JPH06250100A - Image stabilizing device - Google Patents

Abstract

PURPOSE:To make a device small in size and light in weight, to save power consumption and to reduce the cost by having such a constitution that image blurring is corrected by controlling a gimbal hanging means where erect prisms arranged on the optical axis of an optical device are attached so that it is returned to an original posture resisting to the shaking of the device. CONSTITUTION:This device is provided with an angular velocity sensor 8 fixedly provided in the gimbal hanging device 7, a control system outputting a control signal on the basis of a detected value from the sensor 8 and a rotation driving motor 5 turning the turning shaft 6 of the hanging device 7 so that the erect prisms 3a and 3b are always returned to the initial posture with respect to the shaking of a case when the control signal is inputted. Besides, a potentiometer 9 detecting the rotating angle of the shaft 6 in order to execute position feedback control in addition to velocity feedback control by the detected angular velocity is provided on the shaft 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention According to the present invention, when monoculars or binoculars are vibrated, the angle of emission of a light beam from an observation object with respect to the optical axis of these optical devices varies, and an optical image is observed in a blurred manner. The present invention relates to an image stabilizing device arranged in this optical device, which prevents

[0002]

2. Description of the Related Art When holding and operating an optical device for optical observation such as monoculars and binoculars by hand, especially when the optical device is brought into an aircraft or a vehicle. In the case of use, vibrations and vibrations of an aircraft, a vehicle, etc. are transmitted to an optical device, and the emission angle of a light beam from an observation object with respect to the optical axis varies, often deteriorating an observed optical image. Vibration transmitted to the optical device, even if its amplitude is small, in monoculars and binoculars,
Since the field of view is narrow and the exit angle of the light beam is enlarged by the eyepiece lens, and the image of the objective lens is enlarged and observed by the eyepiece lens, the visually appealing image is deteriorated and observed. As the magnification of the system increases, fluctuations in the exit angle of the light beam with respect to the optical axis caused by vibrations and the like and deterioration of the observed image cannot be ignored.

Various optical devices for image stabilization have been proposed so far, in order to prevent the observed image from being deteriorated due to the variation of the exit angle of the light beam with respect to the optical axis due to the vibrations and the vibrations transmitted to the optical device. Has been done.

For example, Japanese Examined Patent Publication No. 57-37852 discloses a device in which vibration-proofing means utilizing a rotary inertia body (gyromotor) is provided in the binoculars in order to correct the blurring of the observed image in the binoculars.

That is, according to this technique, an erecting prism is arranged on the optical axis between the objective lens and the eyepiece of the binoculars, and the erecting prism is mounted on a single gimbal suspension means to which a rotary inertia body is attached. Even when the binoculars are mounted and the binoculars vibrate due to camera shake or the like, the erecting prism is held in substantially the same space position to prevent the observation image of the binoculars from being blurred.

While the conventional technique using the rotary inertia body and the single gimbal suspension means can stabilize the image with high accuracy, the effective diameter of the objective lens is increased as the magnification and resolution of the binoculars are increased. As a result, the erecting prism becomes large, and the weight of the rotary inertia body that spatially holds the prism increases, and the power consumption for driving the rotary inertia body also increases.

Therefore, the binoculars themselves become large in size and heavy in weight, and the battery also needs to have a large capacity, which is not suitable for observing scenery or the like easily or for a long time. Further, since the rotary inertia body is expensive, the device cost of the binoculars is also expensive.

Further, when an optical device such as a monocular or binocular is held by hand or used by bringing it into a vehicle or the like, a vibration component applied to the optical device has a very large vertical component, Since the horizontal vibration component is less than the vertical vibration component, it is often practically sufficient if only the vertical image blur prevention function is built in, but the configuration using the rotary inertia body described above. However, if an attempt is made to stabilize the image only in the vertical direction, this rotary inertial body causes precession, and image blur in the vertical direction cannot be prevented.

The present invention has been made in view of the above circumstances, and provides an image stabilizing device which is capable of reducing the weight and size of the device, reducing power consumption, and being highly accurate and inexpensive. It is intended to be provided.

A further object of the present invention is to provide an image stabilizing device capable of preventing only the image blur caused by the vertical vibration of the optical device.

[0011]

The image stabilizing device of the present invention is an optical device such as a monocular or a binocular, which has an erecting prism arranged on an optical axis between an objective lens and an eyepiece in a predetermined direction. It is mounted on a rotatable gimbal suspension means, and the angle information detection means arranged on the gimbal suspension means detects the rotation angle information of the gimbal suspension means with respect to the inertial space, which accompanies the shake of the optical device. Based on this detected value, the gimbal suspension means is rotated so as to return to a predetermined position so as to correct the image blur.

That is, the first image stabilizing device of the present invention has a monocular optical system or a binocular optical system in which an erecting prism is arranged between an objective lens and an eyepiece lens, and the objective lens of these optical systems is used. And an optical device in which an eyepiece is fixedly provided in a case, a gimbal suspension means having a rotation shaft extending in the left-right direction of the optical device, and rotatably mounting the erecting prism on the case, Based on the angle information detected by the angle information detection means fixed to the gimbal suspension means and detecting the rotation angle information of the gimbal suspension means due to the vertical shake of the optical device, and the angle information detected by the angle information detection means, Rotational drive means for rotating the rotation axis of the gimbal suspension means so as to correct the image blur on the image plane of the optical device are provided.

The second image stabilizing device of the present invention has a monocular optical system or a binocular optical system in which an erecting prism is arranged between the objective lens and the eyepiece lens, and the objective lens of these optical systems. And an eyepiece fixedly mounted in a case, wherein the erecting prism is rotatably mounted on the case and has two rotating shafts extending in the left-right direction and the up-down direction of the optical device. Gimbal suspension means, and two angle information detection means fixed to the gimbal suspension means for detecting rotation angle information of the gimbal suspension means due to vertical and horizontal blurring of the optical device, respectively. Based on the angle information detected by the two angle information detecting means, a rotation for rotating the two rotation shafts of the gimbal suspension means so as to correct the image blur on the image plane of the optical device. And it is characterized in that and a drive means.

Further, the angle information detecting means may be any sensor capable of detecting angle information such as an angle, an angular velocity or an angular acceleration.

Further, when an angular velocity sensor is used as the angle information detecting means, the angular velocity sensor can be constituted by a piezoelectric vibrating gyro sensor using a regular triangular prism vibrator and piezoelectric ceramics.

Further, the image blur correction is made up of an angle sensor for detecting the amount of rotation angle and an angular velocity sensor for detecting the amount of rotation angular velocity, and the output from the angle sensor is multiplied by a predetermined coefficient. The feedback signal to the gimbal suspension means, and the integrated signal of the output from the angular velocity sensor is fed back to the gimbal suspension means by a control system having a double feedback loop. It is possible.

[0017]

According to the above construction, instead of stopping the gimbal suspension means by using the rotary inertia body, the gimbal suspension means is constituted by using the angle information detection means and the rotation drive means for rotating the gimbal suspension means based on the angle information. It is controlled so as to return it to a predetermined position.The means necessary for these controls are lighter, smaller and cheaper than the above rotary inertial body, and the power consumption is small. It is possible to reduce the weight and size of the entire optical device such as spectacles and binoculars, save labor in power consumption, and reduce manufacturing cost.

In the first stabilizing device of the present invention,
Although only the vertical image blur of the optical device is corrected, if the above-mentioned control system is used, the precession does not occur as in the case of using the rotary inertia body, so that the optical device can be operated with high accuracy. It is possible to correct only the image blur in the vertical direction.

Further, when a piezoelectric vibrating gyro sensor in which a regular triangular prism vibrator and a piezoelectric ceramic are combined is used as the angle information detecting means, the size of the sensor is extremely small, the weight is low, and the cost is low. It is possible to further promote downsizing, weight reduction, and manufacturing cost reduction.

Further, if the information amount output from the angle sensor and the angular velocity sensor is respectively fed back to the gimbal suspension means for the purpose of correcting the image blur, the accuracy and stability of the correction can be improved. Is improved.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing a state in which an image stabilizing device according to an embodiment of the present invention is incorporated in binoculars, and FIG. 2 is a block diagram for explaining the inside of the image stabilizing device. As shown in FIG. 1, the binoculars incorporating the image stabilizing device 1 of the present embodiment have a pair of objective lens systems 1a and 1b, a pair of eyepiece lens systems 2a and 2b, and a pair of erecting prisms 3a, 3b
The objective lens 1a, the eyepiece 2a, and the erecting prism 3a constitute a first telescope system 10a, and the objective lens 1b,
The eyepiece lens 2b and the erecting prism 3b are the same as the second telescope system.
The first and second telescope systems 10a and 10b constitute a binocular system.

The pair of objective lens systems 1a and 1b and the eyepiece lens systems 2a and 2b of the present optical device which constitutes this binocular system are fixed to the case of the present optical device, and the erecting prism 3
The a and 3b are rotatably mounted on the case via a gimbal suspension device 7 having a rotating shaft 6 extending in the left-right direction of the device (arrangement direction of the objective lens systems 1a and 1b).

In FIG. 1, the state in which the gimbal suspension device 7 having the erecting prisms 3a and 3b attached thereto is fixed to the case, and therefore the established prisms 3a and 3b attached to the gimbal suspension device 7 are fixed to the case. In this state, the optical apparatus has a normal binocular system configuration, and the optical axes 4a and 4b of the telescope optical systems 10a and 10b at this time are referred to as main optical axes of the optical apparatus.

The objective lens systems 1a and 1b, the eyepiece lens systems 2a and 2b, the erecting prisms 3a and 3b, and the gimbal suspension 7
Since the proper disposition positions of the rotating shaft 6 and the like are described in detail in a publicly known document (for example, Japanese Patent Publication No. 57-37852), they are omitted here.

Further, as shown in FIG.
In the gimbal suspension device 7, the angular velocity sensor 8 is fixedly installed. The angular velocity sensor 8 is a sensor that detects the rotational angular velocity ω ₁ when the gimbal suspension device 7 rotates in the direction of arrow B due to the vertical shake of the case (direction of arrow A).

At one end of the rotary shaft 6, the gimbal suspension 7 is rotated so that the erecting prisms 3a and 3b are always returned to their initial postures against the shake of the case based on the detection value from the angular velocity sensor 8. A rotary drive motor 5 for rotating the moving shaft 6 is attached, and the other end of the rotating shaft 6 is rotated for performing position feedback control in addition to speed feedback control based on the detected angular velocity. A potentiometer 9 for detecting the angle θ ₁ is attached.

Further, in the apparatus 1 of the present embodiment, as shown in FIG. 2, the amplifiers 11a and 11 which respectively increase the angular velocity signal from the angular velocity sensor 8 and the angular signal from the potentiometer 9.
b, a CPU 12 that calculates the drive amount of the rotary drive motor 5 so as to return the erecting prisms 3a and 3b to their original postures based on these angular velocity signals and angle signals, and outputs a control signal based on this calculation; A motor drive circuit 13 for driving the rotary drive motor 5 by amplifying the control signal from the CPU 12 is provided.

According to the apparatus of this embodiment having such a configuration, the erecting prisms 3a and 3b can be always returned to the initial posture with respect to the vertical shake of the case. Due to the reason, the exit angle of the light beam with respect to the optical axis can be kept stable against blurring, and the observed image can be prevented from deteriorating.

FIG. 3 is a vertical direction of the optical device shown in FIG.
That is, the principle of keeping the optical axis stable with respect to the vibration component in the direction of arrow A in FIG. 1 is described, and shows the XX cross section in FIG. First, the objective lens system 31, the erecting prism 34 capable of taking the incident optical axis and the outgoing optical axis on the same straight line, and the eyepiece lens system 33 are arranged so that the optical axes thereof are on the same optical axis 32. The prism 34 is arranged so as to be located between the objective lens system 31 and the eyepiece lens system 33. At this time the optical axis 32
A light beam that is incident on the objective lens system 31 in parallel with is emitted from the eyepiece lens system 33 in parallel with the optical axis 32 and enters the eye 37. Here, a rotation axis for compensating the vertical vibration component of the gimbal suspension 7 to which the erecting prism 34 is mounted, that is, FIG.
Assuming that the position of the rotary shaft 6 at the point K is the center of rotation and the optical axis 32 is inclined relative to the optical axis 32 'about this point by an angle ψ, the objective lens system 31 moves to the objective lens system 31'. The eyepiece lens system 33 is moved to the eyepiece lens system 33 ', and therefore the center point g of the objective lens system 31 is moved to the g'point.
Although the point moves to the point h ', the erecting prism 34 is rotatably attached to the case so as to be returned to the original posture by the control system, so that it is maintained in the substantially original posture.

Therefore, the light ray 35 which is parallel to the original optical axis 32 and which passes through the center g'point of the tilted objective lens system 31 'is parallel to the optical axis 32 even after passing through the objective lens system 31'. The light enters the erecting prism 34 at a point n on the incident surface, that is, at a point mn apart from the point m on the optical axis 32. Due to the nature of the erecting prism, this light ray is emitted from the exit surface of the erecting prism 34 at a position p on the optical axis 32 below the point O by a distance of nm = op from the optical axis.
Since the light beam 32 'is emitted parallel to the optical axis 32, the light ray 32' incident on the objective lens 31 'which is parallel to the optical axis 32 and inclined is imaged at the point S on the optical axis 36. Therefore, if the movement amount hh 'from the original center h point on the eyepiece lens system 33' after the optical axis 32 is inclined by the angle ψ is equal to op, that is, hh '
= Op and op = mn = gg ', so hh' = gg '
, The focus position of the eyepiece lens system 33 is Q point, and the eyepiece lens 3
Let R be the focal point position of 3 ', and RS = fe' · θ (fe '
Is the focal length of the eyepiece lens system), even if the telescope system of the apparatus 1 of the present embodiment is tilted by ψ, the eyepiece lens system 3
The light ray 36 'emitted from 3'is parallel to the optical axis 32 and the eye 37
The incident angle of the optical axis by the telescope system does not change, and a stable optical axis exit angle is obtained even when vibration or the like is applied to the telescope system, and a sharp image is observed.

In order to satisfy the above condition, when the optical axis 32 is tilted, the objective lens system 31 and the eyepiece lens system 33 are tilted by the same amount. Therefore, in FIG. 3, gk = kh, that is, the objective lens 31 is erected. At the midpoint of the sum of the optical distance from the entrance surface of the prism 34, the mechanical distance between the entrance surface and the exit surface of the erecting prism 34, and the optical distance from the exit surface of the erecting prism 34 to the eyepiece 33, the gimbal is located. The pivot shaft 6 of the suspension device 7 may be provided. As is clear from FIG. 3, the erecting prism 34 has an gg '= hh' relationship even at an arbitrary position between the objective lens system and the eyepiece system. It can be placed in the most convenient position between the eyepiece system and the eyepiece system. The above is true for the telescope systems 10a and 10b shown in FIG.
It is clear that one pivot axis of the gimbal suspension 7 common to the two is common, as indicated at 6.

As the erecting prisms 3a and 3b, Schmidt erecting prisms, Abbe erecting prisms, Bauern fend erecting prisms, Polo erecting prisms, etc. 4 shows a Schmidt erecting prism used in the apparatus 1 of the present embodiment. The Schmidt erecting prism is composed of a prism 23 and a prism 24 as shown in the figure, and a part 25 of the prism 24 is a roof reflection surface. Thus, in the erecting prism, as shown in the figure, there is a position of the incident optical axis where the incident optical axis 21 and the outgoing optical axis 22 can be on the same straight line.
In an erecting prism in which the incident optical axis 21 and the outgoing optical axis 22 can be taken on the same straight line, as shown in FIG. After passing through the erecting prism, the ray 21 'is separated from the exit optical axis 22 by h in the drawing as a ray 22'.
It has the property of being parallel to.

Next, the angular velocity sensor 9 will be described in detail with reference to FIG.

The angular velocity sensor 9 is a regular triangular prism vibrator 9a.
And a piezoelectric vibrating gyro sensor utilizing three Coriolis forces, consisting of three piezoelectric ceramics 51a, 51b, 52.
The detection piezoelectric ceramics 51a and 51b are provided on two of the three side surfaces of the regular triangular prism vibrator 9a, and the feedback piezoelectric ceramic 52 is provided on the other one side surface.

Two detection signals having different values are output from the two detection piezoelectric ceramics 51a, 51b according to vibrations, and the angular velocity is obtained by calculating the difference between these two detection signals.

The feedback piezoelectric ceramic 52 is used for correcting the phase of the detection signal.

Since the angular velocity sensor 9 has a simple structure and a very small size, the image stabilizing device 1 itself can have a simple structure and a small size.

Further, since the S / N ratio is high and the precision is high, the angular velocity control can be performed with high precision.

Next, the control system of the above-mentioned apparatus 1 of the embodiment will be described with reference to the block diagram shown in FIG.

This control system is composed of a double feedback loop of a velocity (angular velocity) feedback loop and a position (angle) feedback loop.

First, the velocity feedback loop detects the angular velocity ω of the gimbal suspension device 66 by the angular velocity sensor 61,
This detected value is negatively fed back to the motor drive system 64. The motor drive system 64 generates a rotational torque in the motor 65 based on the negatively fed back detection value, compensates for disturbance torque received from the gimbal shaft, and spatially stabilizes the gimbal.

In the position feedback loop, the rotation angle θ of the gimbal suspension device 66 is detected by the potentiometer 68, and the detected value is compared with the reference value (0) indicating the midpoint of the visual axis in the comparison calculation unit 69, and this difference is calculated. Is input to the motor drive system 64 via the compensation circuit 62. This prevents the gimbal from flowing due to drift or the like and being displaced to the end of the movable range.

The signal input to the motor drive system 64 is a difference value between the output signal from the compensation circuit 62 and the output signal from the angular velocity sensor 61 calculated by the comparison calculation unit 63, and the gimbal suspension system is further provided. An integrating means 67 that integrates the angular velocity ω to calculate the angle θ is provided at the subsequent stage of 66.

The gimbal suspension system 7 of the apparatus 1 of the present embodiment is designed to be returned to its original posture by the control system having the double feedback loop as described above, and the image blur correction can be performed with high accuracy and stability. Can be performed.

Next, an embodiment apparatus 101 different from the embodiment apparatus 1 shown in FIG. 1 will be described with reference to FIG.

Members having the same functions as those shown in FIG. 1 are designated by the same reference numerals as those in FIG. 1, and detailed description thereof will be omitted. Further, the up-down direction of the device 101 in the description indicates the arrow A direction in the drawing, and the left-right direction of the device 101 indicates the arrow C direction in the drawing.

That is, the apparatus 1 of the embodiment shown in FIG. 1 corrects the image blur in accordance with the shake of the apparatus 1 in the vertical direction (direction of arrow A), but the apparatus 101 of the embodiment shown in FIG. The image blurring according to the blurring in the vertical direction (arrow A direction) and the horizontal direction (arrow C direction) is corrected.

In the apparatus 101 of the present embodiment, the inner gimbal suspension member 107 is pivotally supported by the outer gimbal suspension member 7a, and the gimbal suspension device has a double inner / outer structure.
The outer gimbal suspension member 7a is rotated by the rotation shaft 6 extending in the left-right direction of the device 101 so as to correct vertical image blur, while the inner gimbal suspension member 107 is rotated by the device 10.
A rotating shaft 106 extending in the up-down direction rotates so as to correct image blur in the left-right direction. The erecting prisms 3a and 3b are
It is mounted on the inner gimbal suspension member 107.

Further, the inner gimbal suspension member 107 includes
Two angular velocity sensors 8 and 108 are fixedly installed. The angular velocity sensor 8 is a sensor that detects the rotational angular velocity ω ₁ when the outer gimbal suspension member 7a rotates in the direction of arrow B due to the vertical shake of the case, whereas the angular velocity sensor 108 is A sensor for detecting the rotational angular velocity ω ₂ when the inner gimbal suspension member 107 rotates in the direction of arrow D due to the lateral blurring of the case.

At one end of the rotating shaft 106, based on the detection value from the angular velocity sensor 8, the erecting prisms 3a and 3b are provided with an inner gimbal so that the erecting prisms 3a and 3b are always returned to the initial posture with respect to the lateral blur of the case. A rotary drive motor 105 for rotating the rotary shaft 106 of the suspension member 107 is attached, and the other end of the rotary shaft 106 is rotated to perform position feedback control in addition to speed feedback control based on the detected angular velocity. A potentiometer 109 for detecting the rotation angle θ ₂ of the moving shaft 106 is attached.

The detection signals from the angular velocity sensor 108 and the potentiometer 109 are converted into control signals by a control system similar to the control system shown in FIG. 2 or FIG. 6, like the detection signals from the angular velocity sensor 8 and the potentiometer 9. The rotation drive motor 105 is driven by this control signal.

Therefore, in the apparatus 101 of this embodiment, two sets of control systems are required to return the two outer and inner gimbal suspension members 7a and 107 to their original postures, but a common CPU 12 may be used. .

The image stabilizing device of the present invention is not limited to the above embodiment, and various other modes can be modified.

For example, in the apparatus of the above embodiment, a sensor for detecting an angle and an angular velocity is used as the angle information detecting means, but it is also possible to use an angular acceleration sensor together with or instead of this sensor.

As a sensor for detecting the angle, various angle sensors such as a resolver, a synchro, and a rotary encoder can be used instead of the potentiometer.

Further, although the apparatus of the above-mentioned embodiment is configured to be applied to the binoculars 21, the image stabilizing apparatus of the present invention may be applied to monoculars.

[0058]

According to the image stabilizing device of the present invention, the gimbal suspension device equipped with the erecting prism is operated by the electrical control system using the angle information detecting means, the control circuit system and the rotary drive motor. Since these systems are controlled to return to their postures, these systems are lightweight, small, and inexpensive, and because they consume less power, it is possible to reduce the weight and size of the optical device as a whole, thus saving power consumption. And manufacturing cost can be reduced.

Further, in the apparatus of the present invention having such a configuration, even if only the correction of the vertical image blur of the optical apparatus is performed, the conventional rotary inertia body (gyromotor) is used.
In the case where this rotational inertial body does not cause the precession motion to prevent the image blur unlike the prior art using, and therefore only the vertical image blur prevention is required, We can respond to your request in a qualified manner.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the inside of binoculars incorporating an image stabilizing device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the image stabilizing device of FIG.

FIG. 3 is a schematic diagram for explaining the principle that the optical axis is kept stable against vertical shake of the optical device shown in FIG.

FIG. 4 is a side view for explaining the erecting prism shown in FIG.

5 is a perspective view showing in detail the angular velocity sensor shown in FIG.

6 is a block diagram showing a control system of the apparatus shown in FIG.

FIG. 7 is a schematic view showing another embodiment apparatus different from the embodiment apparatus shown in FIG.

[Explanation of symbols]

 1,101 Image stabilizer 1a, 1b, 31, 31 'Objective lens (objective lens system) 2a, 2b, 33, 33' Eyepiece (eyepiece system) 3a, 3b Erecting prism 4a, 4b Optical axis 5, 105 Rotation drive motor 6,106 Rotating shaft 7 Gimbal suspension device 7a Outer gimbal suspension member 8,108 Angular velocity sensor 9,109 Potentiometer 10a, 10b Telescope optical system 12 CPU 39a Regular triangular prism vibrator 51a, 51b Piezoelectric ceramic 52 for detection Return-use piezoelectric ceramic 107 Inside gimbal suspension member

Claims (4)

[Claims] 1. An optical system comprising a monocular optical system or a binocular optical system in which an erecting prism is arranged between an objective lens and an eyepiece lens, and an objective lens and an eyepiece lens of these optical systems are fixedly provided in a case. In the device, a gimbal suspension means having a rotation shaft extending in the left-right direction of the optical device and rotatably mounting the erecting prism on the case, and the optical device fixed to the gimbal suspension means. Angle information detection means for detecting rotation angle information of the gimbal suspension means with respect to the inertial space due to vertical movement of the gimbal suspension means, and an image on the image plane of the optical device based on the angle information detected by the angle information detection means. An image stabilizing device, comprising: a rotation driving means for rotating a rotation shaft of the gimbal suspension means so as to correct shake. 2. An optical system comprising a monocular optical system or a binocular optical system in which an erecting prism is arranged between an objective lens and an eyepiece lens, and the objective lens and the eyepiece lens of these optical systems are fixedly provided in a case. In the device, a gimbal suspension means having two rotation shafts extending in the left-right direction and the up-down direction of the optical device, and rotatably mounting the erecting prism on the case, and fixed to the gimbal suspension means. Two angle information detecting means for respectively detecting rotation angle information of the gimbal suspension means with respect to the inertial space due to vertical and horizontal deviations of the optical device, and angles detected by the two angle information detecting means. Rotation driving means for rotating two rotation shafts of the gimbal suspension means so as to correct image blur on the image plane of the optical device based on the information. An image stabilization device characterized in that 3. The angle information detecting means is an angular velocity sensor for detecting the amount of angular velocity of rotation of the gimbal suspension means due to the shake of the optical device, and a piezoelectric vibrating gyroscope using a regular triangular prism vibrator and piezoelectric ceramics. The image stabilizing device according to claim 1, wherein the image stabilizing device comprises a sensor. 4. The angle information detecting means comprises an angle sensor for detecting a rotation angle amount and an angular velocity sensor for detecting a rotation angular velocity amount, and outputs the angle sensor by multiplying a predetermined coefficient to the gimbal suspension means. The image stabilizing device according to claim 1 or 2, wherein the integrated signal of the output from the angular velocity sensor is fed back to the gimbal suspension means.