation axis and the second rotation axis. The fixed portion, the first driving means for rotating the first movable portion with respect to the second movable portion about the first rotation axis, and the second movable portion with respect to the third movable portion. A second driving means for rotating the second rotating shaft around the center and a third driving means for rotating the third movable portion with respect to the fixed portion about the third rotating shaft are provided. The first movable portion includes a second angular velocity sensor that detects an angular velocity around a first rotating shaft, a second rotating shaft, and a third rotating shaft, and a first driving means, a second. The drive means and the third drive means are projected from the direction of the first rotation axis and tilted 45 degrees about the reference point with respect to the second rotation axis and the third rotation axis, and It is arranged in each of the four projection regions that do not interfere with the second rotation axis and the third rotation axis.

In a preferred second embodiment, an arithmetic processing unit that further generates a target rotation angular velocity signal based on the output from the second angular velocity sensor, and a first drive means, a second drive based on the target rotation angular velocity signal. It includes a means and a drive circuit that generates a signal for driving the third drive means.

According to the camera drive unit of the present invention, the rolling movable portion, which is the first movable portion rotatably supported with respect to the rolling rotating shaft (first rotating shaft) in the rolling direction around the optical axis. The pitching movable part, which is the second movable part that mounts the camera part and supports the rolling movable part, is a pitching rotation axis (second rotation axis) that can rotate in the pitching direction orthogonal to the optical axis. It is provided with a 3-axis support mechanism that supports a fixed portion by a gimbal 2-axis mechanism with a yawing rotation axis (third rotation axis) that can rotate in the yawing direction orthogonal to the optical axis. Further, the pitching drive unit and the yawing drive unit that drive the pitching movable unit are configured in a projection region that is inclined by about 45 degrees with respect to the pitching rotation axis and the yawing rotation axis when viewed from the direction of the rolling rotation axis. Therefore, the rolling drive unit, pitching drive unit, and yawing drive unit can be configured in a space-saving manner in a space that does not interfere with the gimbal 2-axis mechanism, and the camera drive unit is reduced in height in the optical axis direction to achieve miniaturization. it can.

Further, the pitching drive unit and the yawing drive unit are arranged in four projection regions on the circumference that are inclined by about 45 degrees with respect to the pitching rotation axis and the yawing rotation axis when viewed from the direction of the rolling rotation axis. Since the pitching movable portion can be directly driven in two directions, the pitching direction and the yawing direction, with respect to the fixed portion, the control characteristics can be stabilized. Further, since the component vector force in which the driving force output from the two pairs of driving units is distributed in the direction of tilting 45 degrees is equivalent to the pitching driving force and the yawing driving force, the gimbal biaxial mechanism having no anisotropy Stable drive can be realized.

In addition, the rolling drive unit is configured by a moving coil drive system (MC drive) that moves the rolling drive coil fixed to the rolling movable unit, and the pitching drive unit and yawing drive unit are driven magnets fixed to the pitching movable unit. By configuring the moving magnet drive system (MM drive), yawing drive and pitching drive can be performed on the front side surface of the magnetic pole of the drive magnet, and rolling drive can be performed on the back side surface. That is, the drive magnet can be used in combination with the pitching drive and the yawing drive as well as the rolling drive, and it is possible to improve the efficiency of the three-axis drive, reduce the size of the entire unit, and reduce the number of parts.

Further, since the magnetic yoke is arranged so as to face each of the two surfaces in the magnetizing direction of the drive magnet fixed to the pitching movable portion and to sandwich the drive magnet, a magnetic circuit having a closed magnetic path. Can be formed, and the influence of magnetic leakage from the drive unit on the camera unit can be reduced.

Further, since the rotation angle detectors for detecting the rotation angles in the rolling direction, the pitching direction, and the yawing direction are provided respectively and the position feedback is performed independently in the three axial directions, stable attitude control can be realized.

Further, the rolling rotation axis, the pitching rotation axis, and the yawing rotation axis each pass through a reference center point (reference rotation center point described later) and are orthogonal to each other. Further, by providing a center of gravity support configuration in which the positions of the centers of gravity of the rolling movable part, the pitching movable part, and the yawing movable part, which is the third movable part, are substantially aligned with the reference center point, the translational disturbance applied to the camera drive unit is provided. It is possible to suppress the generation of a rotational couple in the rolling movable part, the pitching movable part, and the yawing movable part due to the force, and to realize a stable runout correction that is strong against disturbance impacts and the like.

Further, when the positions of the centers of gravity of the rolling movable part and the pitching movable part are substantially aligned with the reference center point (reference rotation center point described later), they are fixed to the rolling magnetic yoke, the rolling drive coil, and the pitching movable part to be fixed to the rolling movable part. By substituting the driving magnet for adjusting the center of gravity, it is possible to reduce the number of parts and the moment of inertia.

Further, in the rolling drive, pitching drive, and yawing drive, by driving each drive unit at the center of gravity, the occurrence of resonance can be suppressed and stable response performance can be realized even in a high frequency band.

Further, the rolling drive unit, the pitching drive unit, and the yawing drive unit are positioned so as to form an inclination angle θd of 45 degrees or less with respect to a plane passing through the reference center point (reference rotation center point described later) and orthogonal to the optical axis. By arranging each of them, the magnetic attraction force generated between the drive magnet and the magnetic yoke is converted into a thrust force in the optical axis direction, and rattling of the bearing mechanism axially supported in the three axial directions is suppressed for stable control. Can be realized.

With the above configuration, it is possible to realize a three-axis camera drive unit capable of performing runout correction of ± 20 degrees or more in the pitching direction and the yawing direction and ± 10 degrees or more in the rolling direction. Therefore, according to the present invention, unlike the configuration in which the pitching drive unit and the yawing drive unit are provided for each drive shaft, which is configured by the conventional two-axis gimbal mechanism, pitching is performed directly from the fixed portion. Control stability can be improved by driving in the direction and yawing direction. In addition, the camera unit can be tilted in the pitching direction and the yawing direction at a larger angle than before, and the camera unit can be rotated in the rolling direction as well. In addition, by supporting the center of gravity and driving the center of gravity, it is possible to respond in a wide frequency range, and a camera is attached to an unmanned aerial vehicle such as a bicycle, automobile, various exploration vehicles, or a drone to take pictures. It is possible to realize a compact and robust camera drive unit capable of stable shake correction control of three axes even under special shooting conditions that are not available.

As a simple support configuration that realizes the conventional three-axis drive of yawing, pitching, and rolling, there is a pivot support configuration consisting of one-point support. However, in the pivot support configuration, for example, when a magnetic circuit including a drive magnet mounted on the movable part and a magnetic yoke mounted on the fixed portion so as to face the drive magnet is configured, the drive magnet is in the yawing, pitching, and rolling directions. When it moves in three directions and the magnetic movement is accumulated three times, the drive magnet deviates from the projection area of the magnetic yoke, and the magnetic resistance force such as the so-called spring effect that tries to pull the drive magnet back to the center of the magnetic yoke. Occurs. As a result, there is a problem that the driving angle in the rolling direction is remarkably reduced. In the case of the present invention, the drive magnet does not deviate from the projection region of the magnetic yoke and is 10 degrees in the rolling direction because the magnetic movement is double-accumulated due to the movement of the drive magnet only in the yawing direction and the pitching direction. The above drive angle can be maintained.

FIG. 1 is an exploded perspective view of a rolling movable portion according to the first embodiment of the present invention. FIG. 2A is a plan view of the rolling movable portion of the first embodiment as viewed from the lens placement position side. FIG. 2B is a vertical cross-sectional view of the rolling movable portion of the first embodiment. FIG. 3 is an exploded perspective view of the rolling movable portion and the pitching movable portion of the first embodiment. FIG. 4A is a perspective view of the rolling movable portion and the pitching movable portion of the first embodiment. FIG. 4B is a perspective view of the rolling movable portion and the pitching movable portion of the first embodiment. FIG. 5A is a plan view of the rolling movable portion and the pitching movable portion of the first embodiment as viewed from the lens placement position side. FIG. 5B is a vertical cross-sectional view of the rolling movable portion and the pitching movable portion of the first embodiment. FIG. 5C is a vertical cross-sectional view of the rolling movable portion and the pitching movable portion of the first embodiment. FIG. 6A is a perspective view of the rolling movable portion and the pitching movable portion of the first embodiment. FIG. 6B is a perspective view of the rolling movable portion and the pitching movable portion in a state where the rolling movable portion of the first embodiment is rotated in the rolling direction. FIG. 6C is a perspective view of the rolling movable portion and the pitching movable portion in a state where the rolling movable portion of the first embodiment is rotated in the rolling direction. FIG. 7A is a plan view of the rolling movable portion and the pitching movable portion excluding the camera portion of the first embodiment as viewed from the lens arrangement position side. FIG. 7B is a plan view of the rolling movable portion and the pitching movable portion excluding the camera portion in a state where the rolling movable portion of the first embodiment is rotated in the rolling direction, as viewed from the lens arrangement position side. FIG. 7C is a plan view of the rolling movable portion and the pitching movable portion excluding the camera portion in a state where the rolling movable portion of the first embodiment is rotated in the rolling direction, as viewed from the lens arrangement position side. FIG. 8 is an exploded perspective view of the rolling movable portion, the pitching movable portion, and the yawing movable portion that pivotally supports the pitching movable portion according to the first embodiment. FIG. 9 is a perspective view of the rolling movable portion, the pitching movable portion, and the yawing movable portion that pivotally supports the pitching movable portion according to the first embodiment. FIG. 10 is a perspective view of a rolling movable portion, a pitching movable portion, a yawing movable portion, and an inclined drive coil unit according to the first embodiment. FIG. 11A is a plan view of the rolling movable portion, the pitching movable portion, the yawing movable portion, and the inclined drive coil unit of the first embodiment. FIG. 11B is a plan view of the rolling movable portion, the pitching movable portion, the yawing movable portion, and the inclined drive coil unit of the first embodiment. FIG. 12A is an exploded perspective view of the tilt drive coil unit of the first embodiment. FIG. 12B is a perspective view of the tilt drive coil unit in a state of being fixed to the first fixing portion of the first embodiment. FIG. 13 shows a rolling movable portion, a pitching movable portion, a yawing movable portion in a state of being pivotally supported by the first fixed portion, and an inclined drive coil unit in a state of being fixed to the first fixed portion of the first embodiment. It is a cross-sectional view of. FIG. 14 shows a rolling movable portion, a pitching movable portion, a yawing movable portion in a state of being pivotally supported by the first fixed portion, and an inclined drive coil unit in a state of being fixed to the first fixed portion of the first embodiment. It is a vertical sectional view of. FIG. 15 is a perspective view of the camera drive unit of the first embodiment. FIG. 16A is a state plan view in which the rolling movable portion, the pitching movable portion, and the yawing movable portion of the first embodiment are inclined in the pitching direction with respect to the pitching rotation axis. FIG. 16B is a state plan view in which the rolling movable portion, the pitching movable portion, and the yawing movable portion of the first embodiment are inclined in the pitching direction with respect to the pitching rotation axis. FIG. 17A is a perspective view showing a state in which the rolling movable portion, the pitching movable portion, and the yawing movable portion of the first embodiment are inclined in the yawing direction with respect to the yawing rotation axis. FIG. 17B is a perspective view showing a state in which the rolling movable portion, the pitching movable portion, and the yawing movable portion of the first embodiment are inclined in the yawing direction with respect to the yawing rotation axis. FIG. 18 is a drive control block diagram of the camera drive unit of the first embodiment. FIG. 19 is an exploded perspective view of a rolling movable portion according to a second embodiment of the present invention. FIG. 20A is a plan view of the rolling movable portion, the pitching movable portion, the yawing movable portion, and the inclined drive coil unit of the second embodiment. FIG. 20B is a plan view of the rolling movable portion, the pitching movable portion, the yawing movable portion, and the inclined drive coil unit of the second embodiment. FIG. 21 is a drive control block diagram of the camera drive unit of the second embodiment.

<1. First Embodiment>
Hereinafter, the first embodiment of the camera drive unit according to the present invention will be described. FIG. 1 is an exploded perspective view showing a rolling movable portion 185 of the camera drive unit 197 according to the first embodiment of the present invention, and FIG. 2A is a plan view of the rolling movable portion 185 as viewed from the lens arrangement position side. FIG. 2B is a vertical cross-sectional view of the rolling movable portion 185 in a plane including the optical axis 10 and the straight line 14. Further, FIG. 3 is an exploded perspective view of the rolling movable portion 185 and the pitching movable portion 195 that pivotally supports the rolling movable portion 185. FIG. 4A is a perspective view of the rolling movable portion 185 and the pitching movable portion 195 that pivotally supports the rolling movable portion 185 from a position where the pitching rotation shaft 11 is in the center of the left and right, and FIG. 4B is a perspective view of the rolling movable portion 185. It is a perspective view which looked at the pitching movable part 195 which pivotally supports the rolling movable part 185 from the position where the straight line 14 comes to the center of the left and right. Further, FIG. 5A is a plan view of the rolling movable portion 185 and the pitching movable portion 195 that pivotally supports the rolling movable portion 185 as viewed from the lens placement position side, and FIG. 5B shows the rolling movable portion 185 and the rolling movable portion 185. FIG. 5C is a vertical cross-sectional view of the pitching movable portion 195 that pivotally supports the rolling movable portion 195 including the optical axis 10 and the straight line 14. FIG. 10 is a vertical cross-sectional view including 10 and a pitching rotation shaft 11. 6A is a perspective view of the rolling movable portion 185 and the pitching movable portion 195 that pivotally supports the rolling movable portion 185, and FIG. 6B is a axial support of the rolling movable portion 185 and the rolling movable portion 185 of FIG. 6A. Of the pitching movable portions 195, the rolling movable portion 185 is a perspective view of a state in which the rolling movable portion 185 is rotated in the rolling direction 60 with respect to the pitching movable portion 195. FIG. 6C shows the rolling movable portion 185 and the rolling movable portion 185 of FIG. It is a perspective view of the state where the rolling movable part 185 is rotated in the rolling direction 61 with respect to the pitching movable part 195 among the pitching movable part 195 which pivotally supports. Further, FIG. 7A is a plan view of the rolling movable portion 185 excluding the camera portion 100 and the pitching movable portion 195 that pivotally supports the rolling movable portion 185 as viewed from the side where the camera portion 100 is arranged. FIG. 7B is a plan view. Of the rolling movable portion 185 excluding the camera portion 100 of FIG. 7A and the pitching movable portion 195 that pivotally supports the rolling movable portion 185, the rolling movable portion 185 is rotated in the rolling direction 60 with respect to the pitching movable portion 195. 7C is a plan view of FIG. 7C, in which the rolling movable portion 185 excluding the camera portion 100 of FIG. 7A and the pitching movable portion 195 that pivotally supports the rolling movable portion 185, the rolling movable portion 185 is used as the pitching movable portion 195. On the other hand, it is a plan view of the state rotated in the rolling direction 61.

<1-1. Rolling drive structure>
First, the structure of the rolling drive unit that drives the rolling movable unit 185 of the camera drive unit 197 in the rolling direction 22 will be described with reference to these figures. The rolling movable portion 185 includes a camera unit 100 having an optical axis 10, a rolling base 101 that supports the camera unit 100 via a camera holder 110, and four rolling drives that drive the camera unit 100 in the rolling direction 22 around the optical axis 10. It includes a coil 303. As shown in FIGS. 1 to 2B, the camera unit 100 has an image pickup element (not shown) having an image pickup surface and a lens having an optical axis 10 for forming a subject image on the image pickup surface of the image pickup element (not shown). Includes a lens barrel (not shown) that holds the lens. A pitching rotation axis 11 (second rotation) orthogonal to each other on a plane orthogonal to the optical axis 10 through a reference rotation center point 30 on the axis of the rolling rotation axis (first rotation axis) that coincides with the optical axis 10. A moving shaft) and a yawing rotation shaft 12 (third rotation shaft) are arranged. Although details will be described later, in the camera drive unit 197, the direction of rotation about the pitching rotation shaft 11 is the pitching direction 21, and the direction of rotation around the yawing rotation shaft 12 is the yawing direction 20.

The straight line 13 and the straight line 14 pass through the reference rotation center point 30 in a plane orthogonal to the optical axis 10, and are inclined by 45 degrees with respect to the pitching rotation axis 11 and the yawing rotation axis 12, respectively. The four rolling drive coils 303, the four rolling magnetic yokes 205 described below, and the four magnets described below, that is, the pair of drive magnets 401 described below and the pair of drive magnets 402 described below, are arranged with lenses centered on the rolling rotation axis. One is provided in each of the four projection regions, which are regions that do not interfere with the pitching rotation shaft 11 and the yawing rotation shaft 12 when projected from the position side. Further, of the four rolling drive coils 303, two are in directions orthogonal to the plane including the optical axis 10 and the straight line 13, and the other two are orthogonal to the plane including the optical axis 10 and the straight line 14. It has a coil winding central axis, and the coil winding central axis is located on a plane inclined at an inclination angle θd on the opposite side of the camera unit 100 with respect to the plane including the pitching rotation axis 11 and the yawing rotation axis 12. It is arranged so as to be fixed to the plane 101B of the rolling base 101, respectively. The straight line connecting the midpoint of the coil winding center line of the rolling drive coil 303 and the reference rotation center point 30 is 45 degrees or less with respect to a plane perpendicular to the optical axis 10 and passing through the reference rotation center point 30. Has an inclination angle. Further, as shown in FIG. 2B, the rolling base 101 is provided with a rolling shaft 101A on the opposite side of the optical axis 10 from the camera unit 100.

Next, a pitching movable portion 195 that rotatably supports the rolling movable portion 185 while being mounted and drives the rolling movable portion 185 to rotate around a rolling rotation axis that coincides with the optical axis 10 in the rolling direction 22 will be described. .. As shown in FIGS. 3 and 5B, the four rolling magnetic yokes 205 are tilted at angles of inclination in the pitching movable portion 195 so as to be loosely inserted into the air core portions along the coil winding central axis of the four rolling drive coils 303. It is fixed to the pitching base 102 in parallel with a straight line inclined to θd. Each of the four rolling magnetic yokes 205 has a concave partial curved surface shape centered on the reference rotation center point 30. Further, in the projection region of the pitching movable portion 195, a pair of drive magnets 401 and a pair of drive magnets 402 are provided to form a magnetic gap between the rolling magnetic yoke 205 and the rolling magnetic yoke 205 while facing each other. ing. The pair of drive magnets 401 facing each other magnetically attract the pair of magnet holders 411 made of magnetic materials facing each other. Further, the pair of magnet holders 411 face each other with the outer surfaces of the pair of rolling drive coils 303 facing each other via a gap, and the contact surface 102A of the pitching base 102 is parallel to the straight line inclined at the above-mentioned inclination angle θd. Is fixed to. Further, the pair of drive magnets 402 magnetically attract a pair of magnet holders 412 made of magnetic materials facing each other. Further, the pair of magnet holders 412 face each other with the outer surfaces of the pair of rolling drive coils 303 facing each other via a gap, and the contact surface 102A of the pitching base 102 is parallel to the straight line inclined at the above-mentioned inclination angle θd. Is fixed to. The number of magnets, rolling drive coils 303, and rolling magnetic yoke 205 is not limited to this.

With this configuration, between the pair of magnet holders 411 that magnetically attract the pair of drive magnets 401 and the drive magnets 401, the magnet holder 412 that magnetically attracts the pair of drive magnets 402 and the drive magnets 402, and the four rolling magnetic yokes 205. A magnetic gap for driving the rolling is formed in the magnet, and four rolling drive coils 303 fixed to the rolling base 101 are loosely inserted into the magnetic gap. Further, the circumferential length dimension of the rolling magnetic yoke 205 in the rolling direction 22 is larger than the length dimension in the winding central axis direction of the rolling drive coil 303, and a magnetic gap corresponding to the drive rotation angle in the predetermined rolling direction 22 is formed. To do. Further, by providing a through hole portion (not shown) in the central portion of the magnet holders 411 and 412, the magnetic flux of the drive magnets 401 and 402 is increased, the magnetic flux density in the above-mentioned magnetic gap is increased, and the rolling drive efficiency is improved. It is also possible to increase it.

A rolling bearing flange 106, which mounts a cylindrical rolling bearing member 106A having a central axis that coincides with the optical axis 10, is fixed to the pitching base 102 in a state of penetrating the pitching base 102 in the vertical direction. The upper surface of the rolling bearing member 106A has an insertion hole recessed downward from the upper surface. The rolling shaft 101A is inserted into the insertion hole. Further, the upper surface of the rolling bearing member 106A is inserted until it comes into contact with the contact surface which is the lower surface of the rolling base 101, and as a result, the rolling base 101 supports the rotating shaft with respect to the rolling bearing member 106A and the pitching base 102. Will be done. Further, as shown in FIGS. 5B and 5C, the tip of the rolling shaft 101A is coupled to the rotation axis of the rolling angle detector 70 that detects the rotation angle of the rolling direction 22 around the rolling rotation axis of the rolling movable portion 185. The rolling angle detector 70 is fixed to the bottom of the pitching base 102 of the pitching movable portion 195 via the detector holder 107.

With this configuration, the magnetism formed between the pair of drive magnets 401, the pair of drive magnets 402, and the four rolling magnetic yokes 205 by energizing the four electrically connected rolling drive coils 303. An electromagnetic force in the rolling direction 22 is generated by the interaction with the magnetic flux in the gap. This electromagnetic force becomes a rotational driving force in the rolling direction 22, and the rolling movable portion 185 including the rolling base 101 on which the camera unit 100 is mounted is in the rolling direction about the rolling rotation axis with respect to the pitching movable portion 195 including the pitching base 102. Rotate to 22.

6B and 7B show a state in which the rolling base 101 is driven in the rolling direction 60, and FIGS. 6C and 7C show a state in which the rolling base 101 is driven in the rolling direction 61. As described above, regarding the rolling drive, since the rolling drive is performed by the four rolling drive coils 303 arranged in a circumferential shape around the reference rotation center point 30, the rolling rotation driving force is less likely to vary and is in a stable rolling direction. 22 rotation drive control can be realized.

Further, although the details will be described later, the rolling drive angle as a target command is calculated by the detection signal of the rolling angular velocity sensor 902 fixed to the first fixing portion 600 described later of the camera drive unit 197. Further, based on the command, rolling angle feedback control including the rolling angle detector 70 and the rolling drive coil 303 is performed. As a result, it is possible to maintain a stable posture level of the camera unit 100 centered on the optical axis 10 against disturbance in the rolling direction 22. Further, a pair of pitching shafts 105 having a central axis in a direction corresponding to the pitching rotation shaft 11 are fixed to both side surfaces of the pitching base 102 in the direction of the pitching rotation shaft 11 via contact holes 102H (see FIG. 3). ing. Although the details will be described later, the pitching shaft 105 is a member for axially supporting the pitching movable portion 195 with respect to the yawing movable portion 196 in the pitching direction 21.

<1-2. Structure of pitching drive and yawing drive>
Next, the pitching drive unit that drives the pitching movable portion 195 of the camera drive unit 197 with respect to the yawing movable portion 196 in the pitching direction 21 about the pitching rotation shaft 11 and the yawing movable portion 196 with respect to the fixed portion described later. The structure of the yawing drive unit that drives the yawing direction 20 around the yawing rotation shaft 12 will be described.

FIG. 8 is an exploded perspective view of the rolling movable portion 185, the pitching movable portion 195, and the yawing movable portion 196 that pivotally supports the pitching movable portion 195, and FIG. 9 shows the rolling movable portion 185, the pitching movable portion 195, and the pitching. It is a perspective view of the yawing movable part 196 which pivotally supports the movable part 195. However, in FIGS. 8 and 9, the yawing bearing flange 505 and the yawing angle detector 72 are not shown. FIG. 10 is a perspective view of a rolling movable portion 185, a pitching movable portion 195, a yawing movable portion 196, an inclined drive coil unit 301U, and an inclined drive coil unit 302U, and FIG. 11A shows a rolling movable portion 185 and a pitching movable portion 195. A plan view of the yawing movable portion 196, the tilting drive coil unit 301U, and the tilting drive coil unit 302U viewed from the lens arrangement position side. FIG. 11B shows a rolling movable portion 185, a pitching movable portion 195, and a yawing movable portion 196. FIG. 5 is a plan view of the tilt drive coil unit 301U and the tilt drive coil unit 302U viewed from the side orthogonal to the lens arrangement position side. 12A is an exploded perspective view of the tilt drive coil unit 301U, and FIG. 12B is a perspective view of the tilt drive coil unit 301U and the tilt drive coil unit 302U in a state of being fixed to the first fixed portion. is there. Further, FIG. 13 shows a rolling movable portion 185, a pitching movable portion 195, a yawing movable portion 196 in a state of being pivotally supported by the first fixed portion, and an inclined drive coil unit 301U in a state of being fixed to the first fixed portion. FIG. 14 is a cross-sectional view including the optical axis 10 and the straight line 13, in which FIG. 14 shows a rolling movable portion 185, a pitching movable portion 195, and a yawing movable portion 196 in a state of being pivotally supported by a first fixed portion. It is a vertical cross-sectional view which includes the pitching rotation shaft 11 and the yawing rotation shaft 12 of the inclination drive coil unit 301U in the state fixed to the fixed part, and the inclination drive coil unit 302U in the state fixed to the first fixing part. FIG. 15 is a perspective view of the camera drive unit 197. FIG. 16A is a plan view of the camera drive unit 197 in a state where the pitching movable portion 195 is tilted in the pitching direction 62 with respect to the pitching rotation axis 11, and FIG. 16B is a plan view of the pitching movable portion 195 as viewed from the lens arrangement position side. Is a plan view of the camera drive unit 197 in a state of being tilted in the pitching direction 63 with respect to the pitching rotation axis 11 as viewed from the lens arrangement position side. Further, FIG. 17A is a perspective view of the camera drive unit 197 in a state where the yawing movable portion 196 is tilted in the yawing direction 65 with respect to the yawing rotating shaft 12, and FIG. 17B shows the yawing movable portion 196 of the yawing rotating shaft 12. It is a perspective view of the camera drive unit 197 in a state of being inclined in the yawing direction 66 with respect to.

First, the configuration of the pitching movable portion 195 and the yawing movable portion 196 of the camera drive unit 197 will be described with reference to these figures. As shown in FIGS. 8, 9, and 14, in the yawing movable portion 196, the yawing base 500 is provided upward from the upper end portion of the yawing shaft 504 having a central axis that coincides with the yawing rotation shaft 12. There is. The yawing base 500 has a U shape centered on the yawing shaft 504. In the yawing base 500, a pitching bearing flange 501 on which a cylindrical pitching bearing member 501A having a central axis corresponding to the pitching rotation shaft 11 is mounted is fixed to both ends of the U-shape. Further, inside the pair of pitching bearing members 501A, a pair of pitching shafts 105 fixed to both side surfaces of the pitching movable portion 195 are inserted and rotatably supported. As a result, the pitching movable portion 195 is rotatably supported in the pitching direction 21 about the pitching rotation shaft 11 with respect to the yawing movable portion 196 including the yawing base 500. That is, the yawing movable portion 196 that rotates around the yawing rotary shaft 12 is equipped with a rolling movable portion 185 that rotates around the rolling rotary shaft and a pitching movable portion 195 that rotates around the pitching rotary shaft 11. ing.

The tip of one of the pair of pitching shafts 105 (the pitching shaft 105 on the left side in FIG. 14) is a pitching angle detector 71 that detects the rotation angle of the pitching rotation shaft 11 of the pitching movable portion 195 in the pitching direction 21. It is connected to the rotating shaft via the coupling 503. Further, the pitching angle detector 71 is fixed to the side surface portion of the yawing base 500 of the yawing movable portion 196 via the detector holder 502.

Next, the yawing shaft 504 fixed to the lower part of the yawing base 500 is inserted into a pair of cylindrical upper and lower yawing bearing members 505A having a central axis that coincides with the yawing rotation shaft 12. The yawing bearing flange 505 mounts the yawing bearing member 505A on the upper portion and the lower portion, respectively. As a result, the yawing movable portion 196 is rotatably supported in the yawing direction 20 with respect to the first fixing portion 600 to be described later to which the yawing bearing flange 505 is fixed.

The yawing bearing flange 505 is fixed to the second fixing portion 601 via the detector holder 506 (see FIG. 15). Further, the lower end of the yawing shaft 504 is connected to the rotation axis of the yawing angle detector 72 (see FIG. 14) that detects the rotation angle of the yawing direction 20 around the yawing rotation axis 12 of the yawing movable portion 196. Further, the yawing angle detector 72 is fixed to the second fixing portion 601 via the detector holder 506 (see FIG. 15).

Further, in the camera drive unit 197, in addition to each movable portion, the first fixing portion 600 described above, and the second fixing portion 601 for fixing the detector holder 506, the ring base 603, the connecting member 604, and the connecting member Has 605. A portion of the pair of tilt drive coil units 301U on the camera unit 100 side and a portion of the pair of tilt drive coil units 302U on the camera unit 100 side are attached to the ring base 603. Further, the connecting member 604 and the connecting member 605 connect and fix the ring base 603 and the first fixing portion 600. With this configuration, the tilt drive coil unit 301U and the tilt drive coil unit 302U are firmly fixed to the first fixing portion 600.

Next, the configuration and operation of the drive unit that rotationally drives the pitching movable portion 195 and the yawing movable portion 196 will be described. As shown in FIGS. 10 and 13, the outer surfaces of the pair of drive magnets 401 and the pair of drive magnets 402 fixed to the pitching base 102 are located on an arc having a predetermined radius centered on the reference rotation center point 30. , Each is fixed to the first fixing portion 600 (see FIGS. 13 to 15). The pair of tilt drive coils 301, which are the components of the tilt drive coil unit 301U, and the pair of tilt drive coils 302, which are the components of the tilt drive coil unit 302U, have their respective coil winding center lines at the reference rotation center point 30. It is located on an arc with a predetermined radius as the center.

Further, the pair of tilt drive coils 301 have a coil winding center line on a plane including the optical axis 10 and the straight line 13, and the pair of tilt drive coils 302 are coil-wound on the plane including the optical axis 10 and the straight line 14. It has a center line. Further, the midpoint of these coil winding center lines is located on a straight line inclined at an inclination angle θd on the opposite side of the camera unit 100 with respect to the plane including the pitching rotation axis 11 and the yawing rotation axis 12. The coil winding center line is an arc having a predetermined radius centered on the reference rotation center point 30. The straight line connecting the midpoint of the coil winding center lines of the inclined drive coils 301 and 302 and the reference rotation center point 30 is 45 degrees with respect to the plane perpendicular to the optical axis 10 and passing through the reference rotation center point 30. It has the following tilt angles.

In addition to the four drive magnets 401 and 402 and the four tilt drive coils 301 and 302, the four arcuate magnetic yokes 201 and 202, which will be described later, are projected from the lens placement position side around the rolling rotation axis. Therefore, one is provided in each of the four projection regions, which are regions that do not interfere with the pitching rotation shaft 11 and the yawing rotation shaft 12. The number of tilt drive coils and arcuate magnetic yokes is not limited to this.

Next, the configurations of the tilt drive coil unit 301U and the tilt drive coil unit 302U will be described. As shown in FIGS. 12A and 12B, the tilt drive coil unit 301U has an arc shape in an arc shape air core space having a winding center axis having a predetermined radius centered on a reference rotation center point 30 of the tilt drive coil 301. After attaching the coil bobbin 201L and the coil bobbin 201R to both side surfaces of the magnetic yoke 201, they are inserted and fixed. Further, the tilt drive coil unit 302U has coil bobbins on both side surfaces of the arc-shaped magnetic yoke 202 in an arc-shaped air core space having a winding center axis having a predetermined radius centered on the reference rotation center point 30 of the tilt drive coil 302. After installing 202L and coil bobbin 202R, they are inserted and fixed. Each of the four arcuate magnetic yokes 201 and 202 has a concave partial curved surface shape centered on the reference rotation center point 30.

Further, a magnetic gap is formed between the pair of arc-shaped magnetic yokes 201 and the arc-shaped inner surface of the pair of arc-shaped magnetic yokes 201 so as to face the arc-shaped outer surface of the pair of drive magnets 401, and a pair of inclined drive coils are formed in this magnetic gap. The 301 is wound around a pair of arcuate magnetic yokes 201 so as not to come into contact with the pair of drive magnets 401, and is fixed to the first fixing portion 600 via the coil bobbin 201L and the coil bobbin 201R to form a magnetic circuit. Further, a magnetic gap is formed between the pair of arc-shaped magnetic yokes 202 and the arc-shaped inner surface of the pair of arc-shaped magnetic yokes 202 facing the arc-shaped outer surface of the pair of drive magnets 402, and a pair of tilted drive coils are formed in this magnetic gap. The 302 is wound around a pair of arcuate magnetic yokes 202 so as not to come into contact with the pair of drive magnets 402, and is fixed to the first fixing portion 600 via the coil bobbin 202L and the coil bobbin 202R to form a magnetic circuit. Further, the arc length dimension of the inner surface of the arcuate magnetic yoke 201 and the arcuate magnetic yoke 202 is larger than the arc length dimension of the outer surface of the drive magnet 401 and the drive magnet 402. As a result, a magnetic gap corresponding to the drive rotation angle between the predetermined pitching direction 21 and the yawing direction 20 is formed.

With this configuration, the magnetic fluxes of the magnetic gap formed between the pair of drive magnets 401 and the pair of arcuate magnetic yokes 201 by energizing the pair of tilt drive coils 301 electrically connected to each other. By the action, an electromagnetic couple centered on the reference rotation center point 30 is generated on the plane composed of the optical axis 10 and the straight line 13. Further, by energizing a pair of inclined drive coils 302 electrically connected to each other, the magnetic flux of the magnetic gap formed between the pair of drive magnets 402 and the pair of arcuate magnetic yokes 202 interacts with each other. An electromagnetic couple centered on the reference rotation center point 30 is generated on a plane composed of the optical axis 10 and the straight line 14. These two electromagnetic couples are the combined forces of the rotational driving forces in the pitching direction 21 and the yawing direction 20, respectively. In other words, each of these two electromagnetic even forces, which are component vectors to the pitching rotary shaft 11 and the yawing rotary shaft 12, causes the pitching movable portion 195 to have the pitching rotary shaft 11 with respect to the yawing movable portion 196. The yawing movable portion 196 is rotationally driven in the pitching direction 21 at the center, and the yawing movable portion 196 is rotationally driven in the yawing direction 20 about the yawing rotation shaft 12 with respect to the first fixed portion 600.

That is, the pitching drive unit and the yawing drive unit form a pair of drive magnets 401 and 402, a pair of arcuate magnetic yokes 201 and 202, and a pair of tilt drive coils 301 and 302, respectively, which face each other via the reference rotation center point 30. Have. Further, the pitching drive unit and the yawing drive unit are arranged at positions rotated by 90 degrees with respect to the reference rotation center point 30.

Further, the drive magnets 401 and 402 used in the pitching drive unit and the yawing drive unit are the drive magnets 401 and 402 used in the rolling drive unit described above. The drive magnets 401 and 402 form a magnetic gap with the rolling magnetic yoke 205 by the magnetic flux from one side surface magnetized on the N pole or the S pole, and the opposite side surface magnetized on the S pole or the N pole. A magnetic gap is formed between the arcuate magnetic yokes 201 and 202 by the magnetic flux from. This makes it possible to use the drive magnets 401 and 402 together for rolling drive, pitching drive, and yawing drive, improving the efficiency of 3-axis drive, reducing the number of parts, and reducing the size of the entire camera drive unit. it can.

The reference rotation center point 30 coincides with the position of the center of gravity of the rolling movable portion 185, the position of the center of gravity of the pitching movable portion 195, and the position of the center of gravity of the yawing movable portion 196. As a result, the posture when driving the camera drive unit 197 becomes more stable. Further, although overlapping, the rolling drive unit, the pitching drive unit, and the yawing drive unit project from the lens placement position side around the rolling rotation axis and perform reference rotation with respect to the pitching rotation axis 11 and the yawing rotation axis 12. It is arranged in four projection regions that are inclined by 45 degrees about the center point 30 and do not interfere with the pitching rotation shaft 11 and the yawing rotation shaft 12. As a result, it is possible to drive directly in two directions, the pitching direction 21 and the yawing direction 20, so that the control characteristics can be stabilized.

Although details will be described later, a pitching angular velocity sensor 901 and a yawing angular velocity sensor 900 are separately provided (see FIG. 18) and are fixed to the first fixing portion 600 of the camera drive unit 197. From the detection signals from the pitching angular velocity sensor 901 and the yawing angular velocity sensor 900, the component angles of the pitching driving angle and the yawing driving angle, which are the target commands, to the straight lines 13 and 14 are calculated. Further, an appropriate current is supplied to the pair of tilt drive coils 301 and the pair of tilt drive coils 302, respectively, based on the calculated component angle commands for each of the straight line 13 and the straight line 14. Further, angle feedback control in the pitching direction 21 and the yawing direction 20 is performed from the pitching angle and the yawing angle detected by the pitching angle detector 71 and the yawing angle detector 72, respectively (see FIG. 14). As a result, it is possible to maintain a stable posture level of the camera unit 100 against tilt disturbances in the pitching direction 21 and the yawing direction 20.

With the above configuration, the camera drive unit 197 can drive the camera unit 100 by ± 20 degrees or more in the pitching direction 21 and the yawing direction 20 and ± 10 degrees or more in the rolling direction 22, and the posture of the camera unit 100 is spatial. It is possible to perform 3-axis runout correction control that stabilizes the vehicle.

<1-3. Camera drive unit control operation>
Next, the control operation of the camera drive unit 197 will be described.

FIG. 18 is a drive control block diagram of the camera drive unit 197. As shown in FIG. 18, the camera drive unit 197 includes angular velocity sensors 900, 901, 902, analog circuits 91y, 91p, 91r, amplifier circuits 92y, 92p, 92r, and AD converters 93y, 93p, 93r. The arithmetic processing unit 94, DA converters 95y, 95p, 95r, drive circuits 96y, 96p, 96r, and analog circuits 97y, 97p, 97r are further included. The angular velocity sensors 900, 901, and 902 are attached to the camera drive unit 197 main body (not shown) fixed to the first fixed portion 600 or the first fixed portion 600 of the camera drive unit 197. The yawing angular velocity sensor 900 detects the angular velocity of the yawing direction 20 around the yawing rotation shaft 12. The pitching angular velocity sensor 901 detects the angular velocity of the pitching rotation shaft 11 in the pitching direction 21 around the axis. The rolling angular velocity sensor 902 detects the angular velocity in the rolling direction 22 around the axis of the rolling rotation axis.

Instead of using the three independent angular velocity sensors 900, 901, and 902, one angular velocity sensor capable of detecting the angular velocity around the three axes may be used. Further, the angular velocity sensor does not necessarily have to detect the angular velocity around the three axes that coincide with the yawing direction 20, the pitching direction 21, and the rolling direction 22. The angular velocity sensor does not match the yawing direction 20, the pitching direction 21, and the rolling direction 22, but if it detects the angular velocities around the three axes orthogonal to each other, the arithmetic processing unit 94 is used from the detected values. In, it can be calculated by converting it into angular velocities around the axes of the yawing direction 20, the pitching direction 21, and the rolling direction 22.

As shown in FIG. 18, at the time of photographing, for example, when a shake is generated by receiving an external force, the yaw angular velocity sensor 900 detects the shake angle in the yawing direction 20. Further, the runout angle in the pitching direction 21 is detected by the pitching angular velocity sensor 901. Further, the swing angle in the rolling direction 22 is detected by the rolling angular velocity sensor 902. The information on the deflection angle detected by the angular velocity sensors 900, 901, and 902 is output as angular velocity signals 80y (yawing direction), 80p (pitching direction), and 80r (rolling direction), respectively.

The angular velocity signals 80y, 80p, and 80r are converted into signals suitable for performing arithmetic processing in the arithmetic processing unit 94, respectively. Specifically, the angular velocity signals 80y, 80p, 80r are input to the analog circuits 91y, 91p, 91r, noise components and DC drift components are removed, and the angular velocity signals 81y, 81p, 81r are obtained in this order, respectively. The angular velocity signals 81y, 81p, 81r are input to the amplifier circuits 92y, 92p, 92r, and each of them is amplified to output the angular velocity signals 82y, 82p, 82r, which are appropriate output values. After that, the angular velocity signals 82y, 82p, 82r are converted into digital signals by the AD converters 93y, 93p, 93r, respectively, and the digitized angular velocity signals 83y, 83p, 83r are input to the arithmetic processing unit 94.

The arithmetic processing unit 94 converts the angular velocity signals 83y, 83p, and 83r into image runout angles by integration processing, and sequentially calculates them as runout angles in the yawing direction 20, pitching direction 21, and rolling direction 22. Further, the arithmetic processing unit 94 is movable with the camera unit 100 mounted so as to suppress the runout according to the runout angles of the yawing direction 20, the pitching direction 21 and the rolling direction 22 converted from the angular velocity signals 83y, 83p, 83r. Performs open-loop control to drive the unit. Specifically, the arithmetic processing unit 94 sequentially outputs target rotation angle signals 84y, 84p, 84r as the optimum digital runout correction amount including the frequency response characteristics of the camera drive unit 197, phase compensation, gain correction, and the like. To do. The target rotation angle signals 84y, 84p, 84r are analogized by the DA converters 95y, 95p, 95r and input to the drive circuits 96y, 96p, 96r as analog target rotation angle signals 85y, 85p, 85r.

On the other hand, in the camera drive unit 197, from the yawing angle detector 72, the pitching angle detector 71, and the rolling angle detector 70 that detect the rotation angle of the movable portion on which the camera unit 100 is mounted, the yawing direction 20, the pitching direction 21 and The rotation angle signals 86y, 86p, 86r in the rolling direction 22 are output. The rotation angle signals 86y, 86p, 86r have noise components and DC drift components removed by the analog circuits 97y, 97p, 97r, and become rotation angle signals 87y, 87p, 87r. Further, the rotation angle signals 87y, 87p, 87r become the rotation angle signals 88y, 88p, 88r of the output value by the amplifier circuits 98y, 98p, 98r. The rotation angle signals 88y, 88p, 88r are input to the drive circuits 96y, 96p, 96r.

The drive circuits 96y, 96p, 96r are configured to perform feedback control for feeding back the rotation angle signals 88y, 88p, 88r with respect to the target rotation angle signals 85y, 85p, 85r. Specifically, a pitching drive unit and a yawing drive unit having a pair of tilt drive coils 301 and a pair of tilt drive coils 302 based on the target rotation angle signals 85y, 85p, 85r and the rotation angle signals 88y, 88p, 88r. And the drive signal for driving the rolling drive unit having the rolling drive coil 303 is output from the drive circuits 96y, 96p, 96r. As a result, in the camera drive unit 197, the feedback control of the angular position is executed, and the yawing movable portion 196 and the pitching movable portion are equal to the target rotation angle signals 85y, 85p, 85r so that the rotation angle signals 88y, 88p, 88r are equal to the target rotation angle signals 85y, 85p, 85r. The rolling movable portion 185 on which the 195 and the camera portion 100 are mounted is driven.

By the above drive control, the runout of the camera unit 100 is corrected. In addition, when shooting by attaching a camera to a moving object such as a bicycle, a car, various exploration vehicles, or an unmanned flying object such as a drone, or when shooting while walking, the amount is larger than before. It is possible to correct the runout angle of ± 20 degrees or more in the yawing direction and the pitching direction, and to correct the rotation and runout angles of ± 10 degrees or more in the rolling direction. As a result, good and stable shooting can be realized. However, if no external force acts on the camera drive unit 197, that is, if vibration does not occur during imaging, the rolling movable unit 185 equipped with the camera unit 100 for positioning the camera unit at a predetermined rotation angle. It is configured to control only the angles of the yawing direction 20, the pitching direction 21, and the rolling direction 22 of the above.

As described above, in the first embodiment, the angular velocity attached to the first fixed portion 600 forming the outer frame of the camera drive unit 197 or the camera drive unit 197 main body fixed to the first fixed portion 600. The shake of the entire camera drive unit 197 generated during shooting, which is obtained by using the outputs of the sensors 900, 901, and 902, is detected, and the yawing movable part 196, the pitching movable part 195, and the rolling movable part 185 inside the camera drive unit 197 are detected. By driving the camera unit 100, the camera unit 100 is controlled so as to correct the image shake.

In the first embodiment, the yawing angle detector 72, the pitching angle detector 71, and the rolling angle detector 70 of the camera drive unit 197 are used for the rotation angle signals 88y, 88p, 88r, and the angular velocity sensors 900, 901, 902. The control was performed so as to approach the target rotation angle signals 85y, 85p, and 85r obtained from the runout rotation angle signal obtained by integrating the outputs of. However, the rotation angle signals 88y, 88p, 88r from the yawing angle detector 72, the pitching angle detector 71, and the rolling angle detector 70 of the camera drive unit 197 are taken into the arithmetic processing unit 94 via the AD converter and differentiated. It is also possible to control the rotation angular velocity signal of the camera unit 100 detected by performing arithmetic processing to be close to the target rotational angular velocity signal obtained from the outputs of the angular velocity sensors 900, 901, and 902.

<2. Second embodiment>
Hereinafter, a second embodiment of the camera drive unit according to the present invention will be described. The camera drive unit 198 in the second embodiment has a mechanically equivalent structure to the camera drive unit 197 in the first embodiment. In the following, the differences from the first embodiment will be mainly described, and duplicate description will be omitted for the parts equivalent to the first embodiment.

FIG. 19 is an exploded perspective view of the rolling movable portion 185 of the second embodiment of the present invention. FIG. 20A is a plan view of the rolling movable portion 185, the pitching movable portion 195, the yawing movable portion 196, the tilting drive coil unit 301U, and the tilting drive coil unit 302U as viewed from the lens placement position side, and FIG. 20B is a rolling view. FIG. 5 is a plan view of the movable portion 185, the pitching movable portion 195, the yawing movable portion 196, the tilt drive coil unit 301U, and the tilt drive coil unit 302U viewed from the side orthogonal to the lens placement position side. FIG. 21 is a drive control block diagram of the camera drive unit 198 of the second embodiment. In FIGS. 19 to 21, the same components as those in the first embodiment are designated by the same reference numerals.

As shown in FIG. 19, the rolling movable portion 185, which is the first movable portion, has a yawing rotation shaft 12, a pitching rotation shaft 11, and a rolling rotation shaft in the axial directions, that is, the yawing direction 20, the pitching direction 21, and the rolling, respectively. An angular velocity detection circuit 910 equipped with angular velocity sensors 900, 901, and 902 that detect the angular velocity in the direction 22 is mounted. However, as shown in FIGS. 20A and 20B, the camera drive unit 198 of the second embodiment includes a rolling angle detector 70 and a pitching angle detector mounted on the camera drive unit 197 of the first embodiment. 71 and yawing angle detector 72 are not mounted. Although overlapping, unlike the first embodiment, in the second embodiment, the angular velocity sensors 900, 901, and 902 are attached to the rolling movable portion 185, which is the first movable portion of the camera drive unit 198.

Each of the angular velocity sensors 900, 901, and 902 detects the angular velocities of the yawing rotation axis 12, the pitching rotation axis 11, and the rolling rotation axis in the axial directions, that is, the yawing direction 20, the pitching direction 21, and the rolling direction 22, respectively. Instead of using the three independent angular velocity sensors 900, 901, and 902, one angular velocity sensor capable of detecting the angular velocity around the three axes may be used.

As shown in FIG. 21, information on the deflection angular velocities in the yawing direction 20, the pitching direction 21, and the rolling direction 22 detected by the angular velocity sensors 900, 901, and 902 is output as angular velocity signals 80y, 80p, and 80r, respectively. The angular velocity signals 80y, 80p, and 80r are converted into signals suitable for performing arithmetic processing in the arithmetic processing unit 94, respectively. Specifically, the angular velocity signals 80y, 80p, 80r are input to the analog circuits 91y, 91p, 91r, noise components and DC drift components are removed, and the angular velocity signals 81y, 81p, 81r are obtained in this order, respectively. The angular velocity signals 81y, 81p, 81r are input to the amplifier circuits 92y, 92p, 92r, and each of them is amplified to output the angular velocity signals 82y, 82p, 82r, which are appropriate output values. After that, the angular velocity signals 82y, 82p, 82r are converted into digital signals by the AD converters 93y, 93p, 93r, respectively, and the digitized angular velocity signals 83y, 83p, 83r are input to the arithmetic processing unit 94.

Although overlapping, in the first embodiment, the angular velocity sensor attached to the first fixed portion 600 forming the outer frame of the camera drive unit 197 or the camera drive unit main body fixed to the first fixed portion 600. Considering the shake of the entire camera drive unit 197 generated at the time of shooting obtained by using the outputs of 900, 901, and 902, the yawing movable part 196, the pitching movable part 195, and the rolling movable part 185 inside the camera drive unit 197 are set. By driving the camera unit 100, the camera unit 100 is controlled so as to correct the image shake. On the other hand, in the second embodiment, the output of the angular velocity sensors 900, 901, 902 attached to the rolling movable portion 185, which is the first movable portion supporting the camera unit 100 via the camera holder 110, is used. The angular velocity signals 83y, 83p, and 83r are controlled to be 0.

Specifically, first, the arithmetic processing unit 94 suppresses the angular velocity to 0 according to the angular velocity signals 83y, 83p, 83r obtained from the outputs of the angular velocity sensors 900, 901, and 902, respectively. The target rotation angular velocity signals 130y, 130p, and 130r are sequentially output as the optimum digital runout correction amount including the frequency response characteristics, phase compensation, gain correction, and the like. The target rotation angular velocity signals 130y, 130p, 130r are analogized by the DA converters 95y, 95p, 95r, and are input to the drive circuits 96y, 96p, 96r as analog target rotation angular velocity signals 131y, 131p, 131r. In this way, the arithmetic processing unit 94 is required in the first embodiment by performing the correction processing of the three axes by the closed loop control for driving the rolling movable unit 185, which is the first movable unit on which the camera unit 100 is mounted. The integration process for converting the angular velocity to the angle of image shake becomes unnecessary, and the arithmetic process can be significantly reduced. As a result, direct angular velocity feedback control can be executed, and it is possible to suppress large shakes of the camera unit and shakes including high frequency components with higher speed and higher accuracy. Further, also in the second embodiment, a larger amount of correction than before, that is, a runout angle of ± 20 degrees or more in the yawing direction and the pitching direction is corrected, and rotation and runout of ± 10 degrees or more in the rolling direction. It is possible to correct the angle.

In the first and second embodiments described above, the second movable portion is the pitching movable portion 195 and the third movable portion is the yawing movable portion 196, but these may be reversed. Good. That is, the second movable portion may be a yawing movable portion 196, and the third movable portion may be a pitching 195.

As described in the first and second embodiments described above, the camera drive unit of the present invention can rotate the camera unit at a larger angle and at a higher speed than the conventional image stabilization device. Therefore, the camera drive unit of the present invention is very effective as a runout correction means mounted on a bicycle, an automobile, an unmanned special airplane or a special vehicle which can generate three-axis vibration including a wide range of frequency components.

Further, using the camera drive unit of the present invention, an image processing technique, or the like, the subject determined in the image is, for example, the center of the screen while the camera unit is subjected to three-axis shake correction in the yawing direction, pitching direction, and rolling direction. It is also possible to realize a camera drive device capable of tracking a subject so as to be located at. In addition, a camera drive unit capable of ultra-wide-angle shooting of still images and moving images by sequentially synthesizing the shot still images and moving images while shooting while rotating the camera unit in the yawing direction, pitching direction, and rolling direction. It can be realized. Further, by using the camera drive unit of the present invention, it is possible to realize a compact and inexpensive shake correction device for zoom shooting even in zoom shooting in which high accuracy and high degree of shake correction are generally required.

The camera drive unit of the present invention has a structure capable of correcting a deflection angle of ± 20 degrees or more in the yawing direction and the pitching direction and ± 10 degrees or more in the rolling direction. It is possible to correct the runout in the three axial directions caused by the movement of the center of gravity of a moving object such as an automobile, various exploration vehicles, or a drone.

2 gimbal 10 optical axis (rolling rotation axis)
11 Pitching rotary shaft 12 Yawing rotary shaft 20, 65, 66 Yawing direction 21, 62, 63 Pitching direction 22, 60, 61 Rolling direction 30 Reference rotation center point 70 Rolling angle detector 71 Pitching angle detector 72 Yawing angle detector 80p , 80r, 80y angular velocity signal 81p, 81r, 81y angular velocity signal 82p, 82r, 82y angular velocity signal 83p, 83r, 83y angular velocity signal 84p, 84r, 84y target rotation angle signal 85p, 85r, 85y target rotation angle signal 86p, 86r, 86y Rotation angle signal 87p, 87r, 87y Rotation angle signal 88p, 88r, 88y Rotation angle signal 91p, 91r, 91y Analog circuit 92p, 92r, 92y Amplification circuit 93p, 93r, 93y Converter 94 Arithmetic processing unit 95p, 95r, 95y Conversion Instrument 96p, 96r, 96y Drive circuit 97p, 97r, 97y Analog circuit 98p, 98r, 98y Amplification circuit 100 Camera unit 101 Rolling base 101A Rolling shaft 101B Flat surface 102 Pitching base 102A Contact surface 102H Contact hole 105 Pitching shaft 106 Rolling bearing Flange 106A Rolling bearing member 107 Detector holder 108 Coupling 110 Camera holder 130p, 130r, 130y Target rotation angle Speed signal 131p, 131r, 131y Target rotation angle Speed signal 185 Rolling movable part 195 Pitching movable part 196 Yawing movable part 197 Camera drive unit 198 Camera drive unit 201 Arc-shaped magnetic yoke 201L, 201R Coil bobbin 202 Arc-shaped magnetic yoke 202L, 202R Coil bobbin 205 Rolling magnetic yoke 301 Tilt drive coil 301U Tilt drive coil unit 302 Tilt drive coil 302U Tilt drive coil unit 303 Rolling drive coil 401 drive Magnet 402 Drive Magnet 411 Magnet Holder 412 Magnet Holder 500 Yawing Base 501 Pitching Bearing Flange 501A Pitching Bearing Member 502 Detector Holder 503 Coupling 504 Yawing Shaft 505 Yawing Bearing Flange 505A Yawing Bearing Member 506 Detector Holder 600 First Fixing Part 601 Second fixing part 603 Ring base 604 Connecting member 605 Connecting member 900 Yawing angular velocity sensor 901 Pitching angular velocity sensor 902 Rolling angular velocity sensor 910 Angular velocity detection circuit θd Tilt angle

Claims (16)

An imaging element having an imaging surface, a camera unit including a lens having an optical axis and forming a subject image on the imaging surface, and a lens barrel holding the lens.
A first movable part having a base for holding the camera part, and
A second movable portion that rotatably supports the first movable portion around a first rotating shaft that coincides with the optical axis, and a second movable portion that rotatably supports the first movable portion.
A second movable portion that rotatably supports the second movable portion about a second rotation axis that passes through a reference point on the first rotation axis and is orthogonal to the first rotation axis. 3 moving parts and
A fixed portion that rotatably supports the third movable portion around a third rotating shaft that passes through the reference point and is orthogonal to the first rotating shaft and the second rotating shaft. ,
A detector that detects the rotation angle of the first movable portion, the second movable portion, and the third movable portion.
A first driving means for rotating the first movable portion with respect to the second movable portion about the first rotating shaft, and
A second driving means for rotating the second movable portion with respect to the third movable portion about the second rotating shaft, and
A third driving means for rotating the third movable portion with respect to the fixed portion about the third rotating shaft, and
With
The first driving means, the second driving means, and the third driving means are projected from the direction of the first rotating shaft, and the second rotating shaft and the third rotating shaft are projected. A camera drive unit that is tilted 45 degrees about the reference point with respect to the axis and is arranged in four projection regions that do not interfere with the second rotation axis and the third rotation axis. The first driving means is
A plurality of first magnets provided in the projection area of the second movable portion, and
A first magnetic yoke provided at a position of the second movable portion facing the first magnet while forming a first magnetic gap with the first magnet.
A first drive coil provided in the projection region of the first movable portion while being loosely inserted into the first magnetic gap.
With
The first movable portion is moved by the interaction of the first electromagnetic force generated between the first drive coil, the first magnet, and the first magnetic yoke that are energized. The camera drive unit according to claim 1, wherein the camera drive unit is rotated around the second movable portion. The second driving means and the third driving means are
A plurality of second magnets provided in the projection area of the second movable portion, and
A second magnetic yoke provided at a position facing the second magnet in the projection region of the fixing portion while forming a second magnetic gap with the second magnet,
A second drive coil wound around the second magnetic yoke,
With
Due to the interaction of the second electromagnetic force generated between the second drive coil to be energized, the second magnetic yoke, and the second magnet, the second movable portion is subjected to the second. The camera drive according to claim 1, wherein the movable portion is rotated about the second rotation shaft, and the third movable portion is rotated about the third rotation shaft with respect to the fixed portion. unit. The second electromagnetic force is a rotational driving force that rotates the second movable portion with respect to the third movable portion about the second rotating shaft and the third electromagnetic force with respect to the fixed portion. The camera drive unit according to claim 3, which is a combined driving force with a rotational driving force that rotates the movable portion around the third rotation axis. The second drive means and the third drive means are a pair of the second magnets, a pair of the second magnetic yokes, and a pair of the second drive coils facing each other via the reference point. The camera driving unit according to claim 3, wherein the second driving means and the third driving means are arranged at positions rotated by 90 degrees with respect to the reference point. The first driving means is
A plurality of first magnets provided in the projection area of the second movable portion, and
A first magnetic yoke provided at a position of the second movable portion facing the first magnet while forming a first magnetic gap with the first magnet.
A first drive coil provided in the projection region of the first movable portion while being loosely inserted into the first magnetic gap.
With
The first movable portion is moved by the interaction of the first electromagnetic force generated between the first drive coil, the first magnet, and the first magnetic yoke that are energized. Rotated with respect to the second moving part around the
The camera drive unit according to claim 5, wherein the second magnet is the first magnet. The first magnet forms the first magnetic gap with the first magnetic yoke by the magnetic flux from one side surface magnetized on the N pole or the S pole, and forms the first magnetic gap in the S pole or the N pole. The camera drive unit according to claim 6, wherein the second magnetic gap is formed between the magnetic flux from the magnetized opposite side surface and the second magnetic yoke. The camera drive unit according to claim 6, wherein each of the first magnetic yoke and the second magnetic yoke has a concave partially curved surface shape centered on the reference point. The first coil winding center line, which is the coil winding center line of the first drive coil, is a straight line perpendicular to the optical axis, and is the midpoint of the first coil winding center line and the reference point. The camera drive unit according to claim 2, wherein the straight line connecting the two is a plane having an inclination angle of 45 degrees or less with respect to a plane perpendicular to the optical axis and passing through the reference point. The camera drive unit according to claim 3 or 5, wherein the second coil winding center line of the second drive coil is an arc having a predetermined radius centered on the reference point. Claim that the straight line connecting the midpoint of the coil winding center line of the second drive coil and the reference point has an inclination angle of 45 degrees or less with respect to a plane perpendicular to the optical axis and passing through the reference point. 3 or the camera drive unit according to claim 5. The detector
A first detector provided on the second movable portion and detecting the rotation angle of the first movable portion around the first rotation axis.
A second detector provided on the third movable portion and detecting the rotation angle of the second movable portion around the second rotation axis.
The camera drive unit according to claim 1, further comprising a third detector provided on the fixed portion and detecting a rotation angle of the third movable portion around the third rotation axis. The first aspect of claim 1, wherein the reference point coincides with the position of the center of gravity of the first movable portion, coincides with the position of the center of gravity of the second movable portion, and coincides with the position of the center of gravity of the third movable portion. Camera drive unit. Further, a first angular velocity sensor provided in the fixed portion and detecting angular velocities around the first rotating shaft, the second rotating shaft, and the third rotating shaft, which are orthogonal to each other,
An arithmetic processing unit that generates a target rotation angle signal based on the output from the first angular velocity sensor, and
The camera drive unit according to claim 1, further comprising a drive circuit for generating a signal for driving the first drive means, the second drive means, and the third drive means based on the target rotation angle signal. .. An imaging element having an imaging surface, a camera unit including a lens having an optical axis and forming a subject image on the imaging surface, and a lens barrel holding the lens.
A first movable part having a base for holding the camera part, and
A second movable portion that rotatably supports the first movable portion around a first rotating shaft that coincides with the optical axis, and a second movable portion that rotatably supports the first movable portion.
A second movable portion that rotatably supports the second movable portion about a second rotation axis that passes through a reference point on the first rotation axis and is orthogonal to the first rotation axis. 3 moving parts and
A fixed portion that rotatably supports the third movable portion around a third rotating shaft that passes through the reference point and is orthogonal to the first rotating shaft and the second rotating shaft. ,
A first driving means for rotating the first movable portion with respect to the second movable portion about the first rotating shaft, and
A second driving means for rotating the second movable portion with respect to the third movable portion about the second rotating shaft, and
A third driving means for rotating the third movable portion with respect to the fixed portion about the third rotating shaft, and
With
The first movable part is
A second angular velocity sensor for detecting an angular velocity around the first rotating shaft, the second rotating shaft, and the third rotating shaft is provided.
The first driving means, the second driving means, and the third driving means are projected from the direction of the first rotating shaft, and the second rotating shaft and the third rotating shaft are projected. A camera drive unit that is tilted 45 degrees about the reference point with respect to the axis and is arranged in four projection regions that do not interfere with the second rotation axis and the third rotation axis. Further, an arithmetic processing unit that generates a target rotation angular velocity signal based on the output from the second angular velocity sensor, and
A drive circuit that generates a signal for driving the first drive means, the second drive means, and the third drive means based on the target rotation angular velocity signal.
15. The camera drive unit according to claim 15.

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