JPS61255173A - Photographic device - Google Patents

Abstract

PURPOSE:To considrably reduce a shaking in a lens barrel section and to employ for a portable video camera by operating a gain correcting means when a panning operation is detected by a panning operation detecting means and by increasing and decreasing a gain relative ratio in accordance with a relative angular velocity between the lens barrel section and a supporting body. CONSTITUTION:A panning start detecting means of a panning operation detecting means detects the start of the panning operation from the fact that a relative angle thetah or a synthesized value of the relative angle and a relative angular velocity is outside a prescribed range by a digital value P corresponding to the relative angle thetah of a lens barrel section 1 and a main body case 2 and a digital value V corresponding to the relative angular velocity. From the digital value V corresponding to the relative angular velocity at that time, viewing a degree of a change of the digital value P corresponding to the relative angule at a next time, a synthetic ratio D is corrected. Accordingly, the lens barrel section 1 is accelerated by a fully large acceleration, substantially following an increase of an angle thetax of the main body case 2 by the panning operation, and an angle thetam of the lens barrel 1 is increased. As a result, a collision between the lens barrel 1, and the main body case 2 is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a photographing device having a vibration-proofing mechanism that minimizes vibrations of a lens barrel regardless of vibrations of a support body (main body case). The present invention provides a small and lightweight photographing device that can be used as a portable video camera or the like.

BACKGROUND OF THE INVENTION Conventional vibration isolating mechanisms are widely used in which vibrations are suppressed from being transmitted from a support base to a surface plate or the like using air pressure or hydraulic pressure. FIG. 16 shows a sectional view showing the structure of such a conventional vibration isolation mechanism.

In FIG. 16, an air chamber 5 (15) is formed between the surface plate 501 and the support base 6 (120), and an air compressor 504
Compressed air is pumped in from the pipe 603. As a result, an air layer with very weak springiness is formed between the surface plate 601 and the support base 6 (12).

Therefore, even if the support base 5 (12) vibrates greatly, the surface plate 60
1, almost no vibration is transmitted to it.

Problems to be Solved by the Invention In such a conventional vibration isolating mechanism, since compressed air is used, an air chamber 606 is required, and the shape becomes large. Furthermore, a compressor is required, which creates a lot of noise and requires a large installation area. Therefore, such a conventional image stabilization mechanism cannot be used for image stabilization of a portable video camera.

In consideration of these points, the present invention has newly developed a photographing device that is small, lightweight, and has a high-performance vibration isolation mechanism that can also be used in portable video cameras.

Means for Solving the Problems The present invention includes a lens barrel section on which a plurality of lenses and an image sensor are mounted, an image signal processing means for generating an image signal from an electric signal obtained from the image sensor, and the lens barrel section. a support body rotatably supporting the lens barrel portion around a rotation axis perpendicular or substantially perpendicular to the axis of the incident light beam; and a support body mounted between the lens barrel portion and the support body; an actuator means for rotationally driving the lens barrel, a position detecting means for detecting the relative angle between the lens barrel and the support body, and an angular velocity detecting means for detecting the angular velocity of the lens barrel about the rotation axis as seen from inertial coordinates; a synthesizing means for synthesizing an output signal of the position detecting means and an output signal of the angular velocity detecting means; a driving means for supplying electric power to the actuator means in accordance with the synthesized signal of the synthesizing means; comprising: a panning motion detection means for detecting; and a gain modification means for increasing or decreasing a relative ratio between a detection gain of the position detection means and a detection gain of the angular velocity detection means; When detected, operating the gain modifying means,
The above object is achieved by increasing or decreasing the relative ratio depending on the relative angular velocity between the lens barrel section and the support body.

Effect of the Invention With the above-described configuration, the present invention detects the relative position of the lens barrel and the support and the angular velocity of the lens barrel, and controls the lens barrel by actuator means to suppress fluctuations in both. It is driven and controlled to significantly reduce vibrations in the lens barrel. Further, by changing the relative ratio of the detection gain of the position detection means and the detection gain of the angular velocity detection means during panning operation by the gain correction means, the delay in movement of the lens barrel during panning operation is made sufficiently small for practical use.
This prevents the lens barrel from colliding with the support, and also smoothes the follow-up motion of the lens barrel.

Example FIG. 1 shows a configuration diagram representing an embodiment of the present invention.

In Fig. 1, a lens barrel section 1 of a photographing device (video camera) is shown.
is equipped with a large number of lens groups (not shown) and an image sensor 41 (for example, a CCD board or an image sensor tube), which collects the reflected light from the subject and forms an image on the image sensor 41, which generates a charge signal (electrical charge signal). signal). The image signal processor 42 is
The charge signal obtained by the image sensor 41 is read out sequentially, and the NT
It produces SC system image signals (video signals).

An actuator 3 is disposed between the lens barrel 1 and the main body case 2 (support body), and rotates the lens barrel 1 in one direction around the rotation axis 4 (in use, the lens barrel (Part 1 is freely rotatable on an almost horizontal plane).

A rotation shaft 4 of the actuator 3 is rotatably supported by the main body case 2 through the center of gravity G of the lens barrel section 1 . In addition,
Although not shown in the drawings, the main body case 2 is provided with a grip portion that is supported by the hand of the operator of the photographing device.

FIGS. 2(a), 2(b), and 2(c) show the specific structure of the actuator 3. In Figure 2, magnet) 1 (1
The back yoke 101 made of ferromagnetic material No. 2 is attached to the lens barrel portion 1 and rotates together with the rotating shaft 4. Magnet 1 (1
2 is magnetized into four poles and generates field magnetic flux. To the coil yoke 103 to which the bearing 107 of the rotating shaft 4 is attached, =7 (rues 104a, 104b and a Hall element (magnetic sensing element) 6 are fixed.

In this example, the magnet 1 (12) is attached to the lens barrel 1, and the coil yoke 103 is attached to the main body 2 (note that this relationship may be reversed).0 coil 104a and 104b are connected in series, and a rotational torque is generated by the current flowing from the terminals 106 to 106 and the magnetic flux of the magnet 1 (12).

Further, the Hall element 6 is arranged almost opposite to the switching part of the magnetic pole of the magnet 1 (12).
(angular position θm of lens barrel portion 1) and coil yaw occurs. Note that θ□ is the angle of the lens barrel 1 around the axis of rotation 4 as seen from the absolute space coordinate system (inertial coordinates), and θ8 is the angle of the main body case 2 around the axis of rotation 4 as seen from the same inertial coordinates. It is.

The output signal a of the Hall element 6 which detects the magnetic flux of the magnet 1 (12) of the actuator 3 is input to the position detector 11. A specific configuration of the position detector 11 is shown in FIG.

Hall element 5 (DC signals obtained at 12 output terminals are connected to operational amplifier 111 and resistors 112, 113, 114.1
The output signal C is differentially amplified by a predetermined factor by a differential amplifier circuit consisting of 16 circuits.

Further, an angular velocity sensor 6 consisting of a vibrating gyro is attached to the lens barrel portion 1 by a fixing member -ri. The detection axis of the angular velocity sensor 6 coincides with the rotation axis 4 of the actuator 3, and outputs an output signal in response to the rotational angular velocity of the lens barrel section 10 around the rotation axis 40 in inertial coordinates. The output signal of the angular velocity sensor 6 is input to the angular velocity detector 12, which generates a signal d which is proportional to the angular velocity radius around the rotation axis 4 of the lens barrel section 1 viewed from the inertial coordinates or proportional to the component of the angular velocity ω in a predetermined frequency range. I am getting . Fig. 4 shows the angular velocity detector 12.
The specific configuration is shown below. The forced vibration circuit 133 has a sine wave oscillation circuit with a predetermined frequency (one song), and uses the oscillation frequency signal to forcibly vibrate the drive element 131 made of a piezoelectric element of the angular velocity sensor 6. A sense element 132 made of a piezoelectric element is a drive
Since it is placed in mechanical contact with the element 131, it vibrates at the same frequency as the drive element 7) 131. At this time, when the lens barrel portion 1 rotates around the rotation axis 40 in the inertial coordinates, dynamic Coriolis occurs. Since Coriolis is proportional to the product of the angular velocities of two perpendicular axes of the sense element 132, it is proportional to the product of the angular velocity ω around the rotation axis 40 of the lens barrel 1 in inertial coordinates and the angular velocity due to forced vibration. The sense element 132 is mechanically strained by Coriolis and generates an electrical signal by piezoelectric action. If the output of the sense element 132 is synchronously detected at the same frequency as the forced vibration by the synchronous detection circuit 134, and the low frequency component (approximately DC to 100 Hz) of the detection output is extracted by the low-pass filter 136,
Angular velocity ω around the rotation axis 40 of the lens barrel 1 in inertial coordinates
A signal proportional to the distance is obtained.

The output signal C of the position detector 11 and the output signal d of the angular velocity detector 12 are combined in a combiner 13 to obtain a combined signal e. The synthesizer 13 includes A/D converters 21 and 22, an arithmetic unit 23, a memory 24, and a D/A converter 26. The A/D converter 21 produces a digital signal p corresponding to the value of the output signal C of the position detector 11. Further, the A/D converter 22 generates a digital signal q corresponding to the value of the output signal d of the angular velocity detector 12. The arithmetic unit 23 operates according to a predetermined built-in program (described later) stored in the ROM area (read-only memory area) of the memory 24, performs calculations, synthesizes the synthesized digital signal W, and sends the synthesized digital signal W to the D/A converter. 26 to obtain a composite signal e.

It is preferable to use a successive conversion type configuration for the A/D converters 21 and 22. FIG. 6 shows a specific configuration of the successive conversion type A/D converter 21 (the same applies to the A/D converter 22). Input signal C and D/A conversion circuit 147
The output signals m of are compared by a comparator 141,
A comparison signal n is obtained according to the magnitude relationship. The oscillation circuit 146 generates a clock pulse 1 of a predetermined frequency. The signal from the arithmetic unit 23 is normally "H" (high potential state) and becomes "L" (low potential state) when reading the digital signal p. Therefore, the inverter circuit 142 and the AND circuit 143 , 144 outputs the clock pulse 1 to the counter circuit 14 according to the comparator signal n.
The internal state is subtracted by 1 by input pulses from the down pulse input terminal or up pulse input terminal of 6.
The internal state is added one by one according to the input pulse to the up pulse input terminal U. The internal state of the counter circuit 146 is output as a digital signal p, and the D/A converter 14
At step 7, the digital signal p is converted into an analog signal m corresponding to the digital signal p. As a result, the digital signal p of the counter circuit 146 becomes a value corresponding to the input signal C.

The arithmetic unit 23 sets the signal to "L" for a predetermined short time to stop the operation of the counter circuit 146, and reads a stable digital signal p.

Similarly, the arithmetic unit 23 sets the signal k to "L" for a predetermined short time to read a stable digital signal q.

The output signal e of the D/A converter 26 of the synthesizer 13 is sent to the driver 1.
A voltage signal (or current signal) f proportional to the signal e is input to the coils 104a and 10 of the actuator 3.
4b. FIG. 6 shows a specific configuration of the driver 14. Operational amplifier 161 and transistors 164 and 15
5 and resistors 162 and 163 constitute a power amplification circuit, which outputs a voltage signal f obtained by amplifying the signal e by a predetermined factor.

The built-in program of the arithmetic unit 23 will be explained.

Figure 7 shows the basic flowchart, and Figure 8 (-)
-(f) show detailed flowcharts of each part. first,
The basic flowchart in Fig. 7 will be explained (in addition,
The numbers ■ to ■ represent nodes and correspond to the numbers in FIG. 8).

[1] (Control operation when stationary) 181 (corresponds to synthesis means)
: Corresponds to how to create a composite signal when photographing a stationary subject.

[2] <Pan start detection> 182 (corresponds to the pan start detection means in the pan operation detection means): Detects the start of panning operation, shifts to [3] when panning operation is in progress, and shifts to [1] when panning operation is not performed. Return to

(3) <Gain setting)'l 83 (corresponding to the gain setting means in the panning operation detection means): Sets the control gain according to the situation at the time of detecting the start of the panning operation.

[4] (Control operation during panning) 184 (corresponding to synthesis means): Corresponds to how to create a composite signal during panning operation.

(5) <Gain correction) 185 (corresponding to gain correction means): Corrects the control gain according to the movement of the lens barrel section 1 during the panning operation. In particular, by changing the combination ratio of the digital signal from the position detector 11 and the digital signal from the angular velocity detector 12, the relative ratio is increased or decreased.

[6] <Pan end detection) 186 (corresponds to the pan end detecting means in the pan action detecting means): Detects the end of the panning operation, and when the panning operation continues, returns to [4] and ends the panning operation. When you do that, return to [1].

In this embodiment, panning start detection 182 (panning start detection means), gain setting 183 (gain setter stage), and panning end detection 186 (panning end detection means) are used to detect panning operation. do. In Figure 8 (-),
A flowchart of control operation when stationary>181 is shown.

[11] Waiting for interrupt from timer.

The timer generates an interrupt signal at predetermined intervals (TI=5 msec), and when an interrupt occurs, the process moves to [12].

[12] Set the signal to "L" for a predetermined short time, input the digital signal p, and store it in the variable Pn.

[13] Set the signal k to "L" for a predetermined short time, input the digital signal q, and store it in the variable On.

(14) Subtract a predetermined reference value Pr from Pn.
=Pn-Pr), and a digital value P corresponding to the relative angle θh between the lens barrel portion 1 and the support body 2 is calculated. Similarly, by subtracting a predetermined reference value Or from On (Q=On - Or), a digital value Q corresponding to the angular velocity ω of the lens barrel section 1 viewed from the inertial coordinates is calculated. Note that the calculation formula means that the calculation result on the right side is assigned to the variable on the left side and stored.

[16] Set the composite ratio to 1 (the composite ratio is directly related to the relative ratio). Multiply P by 0, add and combine with Q to obtain the composite digital value E (E = D * P + Q0
Note that * means multiplication. ).

[16] Output E to the D/A converter 25 and convert it into an analog signal e.

[1'7''l Add 1 to the counting variable N with N1 as mod (N=N+1 (modNl)) (,
That is, 1 is added to N and newly stored in N, and if the value of N is equal to N1, N is set to 0. Here, N1=10
I have to.

[18] If N is not 0, the process returns to [11], and if N is 0, the process moves to [21] of <Pan Start Detection> 182. That is, every N 1 $ T I = 50 m5 ec〈
Panning start detection> 182 is performed.

FIG. 8(b) shows a flowchart for detecting start of bunting>182.

[21] Subtract PI from P and store it in variable V (
V=P−PX). The value obtained by multiplying P by N1 (Hl is a constant) and V
A value obtained by multiplying by N2 (N2 is a constant) is added and stored in variable WK (W=H1*P+H2*V).

P is a new P! (Px=P). That is, Pg is the value of P N1*71 hours ago, and ■ corresponds to the relative angular velocity (differential value of the relative angle θh) between the lens barrel portion 1 and the main body case 2. Therefore, W is a composite value of the relative angle θh (g) and the relative angular velocity (to).

(22) If I P 1 (Pl (Pl is a constant), then control operation when stationary)> Returns to [11] of 181, IPI × Pl
If not, go to [23].

(23) IPI>P2 (P2 is a constant larger than Pl)
If so, move to [31] of <Gain Settings> 183, and set the IP
I) If it is not P2, go to [24].

(24) lWl )Wl (Wl is a constant), then gain setting>183 [31] K transition, IWI>Wl
If not, return to [11] of Control operation when stationary> 181.

[22] to [24] of the above-mentioned Kuppan Start Detection>182
In IQ, the start of the panning operation is detected using a digital value P corresponding to the relative angle θh and a digital value V corresponding to the relative angular velocity.

FIG. 9 shows the detection area for the start of the panning operation using P and V (the shaded area in the figure). Line a corresponds to IPI=P1, line S corresponds to l P 1=P2, line C corresponds to 1Wl=
Corresponds to W1. Based on the values of P and ■, it is determined that the panning operation has started when the hatched area shown in the figure is entered.

That is, when the relative angle θh between the lens barrel portion 1 and the main body case 2 is outside the predetermined range (IPI>P2), or when the relative angle θh is outside the predetermined range (IPI) Pl), the relative angle θh and the relative If the composite value (W) of angular velocity is outside the predetermined range (
When IWI>Wl), the start of the panning operation is detected. In addition, the dotted line part in FIG. 9 represents the end of the movable limit, and lPlPlim means the collision between the lens barrel part 1 and the main body case 2.

FIG. 8(C) shows a 70-chart of "Gain Setting>183".

(31) From IPI to P3 (P3 is a constant such that P3≦P2)
The value obtained by subtracting is multiplied by 1 (K1 is a constant including 0), and 1v1
The value obtained by subtracting vl (vl is a constant) from the value corresponding to the relative angle θh or (and) the relative angular velocity at the time of detection of the start of the angular movement is set as the initial value of the composite ratio (
initial value setting means).

(32) When D is smaller than Dl, D is set to Dl (lower limit value limiting means). Here, Dl is a constant of about 1, for example, D1=1°1:33) D is D2
When it is larger than , D is set to D2' (upper limit limiter). Here, D2 is a constant much larger than 1,
For example, D 2 =25°. FIG. 8(d) shows a flowchart of the control operation during panning>184.

[41] Waiting for interrupt from timer.

The timer is set every predetermined time (every T 1 = 5 m5ea)
An interrupt signal is generated, and when an interrupt occurs, the process moves to [42].

[42] Set the signal to "L" for a predetermined short time, input the digital signal p, and store it in the variable Pn.

[43] Set the signal k to "L" for a predetermined short time, input the digital signal q, and store it in the variable Qn.

(44) Subtract a predetermined reference value Pr from Pn, P=
Pn-Pr), a digital value P corresponding to the relative angle θh between the lens barrel portion 1 and the support body 2 is calculated. Similarly, by subtracting a predetermined reference value Or from Qn (Q=On-Or), a digital value Q corresponding to the angular velocity ω of the lens barrel section 1 viewed from the inertial coordinates is calculated.

[46] After multiplying P by the synthesis ratio, add and synthesize with Q to obtain a synthesized digital value E (E=D*P+Q).

C46') Output E to the D/A converter 26 and convert it into an analog signal e.

[:47': Set count variable N to +1 with lN2 as nod (N = N+1 (nod N2))
. That is, 1 is added to N and newly stored in N, and if the value of N is equal to N2, N is set to 0. Here, N2=
I'm setting it to 10.

(4B) If N is not 0, return to [41]; if N is 0, proceed to [61] of <Gain Modification> 186.

That is, <gain correction> 186 is performed every N 2 *T 1 = 50 m5ec.

However, the value of the composite ratio is significantly different.

FIG. 8(,) shows a flowchart for gain adjustment f>185.

(sl) Subtract Px from P and store it in ■ (V=
P-PI) Make oP the new Px (P=Px).

When the sign of P is positive, the variable S is set to 1, and when P is 00, the variable S is set to 1.
is also set to 0, and when the sign of P is negative, S is set to -1 (S
= sgn(g)). Multiply S and V to get Y (Y
=S4cV). In other words, ■ is the relative angular velocity (relative angle θ
The value corresponds to the differential value of b).

In addition, Y is IV if the signs of P and ζV match.
If the sign of P is different from the sign of V, it becomes equal to -1vl.

C52 When Y≧Y1 (Yl is a negative constant including 0), go to [63], and when Y2 (Y (Yl (Y2 is a negative constant)), go to [61] of 186,
When Y≦Y2, go to [64].

[63] Synthesis ratio D f M Multiply by 1 to create new D (D=D*M1) oHere, Ml is a constant larger than 1, for example, M1=1.1°, that is, the synthesis ratio The ratio is increased by a predetermined ratio M1. After that, when D is larger than D2, D is set to D2 (upper limit limiter). Next, go to [61] of <Pan End Detection> 186.

[64] Set the synthesis ratio to 1/N1 to create a new D (D=D/M1). In other words, the composite ratio is set to a predetermined ratio M
Make it smaller by 1. After that, when D is smaller than Dl, D is set to Dl (lower limit value limiting means). next,<
Go to [e1] of bread end detection> 186.

In the gain correction> 186 described above, the combination ratio D (relative ratio) is increased or decreased in accordance with the digital value (2) corresponding to the relative angular velocity. In particular, when the signs of V and P match, the combination ratio is increased, and when the signs of V and P differ, and IVI is larger than a predetermined value (-Y2), the combination ratio is increased. I'm keeping it small.

FIG. 8(1) shows a flowchart of <pan end detection> 186.

1:61] When I Q l < 01 (Q, 1 is a constant), go to [62], and when l Q I < 01, return to [41] of Control operation at banyu and go > 184.

(62) When IPI<P4 (P4 is a constant), go to [63], and when IPI<P4, go back to [41] of Control operation during panning>184.

C63] Return to [11] of 181, 1v1 <control operation at rest, which does not occur when v2 (v2 is a constant), and IVI<V2
Control operation during panning> 184 [4]
Return to 1].

In the above-mentioned panning completion detection> 186, the angular velocity ω of the lens barrel 1 seen from the inertial coordinates is within a predetermined range (IQl x Ql).
Otherwise, the relative angle θh between the lens barrel part 1 and the main body case 2 is within the predetermined range (IPI<P4), and the relative angular velocity (differential value of the relative angle θh) is within the predetermined range (IVI<V2). The end of the panning operation is detected by this.

Next, the image stabilization characteristics of this photographic device will be explained.

In the control block diagram shown in FIG. 10, the relative angle θh between the angle θ of the lens barrel 1 and the angle θ of the main body case 2 when viewed from the inertial coordinates is θh = θ knee θ. It is easily detected by the sensing Hall element 6. The Hall element 6 and the position detector 11 are represented by a block 204, and a signal C (position detector 1
1 output signal) is obtained. On the other hand, the angular velocity ω of the lens barrel 1 viewed from the inertial coordinates is detected by the angular velocity sensor 6 and the angular velocity detector 12, and is represented by the cascade connection of blocks 2 (15 and 206. That is, the angular velocity sensor 6 and the synchronous detection circuit 134 Block 2o6) detects the signal multiplied by ω to -, and the low-pass filter 136 reduces and removes the ripple voltage at high frequencies of fh = ωh/2π = 10oH1 or higher (block 2o6), making it necessary to change ω□. A signal d having a frequency component (DC to 100 Hz) is generated. The combiner 13 is represented by a block 207 and an addition point 208, which multiplies the signal C by 0 and then adds and combines it with the signal d to obtain a composite signal e. Driver 14
The number f is converted into torque Tm. Here, R is coil 1
In the combined resistance value of 04a and 104b, l and xt are torque constants. The block 201 is the mechanical moment of inertia of the lens barrel 1) and the angular velocity is calculated from the torque Tm due to Tm. represents the transmission to; P··ri2 (12 represents the relationship between ω-factor and θ-factor. Here, B means the Laplace operator.

Now, the term related to frequency (block 206) in the transfer function from the angular velocity ω to the signal d is expressed as F(s) = (ω
h/(a+ωh)) ・---(1), L = C-(Kt/R) −(1/Um) −
−−・−(2), then θ from θ. The transfer function to G(fl) = θlθX = (B@DL)/(s・s +F(s)・A−L−i
+B-D-L)...(3) It becomes. Here, ω1=2π11f1=(B-D)/A (4
)ω2=2πφf2: A, L...
・When setting (6), ω = 2π・f ＜<ω = 2π・f ・・・
…(6) ωh=2π・fh〉〉ω2 −・・
...(7). Actually, f1=0.1H
2, f2=10Hz, fh=100Hz.

If we do this, F(jω)=1 in the frequency range from fl to f2, so the frequency transfer function G(j
The curved line approximation board characteristic of ω) is as shown in FIG. That is, the transfer characteristic G(jω) of the rotation angle θ of the lens barrel 1 with respect to the rotation angle 08° of the main body case 2 in inertial coordinates is 1 in the frequency range below the first corner frequency f1.
(odB) (line ■), and in the frequency range of 11 or more and below the second corner frequency f2, it is attenuated by -6 dBloat (line ■), and in the frequency range of 12 or more, -12 dBloa
(of a line) that is attenuated at t (such a property is expressed by f
2≧6・f 1 t f h≧3・f2).

From Fig. 11, θ from the vibration of θ mechanical in the frequency range of 14 or more. The amount transmitted to the vibration becomes smaller.

The degree is 2 dB difference between odB (line ■) and the characteristic line.
is expressed by

FIG. 12 shows the measurement results of fluctuations in the rotation angle θ8 of the main body case in one direction when photographing with a photographing device (video camera) without an anti-vibration mechanism (spectrum analysis). This corresponds to a change in the rotation angle θ of the main body case 2 when the operator stands still on the ground while holding the photographing device in his hand and photographs a stationary subject.

Looking at this, it can be seen that there is a large variation in the range of 0.5 Hz to 6 Hz. Therefore, if the anti-vibration characteristics of this photographing device are made as shown in FIG. 11, then the rotation angle θ of the main body case 2
It can be seen that the rotation angle 0 of the lens barrel section 1 hardly changes regardless of the fluctuation of 8, and the fluctuation of the photographic screen becomes significantly small. In other words, stable and easy-to-view video shooting becomes possible. In particular, this effect can be obtained by setting f1≦α5Hz.

Furthermore, in this embodiment, the built-in program of the synthesizer 13 can include a panning motion detection means and a gain correction means. Next, this will be explained.

When photographing a moving subject using a photographing device (video camera), the operator rotates around himself or herself as an axis of rotation while keeping the subject from leaving the photographic screen (this operation is called a panning operation). During the panning operation, the photographing device is rotating in one direction in the inertial coordinates. At this time, since this photographing apparatus performs vibration-proofing operation with the characteristics shown in FIG. 11, the rotation angle θ of the lens barrel portion 1 increases as the rotation angle θ8 of the main body case 2 increases.

The following operation is considerably delayed. First, a disadvantage when the synthesis ratio of the synthesizer 13 is constant (D=1) will be explained. As understood from Fig. 11 and equation (4), the addition point 2
The smaller the relative ratio B-D/A of the detection gains B and D of the relative angle θh up to 08 and the detection gain A of the angular velocity ω is, the smaller f1 is. It is necessary to select a small size. That is, the generated torque Tm with a small detection gain B could only generate a small torque corresponding to at most B·θh1 (θh1 is the value of the relative angle θh corresponding to the end of the movable limit).

If the torque Tm generated by the actuator 30 is small, the acceleration of the lens barrel section 1 will be small, and the rotation angle θ of the lens barrel section 1 will decrease with respect to the increase in the rotation angle θ of the main body case 2 due to the panning operation.
The increase in labor costs will be significantly delayed. As a result, the main body case 2 and the lens barrel 1 collided at the movable limit end (1θhl=θh1), and the operator felt the impact force due to the collision. Such collisions tend to damage the imaging device and give discomfort to the operator, and should be avoided as much as possible.

In this embodiment, the panning motion detection means detects that a panning motion is in progress, and the gain correction means changes the composite ratio according to the digital value V corresponding to the relative angular velocity, thereby increasing or decreasing the relative ratios B and D/A. I'm letting you do it. As a result, the relative ratio B-D/A during the panning operation is larger than the relative ratio B/A during the control operation at rest, and the torque Tm generated by the actuator 3 also increases, so that the main body case 2 due to the panning operation The lens barrel portion 1 can be accelerated to sufficiently follow the increase in the rotation angle θ8. As a result, the lens barrel part 1
Collision between the main body case 2 and the main body case 2 can be prevented.

Next, this will be explained in more detail. The panning start detecting means of the panning motion detecting means detects when the relative angle θh is outside a predetermined range based on the digital value P corresponding to the relative angle θh between the lens barrel section 1 and the main body case 2 and the digital value V corresponding to the relative angular velocity. The start of the panning operation is detected when the relative angle and the relative angular velocity fall outside a predetermined range. When not panning (when photographing a stationary subject),
The relative angle θh varies slightly within a predetermined narrow range, and the relative angular velocity is also small. That is, the absolute values of the digital values p, v, and w are sufficiently small, and the control operation when the arithmetic unit 23 is stationary>181 is repeated. Also, the composite ratio is 1.

If the panning operation is started in such a state, the lens barrel portion 1
Since the 0 angle θ□ does not change, the absolute value of the relative angle θh increases, and the absolute value of the relative angular velocity also increases. the result,
<Panning Start Detection> At 182, the digital values P and 2 enter the panning operation start detection area of FIG. 9, and the panning operation is detected.

In <Gain setting> 183, a synthesis ratio corresponding to P and ■ at the start of the panning operation is set, and <
Control operation during panning> 1840 Proceed to control operation. Usually, a value larger than 1 is given as an initial value for the composition ratio.

Modification of gain> At step 186, the degree of change in the digital value P corresponding to the relative angle at the next point in time is checked from the value of the digital value V corresponding to the relative angular velocity at that time, and the composite ratio is corrected. . For example, if V has the same sign as P, the composite ratio is increased and the torque Tm generated by the actuator 30 is increased (torque related to D and P is generated).

Therefore, the lens barrel section 1 is accelerated by a sufficiently large acceleration, and the angle .theta. of the lens barrel section 1 increases substantially following the increase in the angle .theta. of the main body case 20 due to the panning operation. As a result, collision between the lens barrel portion 1 and the main body case 2 is prevented. That is, the increase in IPl is suppressed, and conversely, IPl begins to decrease.

Also, V has a different sign from P, and its absolute value IVI is a predetermined value (
IY21) If the ratio is also large, the combination ratio is made small to reduce the degree of decrease in IPI. This is it! D, IPl gradually decreases toward O,
Prevents rapid movement of the shooting screen. In other words, the movement of the photographic screen during the panning operation becomes smooth, resulting in an extremely easy-to-see screen.

During the panning operation, since the composite ratio increases, the angle θ of the lens barrel 1 follows the increase in the angle θ of the main body case 2 due to panning. will also increase. In other words, the angular velocity ω of the lens barrel 1 matches or almost matches the angular velocity of the main body case 2 due to panning (as seen from the inertial coordinates), and ω
IQI is outside the predetermined range (IQI>01).

After the panning operation is completed, the operator of the photographing device moves on to normal photographing of a stationary subject. When the panning operation is completed, the angle θ8 of the main body case 2 hardly changes, so the angle θ of the lens barrel portion 1. also tries to stay at a value that coincides with θ8. Along with this, the angular velocity θ of the lens barrel portion 1 becomes a small value within a predetermined range or zero, and the relative angle θh and relative angular velocity also settle down to small values.

That is, the absolute value of the digital value Q corresponding to the angular velocity ω of the lens barrel portion 1 is smaller than Ql (IQl<01).
, the absolute value of the digital value P corresponding to the relative angle θ8 between the lens barrel 1 and the main body case 2 is smaller than P4 (IPI
<P4), the absolute value of the digital value V corresponding to the relative angular velocity between the lens barrel section 1 and the main body case 2 is smaller than v2 (
IVI<V2). As a result, the end of the panning operation is detected in panning end detection> 186, and the process moves to <control operation when stationary> 181.

Thereafter, the control operation during standstill>181 is continued until the next panning operation is started. When the next panning operation occurs, the panning start detection 182 detects it according to the above-mentioned operation, moves to the panning control operation 184, and ends the panning operation by the panning end detection 186. <Control operation during panning> 184 is performed until .

In the embodiment described above, the synthesis ratio is increased or decreased by a predetermined ratio in the <gain modification> 185, but the present invention is not limited to such a case.

FIG. 13(a) shows another 70-chart example of <Gain Modification> 186. In this example, the composition ratio is increased or decreased by a predetermined value. This will be explained.

[101] Subtract Pg from P and store it in ■ (V=P
-Pg). Let P be a new Pg (P=PK).

When the P6 sign is positive, the variable S is set to 1, and P is. When , S
is also set to 0, and when the sign of P is negative, S is set to -1 (s=
=sgn(g)). Multiply S and V to get Y (Y=S
*v).

(1 (12) When Y≧Y1 (Yl is a negative constant including 0), go to (103) and calculate Y2(Y(Yl (Y2
is a negative constant), [61
], and when Y≦Y2 (0 o'clock, go to (104)).

(103) Add M2 to the composite ratio to create a new D (D=D+M2). Here, M2 is a constant smaller than 1, for example, M2=0.2°, that is, the composite ratio is made larger than the predetermined value M2.

After that, when D is larger than D2, D is set to D2 (upper limit limit means). Next, <Bread end detection> 186
Go to [61].

C104) Subtract M2 from the composite ratio to create a new D CD=D-M2). In other words, the composite ratio is set to a predetermined value M
Make it smaller by 2. After that, when D is smaller than Dl, D is set to Dl (lower limit value limiting means).Next, the process goes to [61] of ``Punning end detection'' 186.

Further, FIG. 13(b) shows another example of a flowchart of gain correction>186. In this example, relative angular velocity (v)
The synthesis ratio is increased or decreased at a ratio according to the digital value Y related to the . I will explain this in detail.

[111] Subtract Px from P and store it in ■ (V=
P-Pc). Let P be the new Px (P=Px).

When the sign of P is positive, the variable S is set to 1, and when P is 0, the variable S is set to 1.
is also set to 0, and when the sign of P is negative, S is set to -1 (S
= 5qn(P)). Multiply S and V to get Y (
Y=S*V).

[112] When Y≧Y1 (Yl is a negative constant including 0), go to (113'), and when Y2<Y<Yl (Y2 is a negative constant), go to [61] of 186. If Y≦Y2, go to (:114).

[:113] Multiply the value of Y plus Ys (Ys is a positive constant) by M3 (M3 is a constant), add 1 to that value, and get M
Store in d (Md = 1 +M3* (Y+Ya))
.

Multiply the composite ratio by Md to create a new D (D=D*Md
). That is, the composite ratio is increased by the ratio Md according to the relative angular velocity (V). After that, when D is greater than D2, set D to D2 (multiply the value in the top row by M3 and 1
．． Add 1 to that value and store it in Md (Md = 1-
1-M3* (IYl-Y4)).

Set the synthesis ratio to 1/Md to create a new D (D=D/
Md)o That is, the composite ratio is made smaller by the ratio Md according to the relative angular velocity (V). After that, when D is smaller than Dl, D is set to Dl (lower limit value limiting means).

Next, go to [61] of <Pan End Detection> 186.

Further, FIG. 13(c) shows another example of a flowchart of gain correction>186. In this example, relative angular velocity (V)
The synthesis ratio is increased or decreased by a value corresponding to the digital value Y related to . Explain this 0 (121) Subtract Px from P and store it in ■ (
V=P-Pg)o Make P the new Px (P=Pri).

When the sign of P is positive, the variable S is set to 1, and when P is 0, the variable S is set to 1.
is set to O, and when the sign of P is negative (sets 4s to -1)
S=ggn(P)). S,! Multiply by -V to get Y (y, ,=s*v).

(122) When Y≧Y1 (Yl is a negative constant including 0), go to (123), and when Y2<Y<Yl (Y2 is a negative constant), go to [61] of 186 □, when Y≦Y2, go to [124].

[123') Multiply the value obtained by adding Ys (Ys is a positive constant) to Y by M4 (M4 is a constant) and store it in Md (Md
=M4$(Y+Y3)). Add Md to the composite ratio to create a new D (D=D+Md). That is, the composite ratio is increased by a value Md corresponding to the relative angular velocity (V). After that, when D exceeds D2, D is set to D2 (upper limit limit means).

Next, go to [61] of <Pan End Detection> 186.

[124] I Y The value obtained by subtracting Y4 (Y4 is a positive constant) is multiplied by M4 and stored in Md (Md=M4
*(IYI-Y4)). Subtract Md from the composite ratio to obtain a new D (D=D-Md). That is, the composite ratio is made smaller by the value Md according to the relative angular velocity (V). After that, when D is smaller than Dl, set D to Dl (
lower limit value limiting means). Next, click [Bread end detection] 186.
61].

In the above embodiment, the relative ratio (B, D/A) of the detection gain B-D of the relative angle θh and the detection gain A of the angular velocity ω was increased or decreased by changing the composite ratio. ,
The present invention is not limited to such cases. For example, it goes without saying that the gain of the position detector 11 may be increased or decreased, or the gain of the angular velocity detector 12 may be increased or decreased, and these are included in the present invention.

In addition, in the panning start detection>182 of the above-mentioned embodiment, the digital value V corresponding to the relative angle θh is used to detect
Although the start of panning was detected when these entered the shaded area in FIG. 9, the present invention is not limited to such a case. FIG. 14 shows another example of a flowchart of Detection of start of breading>182. In this example, the start of the panning operation is detected when the relative angle θh(P) falls outside a predetermined range. This will be explained.

[:201] Set P to new Px (Px=P).

[:2(12]l P l (If P2' (P2 is a constant), then control operation at rest>Returns to [11] of 181, 1
If it is not P2, go to [31] of Gain Setting>1B3.

Furthermore, FIG. 14(b) shows another example of a flowchart for <pan start detection> 182. In this example, the relative angle θh(
() is outside the specified range, or the relative angle (
The start of the panning operation is detected when the composite value (W) of the relative angular velocity (V) and the relative angular velocity (V) falls outside a predetermined range (this is slightly different from the panning start detection area in FIG. 9). This will be explained 0 [:211] Subtract Px from P and store it in variable V (V=P-PI). Add the value obtained by multiplying P by H1 (Hl is a constant) and the value obtained by multiplying V by H2 (H2 is a constant) and store it in variable W. (W = H1 * P + H2 * V
).

Make P a new PI (P!=P).

(212) If IPI>P2 (P2 is a constant), move to (a1') in <gain setting> 183, and set IPI)P
If it is not 2, go to (213).

(213) If IWI>Wl (Wl is a constant), move to [31] of Gain Setting>183, and set [11] of IWI.
Return to ].

In addition, in the panning end detection>186 of the above-mentioned embodiment, the digital value Q corresponding to the angular velocity ω and the relative angle θ
Although the end of panning is detected when the absolute values of the digital values V corresponding to the relative angular velocities of P corresponding to h become smaller, the present invention is not limited to such a case. In Figure 1'6 (-)
Other examples of bread end detection> 186 are shown below. In this example, the angular velocity ωm of the lens barrel 1 as seen from the inertial coordinates is
When (Q) falls within a predetermined range, the end of the panning operation is detected and confirmed. This will be explained.

(301) If IQI<01 (Ql is a constant), then according to [11] of <Control operation at rest> 181, IQl<0
If it is not 1, then control operation during panning>184 [
41].

Further, FIG. 16(b) shows another 70-chart example of <pan end detection> 186. In this example, the angular velocity ωm(Q
) is not within the specified range, and the relative angle θh (P)
The end of the panning operation is detected when the value falls within a predetermined range. This will be explained.

(311) If IQl<01 (Ql is a constant), go to (:312), and return to [41] of IQI (if not Ql, then control operation during panning)>184.

[312] If IPI<P4 (P4 is a constant), return to <Control operation at rest> 181 [11] and find that IPI<P
If it is not 4, <Control operation during panning> 184 [
Return to 41゛.

As shown in the embodiments described above, the vibration isolation mechanism of the photographing apparatus of the present invention does not require an air chamber, and can be made small and lightweight. Furthermore, the number of sensors is small and the cost is low. Furthermore, the relative position is detected by a Hall element (magnetic sensing element) that detects the magnetic field of the actuator's magnet, so the configuration is simple - 1'! Also, the number of parts is small.

Note that the detection of the magnetic field of the magnet is not limited to the Hall element, but may also use a magnetoresistive element or a supersaturating actor.

Furthermore, the panning motion detection means and gain modifier can be easily constructed, and collisions between the lens barrel and the support during panning motion can be prevented.Of course, the scope of application of this imaging device is limited to video cameras. In addition, various changes can be made without changing the spirit of the present invention.

Effects of the Invention The photographing device of the present invention detects the relative position of the lens barrel and the support and the angular velocity of the lens barrel, and drives and controls the lens barrel using an actuator so as to suppress fluctuations in both. This greatly reduces vibrations in the lens barrel. Furthermore, a panning motion detection means and a gain correction means are provided to prevent collision between the lens barrel and the support. Therefore, if a video camera, for example, is configured based on the present invention, it is possible to easily obtain a small, lightweight, high-performance video camera with an anti-vibration mechanism.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an imaging device according to an embodiment of the present invention, and FIGS. 2(a), (b), and (C) show the specific configuration of the actuator in FIG. 1 and the angular velocity detector in FIG. Figure 6 is a diagram showing the specific configuration of the A/D converter, Figure 6 is a diagram showing the specific configuration of the driver in Figure 1, and Figure 7 is a diagram showing the built-in program of the synthesizer. A diagram representing a basic flowchart,
Figures 8(-) to (f) are diagrams showing detailed flowcharts of each part, Figure 9 is a diagram showing the panning start detection area, Figure 10 is a block diagram of the vibration isolation mechanism, and Figure 11 is from θ8 to θ. The first diagram represents the frequency transfer function G(iω) to the
Figure 2 is a diagram showing the state of variation in θ, and Figure 13 0~(C
) is a diagram representing another flowchart of <Gain correction> 186, FIG.
Figure 16 (-) represents another flowchart of 2.
FIG. 16 is a diagram showing another flowchart of (b) Detection of end of panning> 186, and a configuration diagram showing an example of a conventional anti-vibration mechanism. 1... Lens barrel section, 2... Body case (support body), 3... Actuator, 4...
・Rotation axis, 6...Hall element (magnetic sensing element), 6
...Angular velocity sensor, 7...Fixing member,
11...Position detector, 12...Angular velocity detector, 13...Synthesizer, 14...Driver, 21.22...・A/D converter, 23...
...Arithmetic unit, 24...Memory, 26...
...D/A converter, 41...Image sensor, 42
......Image signal processor, G... Lens barrel section 1
center of gravity. Name of agent: Patent attorney Toshio Nakao and one other personjI
31!1゛ 4th fA Ward Rumor C1 Figure 6' ---------ff -1-'ゝ14 8th Flash 18 Figure 8 @ Figure 8 Figure 9 B False Figure 11111 Figure 12 f (Ht) Fig. 13 Fig. 13 Fig. 131!1 Fig. 15

Claims (19)

[Claims] (1) A lens barrel section equipped with multiple lenses and an image sensor,
an image signal processing means that generates an image signal from an electric signal obtained by the image sensor; and a support that rotatably supports the lens barrel about a rotation axis that is orthogonal or substantially orthogonal to the axis of the incident light beam to the lens barrel. an actuator means attached between the lens barrel section and the support body for rotationally driving the lens barrel section; a position detection means for detecting a relative angle between the lens barrel section and the support body; and an inertial coordinate system. angular velocity detection means for detecting the angular velocity of the lens barrel section around the rotation axis as seen from the rotational axis; synthesis means for synthesizing the output signal of the position detection means and the output signal of the angular velocity detection means; and a synthesis signal of the synthesis means. a driving means for supplying electric power to the actuator means in response to the change, a panning motion detecting means for detecting that a panning operation is in progress, and a relative ratio between a detection gain of the position detecting means and a detection gain of the angular velocity detecting means. gain modifying means, and when the panning motion detecting means detects that a panning operation is in progress, the gain modifying means is operated and the gain modifying means is operated to adjust the gain according to the relative angular velocity between the lens barrel section and the support body. A photographic device that increases or decreases the relative ratio. (2) The photographing device according to claim (1), wherein the rotation axis of the actuator means passes through the center of gravity of the lens barrel portion or near the center of gravity. (3) The photographing device according to claim (1), wherein an angular velocity sensor based on a vibrating gyro is used as the angular velocity detection means. (4) The transfer characteristic of the rotation angle of the lens barrel with respect to the rotation angle of the support body in inertial coordinates is set to 1 in the frequency range below the first corner frequency f_1, and the second corner frequency f_2 ( In the frequency range below f_1<f_2), it is attenuated by -6 dB/oct, and in the frequency range above f_2, it is attenuated by -1
The imaging device according to claim (1), characterized in that the attenuation is performed at 2 dB/oct. (5) The photographing device according to claim 1, wherein the gain modifying means increases or decreases the relative ratio between the detection gain of the position detection means and the detection gain of the angular velocity detection means by a predetermined ratio. (6) The photographing device according to claim (1), wherein the gain modifying means increases or decreases the relative ratio of the detection gain of the position detection means and the detection gain of the angular velocity detection means by a predetermined value. (7) The gain modifying means is characterized in that the relative ratio between the detection gain of the position detection means and the detection gain of the angular velocity detection means is increased or decreased in accordance with the relative angular velocity of the lens barrel section and the support body at that time. An imaging device according to claim (1). (8) The gain modifying means is characterized in that the relative ratio between the detection gain of the position detection means and the detection gain of the angular velocity detection means is increased or decreased by a value corresponding to the relative angular velocity of the lens barrel section and the support body at that time. An imaging device according to claim (1). (9) The panning motion detection means is comprised of a panning start detection means for detecting the start of the panning motion and a panning end detection means for detecting the end of the panning motion. ). (10) The panning start detection means detects the start of the panning operation when the relative angle between the lens barrel and the support body falls outside a predetermined range.
9) The imaging device described in section 9). (11) The pan start detection means detects that the relative angle between the lens barrel section and the support body is outside a predetermined range, or that the composite value of the relative angular velocity of the lens barrel section and the support body and the relative angle is within a predetermined range. The photographing apparatus according to claim (9), wherein the start of the panning operation is detected when the position is outside the range of . (12) The panning start detection means detects the relative angle between the lens barrel and the support body based on the output signal of the position detection means, as set forth in claim (10) or (11). Photography equipment. (13) Claim (9) characterized in that the panning end detection means detects the end of the panning operation when the angular velocity of the lens barrel section as seen from the inertial coordinates falls within a predetermined range. Photographic equipment described. (14) The photographing apparatus according to claim (13), wherein the pan end detection means detects the angular velocity of the lens barrel section as seen from the inertial coordinates based on the output signal of the angular velocity detection means. (15) The end of panning detection means detects when the angular velocity of the lens barrel as seen from the inertial coordinates is within a predetermined range and the relative angle between the lens barrel and the support is within a predetermined range. The imaging device according to claim 9, characterized in that the end of the operation is detected. (16) The end of panning detection means is configured such that the angular velocity of the lens barrel section as seen from inertial coordinates is within a predetermined range, the relative angle between the lens barrel section and the support is within a predetermined range, and the lens barrel section 9. The photographing device according to claim 9, wherein the end of the panning operation is detected when the relative angle between the support body and the support body falls within a predetermined range. (17) The panning end detection means detects the angular velocity of the lens barrel viewed from the inertial coordinates using the output signal of the angular velocity detection means, and detects the relative angle between the lens barrel and the support using the output signal of the position detection means. An imaging device according to claim (15) or (16), characterized in that: (18) The panning motion detecting means includes a panning start detecting means for detecting the start of the panning motion, a panning end detecting means for detecting the end of the panning motion, and a panning motion detecting means that detects the start of the panning motion at the time when the panning motion detecting means detects the start of the panning motion. Claim (1) characterized in that it is configured to include gain setting means for setting a value corresponding to the relative angle or relative angular velocity between the lens barrel portion and the support body as an initial relative ratio.
Photographic equipment as described in section. (19) The photographing apparatus according to claim (1), wherein the gain modifying means changes the synthesis ratio of the output signal of the position detection means and the output signal of the angular velocity detection means in the synthesis means.