JPS61255174A - Photographic device - Google Patents

Abstract

PURPOSE:To remarkably reduce a shaking in a lens barrel section and to employ for a portable video camera by operating a gain correcting means when a tilting operation is detected by a tilting operation detecting means, and by increasing and decreasing a relative ratio according to a relative angular velocity between the lens barrel section and a supporting body. CONSTITUTION:A titling start detecting means detects the start of the tilting operation from the fact that a relative angle thetah, or a synthetic 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 value of 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 angle at the next time, the synthetic ratio D is corrected. For instance, if V is the same code as P, the synthetic ratio D is made larger and a generating torque Tm of an actuator 3 is enlarged. Accordingly, almost following to an increase of the angle thetax of the main body case 2, an angle thetam of the lens barrel section 1 is increased and the collision therebetween can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a photographing device having an anti-vibration mechanism that minimizes vibrations of the lens barrel regardless of vibrations of the support (main body, case). In particular, the present invention provides a compact 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. 16K shows a sectional view showing the structure of such a conventional vibration isolation mechanism.

In FIG. 16, an air chamber 606 is formed between the surface plate 601 and the support stand 602, and an air compressor ff104 is formed in the air chamber 606.
Compressed air is sent from the pipe 603 through the pipe 603. As a result, an air layer with very weak springiness is formed between the surface plate 601 and the support base 602.

Therefore, even if the support base 602 vibrates greatly, the surface plate 501
Almost no vibration is transmitted to the

Problems to be Solved by the Invention In such a conventional vibration isolation mechanism, since compressed air is used, an air chamber SOS is required, and the size becomes large. Additionally, it requires a compressor, is noisy, and takes up a large footprint. Therefore, such a conventional anti-vibration mechanism cannot be used for anti-vibration 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 that rotatably supports the lens barrel about a rotation axis that is orthogonal or substantially orthogonal to the axis of incident light; a support that is attached between the lens barrel and the support to rotate the lens barrel; actuator means for driving, position detection means for detecting the relative angle between the lens barrel section and the support body, angular velocity detection means for detecting the angular velocity of the lens barrel section about the rotation axis as seen from inertial coordinates, and the position a synthesizing means for synthesizing an output signal of the detecting means and an output signal of the angular velocity detecting means; a driving means for supplying electric power to the actuator means according to the synthesized signal of the synthesizing means; and detecting that a tilt operation is being performed. The tilting motion detecting means includes a tilting motion detecting means and a gain modifying means for increasing or decreasing a relative ratio between the detection gain of the position detecting means and the detection gain of the angular velocity detecting means, and the tilting motion detecting means detects that the tilting motion is being performed. Sometimes, the above object is achieved by operating the gain modifying means to increase or decrease the relative ratio according to the relative angular velocity between the lens barrel section and the support body.

Effect of the Invention With the above configuration, the present invention detects the relative position of the lens barrel and the support and the angular velocity of the lens barrel, and drives the lens barrel by the actuator so as to suppress fluctuations in both. -Controlled to significantly reduce vibrations in the lens barrel. Furthermore, 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 the tilt operation by the gain correction means, the delay in movement of the lens barrel during the tilt 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 section 1 and the main body case 2 (support body), and rotates the lens barrel section 1 in the pitch direction about the rotation axis 4 (in use, the lens barrel section 1 can rotate freely on an almost vertical plane). A rotation shaft 4 of the actuator 3 passes through the center of gravity G of the lens barrel section 1 and is rotatably supported by the main body case 2. 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), (b), and (c) show the specific configuration of the K actuator 3. FIG. In FIG. 2, a back yoke 101 made of a ferromagnetic material of a magnet 102 is attached to the lens barrel portion 1 and rotates together with the rotating shaft 4. The magnet) 102 is magnetized into four poles and generates field magnetic flux.

Coil yoke 1 to which bearing 107 of rotating shaft 4 is attached
A coil 104a and a Hall element (magnetic sensing element) 6 are fixed to the coil 104a.

In this example, the magnet 102 is attached to the lens barrel portion 1 and the coil yoke 103 is attached to the main body case 2 (note that this relationship may be reversed). coil 1
04a and 104b are connected in series, and a rotational torque is generated by the current flowing from the terminals 105 to 106 and the magnetic flux of the magnet 102. Further, the Hall element 6 is disposed substantially opposite to the switching portion of the magnetic pole of the magnet 102, and generates a cosignal with the magnet 102 (angular position θrn of the lens barrel portion 10). In addition, θ. is the angle of the lens barrel 1 around the rotation axis 4 as seen from the absolute space coordinate system (inertial coordinates), and θ8 is the angle of the main body case 2 around the rotation axis 40 as seen from the same inertial coordinates.

An output signal a of the Hall element 5 that detects the magnetic flux of the magnet 102 of the actuator 3 is input to the position detector 11. FIG. 3 shows the specific configuration of the position detector 11 ◇The DC signal obtained at the two output terminals of the Hall element 6 is transferred to
The output signal C is obtained by differentially amplifying the signal by a predetermined factor using a differential amplifier circuit consisting of the following.

Further, there is an angular velocity sensor 6 consisting of a vibrating gyro.

The detection axis of the angular velocity sensor 6 is the actuator 30 rotation axis 4
, and the rotation axis 4 of the lens barrel section 10 in the inertial coordinates
Outputs an output signal in response to the rotational angular velocity around
The output signal of the angular velocity sensor 6 is inputted to the angular velocity detector 12 (C, and is a signal d proportional to the angular velocity ω around the rotation axis 40 of the lens barrel section 10 viewed from the inertial coordinates, or proportional to a component in a predetermined frequency range of the angular velocity ω). - Figure 4 shows the specific configuration of the angular velocity detector 12 - The forced vibration circuit 133 has a sine wave oscillation circuit with a predetermined frequency (1k), and the angular velocity sensor 6 is activated by the oscillation frequency signal. The drive element 131 made of a piezoelectric element is forcibly vibrated.The sense element 132 made of a piezoelectric element is placed in mechanical contact with the drive element 131, so that the drive element 131 is forced to vibrate. 131. At this time, when the lens barrel section 1 rotates 40 times on the rotation axis in inertial coordinates, mechanical Coriolis is generated. Coriolis is caused by the sense element 13
The sense element 132 is Mechanical strain is generated by Coriolis, and an electric signal is generated by piezoelectric action.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 of the detected output is detected by the low-pass filter 13°6. (DC ~ 100Hz, about), the lens barrel 10 rotation axis 4 in inertial coordinates
A signal proportional to the angular velocity ω of 0 times 9 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 the synthesizer 13 to obtain the composite signal e. The device 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 generates a digital signal p corresponding to the value of the output signal C of the position detector 11. Furthermore, the A/D converter 22 generates a digital signal p corresponding to the value of the output signal C of the angular velocity detector 12. A corresponding digital signal q is generated. The arithmetic unit 23 operates according to a predetermined built-in program (to be described later) stored in the ROM area (read-only memory area) of the memory 24, and receives the digital signal p of the A/D converter 21 and the digital signal p of the A/D converter 22. signal q
are taken into a RAM area (random access memory area) K, subjected to predetermined calculations and then synthesized, and a synthesized digital signal W is output to the D/A converter 26 to obtain a synthesized 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 (A/D converter The same applies to 22) 0 human 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. In the oscillation circuit 146, the signal from the 0 arithmetic unit 23 which generates the clock pulse l of a predetermined frequency is normally "H" (high potential state), and when reading the digital signal p, the signal is 1L'. '' (low potential state). Therefore, the inverter circuit 142 and AND circuits 143 and 144 input the clock pulse l to the down pulse input terminal or up pulse input terminal U of the counter circuit 146 according to the comparison signal n. (When the signal is "H1")
The 0-power counter circuit 146 subtracts the internal state by 1 in response to the input pulse to the down pulse input terminal U, and subtracts the internal state by 1 in response 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, which is converted by a D/A converter 147 into an analog signal m corresponding to the digital signal p. As a result, the digital signal p of the counter circuit 146 has a value corresponding to the input signal C.

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

Similarly, the arithmetic unit 23 sets the signal k to 1L# for a predetermined short time and reads a stable digital signal q.

The output signal e of the D/A converter 25 of the synthesizer 13 is sent to the driver 1.
A voltage signal (or current signal) 1 proportional to the signal e is input to the coil 104a, 10 of the actuator 3.
4b. FIG. 6 shows a specific configuration of the driver 14. Operational amplifier 161 and transistor 164, 1
58 and resistors 162 and 163, and outputs a voltage signal f obtained by amplifying the signal e by a predetermined time.〇The built-in program of the arithmetic unit 23 will be explained.〇The basic flowchart is shown in Fig. 7, and Figure 8 (-) ~ (1
) shows a detailed flowchart of each part. First, we will explain the basic flowchart in Figure 7 (note that the numbers ■
~■ represents a node and corresponds to the number in Figure 8)
0 [1] Control operation when stationary> 181 (corresponds to composition means): Corresponds to how to create a composite signal when photographing a stationary subject.

[2] <Tilt start detection) 182 (corresponds to the tilt start detection means in the tilt operation detection means): Detects the start of tilt operation, and shifts to [3] when a tilt operation is in progress, and to [3] when it is not a tilt operation. Return to 1] 0 [3] <Gain setting) 183 (corresponding to the gain setting means in the tilt motion detection means): Set the control gain according to the situation at the time of detecting the start of the tilt motion 0 [4] Control operation during tilt) 1
84 (corresponds to synthesis means): Corresponds to how to create a synthesis signal during tilt operation.

[6] <Gain modification) 18B (corresponds to gain modification means)
: The control gain is corrected according to the movement of the lens barrel section 1 during the tilt 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 The ratio is increasing or decreasing.

[6] Tilt end detection) 1se (corresponds to the tilt end detection means in the tilt motion detection means): Detects the end of the tilt motion, and when the tilt motion continues, returns to [4] and ends the tilt motion. When you do that, return to [1].

In this embodiment, the tilt operation detection means is constituted by tilt start detection 182 (tilt start detection means), gain setting 183 (gain setting means), and tilt end detection 186 (tilt end detection means). (Gain setting> 183 (gain setting means) is not necessarily necessary) Next, the operation flowchart of each part will be explained. A flowchart is shown.

[11] Waiting for interrupt from timer.

The timer generates an interrupt signal at predetermined time intervals (every T1=5ms+ec), and when an interrupt occurs, the process moves to [12].

[12] Set the signal k to "L" for a predetermined short time and input the digital signal p, and store it in the variable Pn. ◇ [13] Set the signal k to "1L" for a predetermined short time and input the digital signal q. 〇(14) 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, from Qn, a predetermined reference value Qr
By subtracting Q=On-Q r ), a digital value Q corresponding to the angular velocity ω□ of the lens barrel section 10 viewed from the inertial coordinate system 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 PtD, add and combine with Q to obtain a composite digital value E (E ==D * P +Q
O Note that * means multiplication. ).

[16] Output E to the D/A converter 26 and convert it into an analog signal e.

[17] Set N1 as mod and add 1 to the counting variable N.
( N = N + 1 (mod N 1
) ) o That is, add 1 to N and store it in N anew, and if the value of N is equal to N1, set N to 0. here,
N1=10.

(1g) If N is not o, return to [11]; if N is 0, proceed to [21] of <Tilt start detection> 182. That is, <tilt start detection> 182 is performed every N1 *'TI = 50 ms + ec.
) shows a flowchart of <Tilt start detection> 182.

(21) Subtract Px from P and store it in variable V (
V=P-P, the value obtained by multiplying P by N1 (Hl is a constant) and the value obtained by multiplying V by N2 (N2 is a constant) are added, and a variable WK is stored f (W=H1*P+H2*V).

Set P to new Px (Pz=P), that is, Pg is the value of P from N1*T1 hours ago, and ■ is the relative angular velocity between lens barrel 1 and main body case 2 (differential of relative angle θh) value). Therefore, W becomes a composite value between the relative angle θh (P) and the relative angular velocity.

(22) l P l (If Pl (Pl is a constant), the control operation at the hour of φ returns to [11] in 181, and if IPI is not Pl, it goes to [23] 〇 (23) IPI) P2 ( P2 is a constant larger than Pl), then move to [31] of Gain Setting>183,
IPI) If not P2, go to [24] 0 (24)
IWl )Wl (Wl is a constant) then gain setting>
183 [31], and if it is not 1Wl) Wl, return to <Control operation at rest> 181 [11] 〇 Tilt start detection as described above> 182 [22]
], the digital value P corresponding to the relative angle 0h
The start of the tilt operation is detected based on the digital value V corresponding to the relative angular velocity.

FIG. 9 shows the detection area of the start of the tilt operation by P and V (the shaded area in the figure). Line a corresponds to 1Pl=P1,
The line C corresponds to 1Pl=P2, and the line C corresponds to 1Wl=W1. Based on the values of p and v, it is determined that the tilt operation has started when the hatched area shown in the figure is entered. That is, if 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 composite value (W) of the relative angle θh and relative angular velocity is outside the predetermined range (IWI>Wl).
), the start of the tilt operation is detected. In addition, the dotted line part in FIG. 9 represents the end of the movable limit, and l
Pl=Plim means a collision between the lens barrel section 1 and the main body case 2.

FIG. 8(C) shows a flowchart of "Gain Setting>183".

(31) The value obtained by subtracting P3 (P3 is a constant such that P3≦P2) from IPI is multiplied by 1 (K1 is a constant including 0), and I
The value obtained by subtracting Vl (Vl is a constant) from VI is doubled (K
2 is a constant including 0) and add them to obtain the composite ratio (D = 1*(IPI - P3) + 2*(l
VlV1))o That is, a value corresponding to the relative angle θh or (and) relative angular velocity at the time of detecting the start of the tilt operation 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). ζ Here, Dl is a constant of about 1, for example, D1 = 1° (33) When D is larger than D2, D is set to D2 (upper limit limiter).
. Here, D2 is a constant considerably larger than 1, for example, D2=25°.A flowchart of the control operation during tilting 184 is shown in FIG. 8(d).

[41] Waiting for an interrupt from the timer ◎ The timer generates an interrupt signal at predetermined intervals (every T 1 = 5 m sea), and when an interrupt occurs, the process moves to [42].

[42] Set the signal k to "L" for a predetermined short time, input the digital signal p, and store it in the variable Pn.〇[43] Set the signal k to "L" for a predetermined short time, input the digital signal q, Store in the variable On.

(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 (o==on-Qr), the angular velocity ω of the lens barrel section 1 seen from the inertial coordinates is obtained.

Calculate the digital value Q corresponding to 〇 [46] Multiply P by the synthesis ratio and then add and synthesize with Q to obtain the synthesized digital value E 0: = D * P + Q ) 0 (46) E to D/A It is output to a converter 26 and converted into an analog signal e.

(47) Increase the counting variable N by 1 with N2 as mod (N=N+ 1 (mod N 2 ))
o In other words, add 1 to N and store it in new N, and if the value of N is equal to N2, OIC N.0 Here, N2
= 10 (4JB3 If N is not 0, return to [41] and set N
If is 0, shift to [51] of gain correction〉186.In other words, every N2*T 1 =50m sec〈
Gain correction>186 is performed.

The above-mentioned control operation during tilt> 184 and <control operation during standstill> 181 are basically the same control operation, but the values of the composite ratios are significantly different.

FIG. 8(e) shows a flowchart of gain correction>186.

(51) Subtract Px from P and store it in ■ (V=
P−Px), and let P become the new Pg (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=
ign(P)) Multiply O8 and V to make Y (Y=S,
4ev). That is, ■ becomes a value corresponding to the relative angular velocity (differential value of the relative angle θh). Also, Y is the sign of P and V
When the signs of P and V match, it becomes equal to IVI, and when the signs of P and V differ, it becomes equal to -IVI.

(52) When Y≧Y1 (Yl is a negative constant including 0), go to [63], and when N2<Y<Yl (N2 is a negative constant), go to [61] of Tilt End Detection>186. , when Y≦Y2, go to (54)K @[63] Multiply the composite ratio by N1 to create new D (D=D*M1)0Here, Ml is a constant larger than 1, For example, M
1=1.10 ie.

The composite ratio is increased by a predetermined ratio M1. After that, when D is larger than D2, it is set to Dt-D2 (upper limit limiter). Next, click [Tilt End Detection] 186.
61].

[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
After that, when D is smaller than Dl, D is set to Dl (lower limit value limiting means). Next, go to [61] of [Tilt 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 V 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 are different and tv+ is larger than a predetermined value (-N2), the combination ratio is decreased. Figure 8 (7) Tilt end detection〉18
6 shows the flowchart 〇(61) When IQI<01 (Ql is a constant)
62] and return to [41] of 184, Control operation at tilt, which does not work when IQI<01. O[62) IP
When I<P4 (P4 is a constant), go to [63] and IP
Return to [41] of I (control operation at tilt, which does not work when not Pa)> 184.

(as) lV When I<V2 (V2 is a constant), control operation at the time of injury> 181 [11] K return, 1v1<v2
If not, <Control operation during tilt> 184 [41]
Return to

In the above-mentioned tilt end detection> 186, the angular velocity ω of the lens barrel section 10 seen from the inertial coordinates is within a predetermined range (IQI<01
), the relative angle θh between the lens barrel part 1 and the main body case 2 is within a predetermined range (IPI<P4), and the relative angular velocity (differential value of the relative angle θh) is within a predetermined range (IVI<V2). As a result, the end of the tilt operation is detected.

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 θ8 of the main body case 2 from the inertial coordinates is θ8−θ, which detects the magnetic field of the magnet 102 of the actuator 3. It is easily detected by the Hall element 6. Hall element 6 and position detector 11 are block 2
04, and the signal C (position detector 11
output signal). On the other hand, the lens barrel section 1 seen from the inertial coordinates
angular velocity ω. is detected by the angular velocity sensor 6 and the angular velocity detector 12, and is represented by the cascade connection of blocks 205 and 206. That is, ω is determined by the angular velocity sensor 6 and the synchronous detection circuit 134. block 2o5), the low-pass filter 136 detects the signal multiplied by -.
h=(dh/2 π= High frequency ripple voltage of 100 Hz or more is reduced and eliminated (block 206), ω
A signal d of a frequency component (DC to 10o6) that requires a change in the mechanical strength is extracted. 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
In block 209 corresponding to , the signal e is amplified by a factor of 0 to obtain a voltage signal f. In block 210 corresponding to actuator 3, voltage signal f is equal to torque Tm[
converted. Here, R is the coil 104a and 104b
, and Kt is the torque constant. Block 201 represents the transmission of torque Tm to angular velocity ω due to the mechanical moment of inertia Tm of the lens barrel 1, and block 202 represents the relationship between ω and θ. Here, s means a love m m lath operator.

Now, in the transfer function from the angular velocity ω to the signal d, the term related to the frequency (block 2o6) is expressed as F(s) = I
a+h/(s+a+h) l ・・---・
・−・−・−(1), L=C−(Kt/R)−(1,4m) ・−・−・・
−・−−−−・(2), then θ to θ. The transfer function to G(s)=θ! n/θ engineering = (BIID@L)/I I *s+F(s) J
L@L@s+B*D@L]・・・・・・・・・・−-
--(3) becomes. Here, ω = 2π・fl = (B, D)/A ・・・・・・・・・
・・・−(4ω2=2′r□f2 =A, L ・・・・・・・・・・・・・
...When setting (6), ω1=2π・fl(ω2=2π・f2 system...
−・1・・(6)ωh=2π・fh)ω2・
・・・・・・・・・・・・・・・(7) Actually, f1=0.1an, f2=10an, fh=10o
I live in a hermitage.

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(j-) of the rotation angle θ□ of the lens barrel 1 to the rotation angle θ8 of the main body case 2 in inertial coordinates is as follows.
1(
OdB) (line ■), and in the frequency range of 11 or higher and below the second corner frequency f2, it is attenuated at -6 dB/oct (line ■), and in the frequency range of 12 or higher, it is -12 dBloat.
(line ■) (Such characteristics are observed when f2≧6
・fl, fh≧3・f2).

From FIG. 11, the amount of transmission from the vibration of θ8 to the vibration of θ mechanical becomes small in the frequency range of 14 or higher.

The degree is 2 dB difference between 0 dB (line ■) and the characteristic line.
It is expressed as Kyo2.

FIG. 12 shows the measurement results of fluctuations in the rotation angle θ of the main body case in the pitch direction when photographing with a sound imaging device (video camera) without an anti-vibration mechanism (spectrum analysis). this is,
This corresponds to fluctuations in the rotation angle θ of a main body case 2 when an operator photographs a subject stationary on the ground while holding a photographing device in his hand. Looking at this, it can be seen that there is a large variation in the range of 0.6) h to 5 h. Therefore, if the image stabilization characteristics of this photographing device are set to the characteristics shown in FIG. 11, the rotation angle θ of the lens barrel 1 will hardly change regardless of the fluctuation of the rotation angle θ8 of the main body case 2, and the photographing screen will change. It can be seen that the fluctuation becomes significantly smaller. In other words, stable and easy-to-view video shooting becomes possible. In particular, this effect can be obtained by setting f1≦0.61.

Furthermore, in this embodiment, the built-in program of the synthesizer 13 includes a tilt motion detection means and a gain correction means, so even if the camera performs a high-speed tilt motion, the lens barrel section 1 and main body case 2 collision can be prevented. Next, this will be explained.

When photographing a large subject using a photographic device (video camera: is called tilt operation). During the tilt operation, the photographing device is rotating in the pitch direction in the inertial coordinates. At this time,
Since this photographing apparatus performs a vibration-proofing operation having the characteristics shown in FIG. 11, the following operation of the rotation angle θ of the lens barrel portion 1 is considerably delayed as the rotation angle θ of the main body case 2 increases. 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 detection gains B and D of the relative angle θh up to the addition point 208 and the angular velocity ω.

The smaller the relative ratio B-D/A of the detection gain A, the smaller f1 becomes, and the better the anti-vibration characteristics become. Therefore, it is necessary to select a relatively small relative ratio. That is, it is necessary to set the detection gain B small. However, when the detection gain B of the position detector 11 is reduced, the torque Tm generated by the actuator 3 is only a small torque corresponding to at most B·θh, (θh1 is the value of the relative angle θh corresponding to the end of the movable limit). Could not occur. If the torque Tm generated by the actuator 3 is small, the acceleration of the lens barrel section 1 is small, and the rotation angle .theta. increase 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 photographing device and cause discomfort to the operator.

Must be avoided as much as possible.

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

Next, this will be explained in more detail. The tilt start detection means of the tilt operation detection means detects the relative angle θh using a digital value P corresponding to the relative angle θh between the lens barrel section 1 and the main body case 2 and a digital value V corresponding to the relative angular velocity.
is outside the specified range, or the relative angle and the composite value of the relative angle are outside the specified range.
The start of tilt operation is detected. When the camera is not tilting (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 digital value p
, v, and w are sufficiently small, and the arithmetic unit 23 repeats the control operation when stationary>181. Also, the composite ratio is 1.

If the tilt operation is started in such a state, the angle θ of the lens barrel portion 1 will change despite the increase in the main body case θ8. does not change, the absolute value of the relative angle θh increases, and the absolute value of the relative angular velocity also increases. As a result, in <Tilt Start Detection> 182, the digital values P and ■ enter the tilt operation start detection area in FIG. 9, and the tilt operation is detected.

In 183, the synthesis ratio corresponding to P and 2 at the start of the tilt operation is set, and the process moves to the control operation in 184, control operation during tilt. Usually, a value larger than 1 is given as an initial value for the composition ratio.

In <Gain correction> 186, the degree of change in the digital value P corresponding to the relative angle at the next time point 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 generated torque Tm of the actuator 3 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 2 due to the tilting operation. the result,
Collision between the lens barrel portion 1 and the main body case 2 is prevented. In other words, an increase in IPI is suppressed, and conversely, IPI is reduced.

Further, V has a different sign from P, and its absolute value II is a predetermined value (l
Y21) When the ratio is also large, the combination ratio is made small to reduce the degree of decrease in IPI. As a result, the IPI gradually decreases toward 0, and rapid movement of the photographic screen is prevented. In other words, the photographic screen moves smoothly during the tilt operation, resulting in a very easy-to-read screen.

During the tilt operation, since the composite ratio is large, the angle θ of the lens barrel portion 1 also increases as the angle θ of the main body case 2 increases due to the tilt. That is, the angular velocity ω of the lens barrel portion 1 matches or substantially matches the angular velocity of the main body case 2 when chilled (as seen from inertial coordinates), and ω0 is outside the predetermined range (IQI>01).

After the tilt operation is completed, the operator of the photographing device moves on to normal photographing of a stationary subject. When the tilt operation is finished, the angle θ of the main body case 2 hardly changes, so the angle θ of the lens barrel 1 changes. ◎Along with this, the angular velocity ω of the lens barrel 1 must be a small value within a predetermined range or 0, and the relative angle θ h
Then, the relative angular velocity also settles down to a small value. In other words, the digital value Q corresponding to the angular velocity ω of the lens barrel 1
The absolute value of is smaller than Ql (IQI<01), and 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<P
4), the absolute value of the digital value V corresponding to the relative angular velocity between the lens barrel 1 and the main body case 2 is smaller than v2 (IV
I<V2), as a result, the end of the tilt operation is detected in <Tilt End Detection> 186, and the process moves to <Control Operation During Standstill>> 181.

Thereafter, continue the control operation at standstill>181 until the next tilt operation starts.In addition, when the next tilt operation occurs, follow the above operation.Tilt start detection>1
82 detects this, moves to <tilt control operation> 184, and performs tilt control operation> 184 until the end of the tilt operation is detected by <tilt end detection> 186.

In the embodiment described above, the synthesis ratio was increased or decreased by a predetermined ratio in <Gain Modification> 186, but the present invention is not limited to such a case.

FIG. 13(a) shows another example of a flowchart of "Correction of gain>186". In this example, the composition ratio is increased or decreased by a predetermined value. This will be explained.

[101] Subtract P from P and store it in ■ (v=p
-p,). Let P be the new P8 (P=P,).

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
= sgn(P) ) Multiply oS and V to get Y (Y=*V).

(102) When Y≧Y1 (Yl is a negative constant including 0), go to (103), and when Y2<Y<Yl (Y2 is a negative constant), go to (103). Tilt end detection> 186 (7) (6
1), and when Y≦Y2(7), go to (104).

[103] Add M2 to the composite ratio to create a new D (D=D-1-M2). Here, M2 is a constant smaller than 1, for example, M2=0.2°, that is, the composite ratio is increased by a predetermined value M2.0 Then, when D is larger than D2, p is set to D2. (upper limit limit means). Next, go to [61] of [Tilt End Detection] 186.

(104) Subtract M2 from the synthesis ratio p to obtain a new D (D=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 Tilt end detection> 186.

Furthermore, FIG. 13(b) shows another example of a flowchart of gain correction>185. In this example, the composite ratio is increased or decreased according to the digital value Y related to the relative angular velocity concavity. Explain this O [111] P to P! Subtract and store in ■ (v=
p-p, )o p to new p! , (P = P engineering) o
When the sign of P is positive, the variable S is set to 1, and when P is O, 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
= 5crn(P)) Multiply oS and V to get Y (Y=S*V).

(112) Y≧Y1 (Yl is a negative constant including 0)
When Y2<Y<Yl (Y2 is a negative constant), the process goes to (113), and when Y2
], and when Y≦Y2, go to (114).

(113) Multiply the value of Y by Y3 (Y3 is a positive constant) by Ms (Ms is a constant), add 1 to that value, and get M
d (Md=1+M3*(YlY3)).

Multiply the composite ratio by Md to create a new D (D=D*Md
). In other words, the composite ratio is the ratio M according to the relative angular velocity concavity.
Then, when D is larger than D2, p is increased to D2 (upper limit limiter) 0 Then,
Tilt end detection> Go to [61] of 186.

(114) l Y l minus Y4 (Y4 is a positive constant), multiply it by Ms times, add 1 to that value, and store it in Md ( Md = 1 + M3 * (l Y l -
Y4)) o Set the synthesis ratio to 1/Md and create a new D
(D=D/Md). That is, the composite ratio is reduced by a ratio Md corresponding to the relative angular velocity (2). After that,
When D is smaller than Dl, Df and Dl are set (lower limit value limiting means). Next, click [6] of [Tilt End Detection] 186.
Go to 1].

Furthermore, FIG. 13(C) shows another example of a flowchart of gain correction>185. In this example, the relative angular velocity (t)
The synthesis ratio is increased or decreased by a value corresponding to the digital value Y related to ◎ This will be explained.

(121) Subtract P from P and store it in ■ (v
=p-plC)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 also set to 0, and when the sign of P is negative, S is set to -1 (S
=-sgn(P)) Multiply os and V to get Y (Y=
S*V).

(122) Y≧Y1 (Yl is a negative constant including 0)
When , the process goes to (123), and when Y2<Y<Yl (Y2 is a negative constant), it goes to [61
], and when Y≦Y2, go to (124) 〇 (123) The value obtained by adding Y3 (Y3 is a positive constant) to Y is multiplied by M4 (Md is a constant) and stored in Md (Md = M
4*(YlYa)). Add Md to the composite ratio to create a new D (D=I)+Md). That is, the composite ratio is increased by a value Md corresponding to the relative angular velocity (g). After that, when D is larger than D2, D is set to D2 (upper limit limit means).

Next, go to [61] of Tilt End Detection>186 0 (124) I, Yl to Y4 (Y4 is a positive constant)
Multiply the direct value by M4 and store it in Md (Md = M4
*(IYI-Y4)) o Subtract Md from the composite ratio to obtain a new D (D, , = D - Md). In other words, the composite ratio is reduced by the value Md corresponding to the relative angular velocity (g). Then, when D is smaller than Dl, D is reduced to Dl.
(lower limit value limiting means). Next, go to [61] of Tilt End Detection>186.

In addition, in the above-mentioned 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, 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 it goes without saying that this is included in the present invention.

In addition, in the tilt start detection> 182 of the above-described embodiment, these are determined by the digital value P corresponding to the relative angle θh and the digital value V corresponding to the relative angular velocity.
A: The start of tilt is detected by entering the shaded area in the figure; however, the present invention is not limited to such a case. FIG. 14 (-) shows another example of a flowchart of tilt start detection> 182. In this example, the start of the tilt operation is detected because the relative angle θh (P) is outside the predetermined range. Engineering = P).

(202) If IPI<P2 (P2 is a constant), then control operation at rest> Return to [11] of 181 and calculate IPI(P2).
If it is not 2, go to [31] of Gain Setting>183.

Furthermore, FIG. 14(b) shows another example of a flowchart for <tilt start detection> 182. In this example, the relative angle θh
(P) is outside the predetermined range, or the composite value (4) between the relative angle (P) and relative angular velocity is outside the predetermined range, and the start of the tilt operation is detected. (slightly different from the tilt start detection area in FIG. 9) This will be explained below.

(211) P to P! Subtract and store in variable V -7
- (V = P - Prio 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 the variable W (W = H1 * P + H2*v
).

Let P be a new Pg (P!=P).

[212) If I P l > P2 (P2 is a constant), then move to [31] of [Gain Setting] 183, and set IPI
> If not P2, go to (213).

(213) IWl )Wl (Wl is a constant), then proceed to gain setting>183 [31], and IWI>Wl
If not, return to [11] of Control operation when stationary> 181.

Further, in the tilt end detection>186 of the above-described embodiment, the angular velocity ω. The end of the tilt was detected by the digital value Q corresponding to the relative angle θh, the digital value P corresponding to the relative angle θh, and the digital value V corresponding to the relative angular velocity when their absolute values became smaller, but the present invention detects the end of the tilt. This is not limited to such cases. FIG. 16(-) shows another example of a flowchart for <tilt end detection> 186.

In this example, the end of the tilting operation is detected when the angular velocity ωmQ of the lens barrel section 10 as seen from the inertial coordinates falls within a predetermined range. Explain this ◎ (301)
If IQI<01 (Ql is a constant), the process returns to [11] of the control operation at standstill>181, and returns to [41] of the control operation during tilting>184 if IQI<01 (if Ql is not the case).

Furthermore, another 70-chart example of 186 in FIG. 16) Tilt End Detection is shown. In this example, the end of the tilt operation is detected when the angular velocity ωmQ falls within a predetermined range 9 and the relative angle θh (Pl falls within a predetermined range).This will be explained.

(311) If l Q l < 01 (Ql is a constant), go to (312), and if IQI < ol, then return to [41] of Tilt Control Operation> 184 (312)
If IPI<P4 (P4 is a constant), return to [11] of Control operation when stationary> 181, and return to [41] of IPI (control operation when tilting)> 184 if not P4.

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 smaller and lighter.

Furthermore, the number of sensors is small and the cost is low. moreover,
Since relative position detection is performed using a Hall element (magnetic sensing element) that detects the magnetic field of the actuator's magnet, the configuration is simple and the number of parts is small. In addition,
In addition to the Hall element, a magnetoresistive element or a supersaturated reactor may be used to detect the magnetic field of the magnet.

Further, the tilt motion detection means and the gain correction means can be easily configured, and collision between the lens barrel and the support during tilt motion can be prevented. Of course, the scope of application of this photographing device is not limited to video cameras. others,
Various modifications can be made without changing the spirit of the 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 controls the lens barrel by actuator means to suppress fluctuations in both. The lens barrel is driven and controlled to significantly reduce vibrations in the lens barrel. Furthermore, a tilt motion detection means and a gain correction means are provided,
It also prevents collisions 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 a photographing device according to an embodiment of the present invention, FIGS. FIG. 4 is a diagram showing the specific configuration of the position detector in FIG. 1, FIG. 5 is a diagram showing the specific configuration of the angular velocity detector in FIG.
6 is a diagram showing the specific configuration of the converter, FIG. 6 is a diagram showing the specific configuration of the driver in FIG. 1, FIG. 7 is a diagram showing the basic flowchart of the synthesizer's built-in program, and FIG.
-) to (1) are diagrams showing detailed flowcharts of each part, Figure 9 is a diagram showing the tilt start detection area, Figure 10 is a block diagram of the vibration isolation mechanism, and Figure 11 is the frequency from θ8 to θ machining. Figure 12 is a diagram representing the transfer function G(jω), Figure 12 is a diagram representing the state of fluctuation of θ, Figures 13 (,) to (c) are diagrams representing other flowcharts of modification of gain>186, Figure 12 is a diagram representing changes in θ Figure 14 (-), (b) Foil tilt start detection〉182
FIG. 16(a) is a diagram showing another flowchart of. (4) C. A diagram showing another flowchart of <Tilt end detection> 186, and FIG. 16 is a configuration diagram showing an example of a conventional vibration isolation 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〇Name of agent Patent attorney Toshio Nakao and 1 other person
2 Figure 13 Figure 41! l Fig. 5 11 Fig. 6 Fig. 17 Fig. 8 Fig. 8 tb) Fig. 8 (C) Fig. 8 Fig. 8 Fig. 8 t7) Fig. 9 Fig. 10 Fig. 11 Fig. 12 J (St) Figure 13 Figure 13 Figure 13 Figure 14 = Figure 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 according to the above, a tilting motion detecting means for detecting that the tilting motion 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 tilting motion detecting means detects that the tilting motion is in progress, the gain modifying means is operated, and the gain modifying means is operated 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 tilt motion detection means is comprised of a tilt start detection means for detecting the start of the tilt motion and a tilt end detection means for detecting the end of the tilt motion. ). (10) The tilt start detection means detects the start of the tilt operation when the relative angle between the lens barrel section and the support body is outside a predetermined range.
). (11) The tilt 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. 10. The photographing apparatus according to claim 9, wherein the start of the tilting operation is detected when the position is outside the range of . (12) Claims (10) or (11) characterized in that the tilt start detection means detects the relative angle between the lens barrel and the support body using an output signal of the position detection means.
Photographic equipment as described in section. (13) Claim (9) characterized in that the tilt end detection means detects the end of the tilt 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 device according to claim (13), wherein the tilt end detection means detects the angular velocity of the lens barrel section viewed from the inertial coordinates based on the output signal of the angular velocity detection means. (15) The tilt end detection means detects when the angular velocity of the lens barrel section as seen from the inertial coordinates falls within a predetermined range and the relative angle between the lens barrel section and the support body falls within a predetermined range.
The photographing device according to claim 9, characterized in that the end of the tilting operation is detected. (16) The tilt end detection means is configured such that the angular velocity of the lens barrel section as seen from inertial coordinates falls within a predetermined range, the relative angle between the lens barrel section and the support body falls within a predetermined range, and the lens barrel section 9. The photographing device according to claim 9, wherein the end of the tilting operation is detected when the relative angular velocity of the support body falls within a predetermined range. (17) The tilt end detection means detects the angular velocity of the lens barrel section viewed from the inertial coordinates using the output signal of the angular velocity detection means,
The photographing apparatus according to claim 15 or 16, wherein the relative angle between the lens barrel portion and the support body is detected by an output signal of a position detecting means. (18) The tilt operation detection means includes a tilt start detection means for detecting the start of the tilt operation, a tilt end detection means for detecting the end of the tilt operation, and a tilt operation detection means for detecting the start of the tilt operation at the time when the tilt start detection means detects the start of the tilt operation. Claim (1) characterized in that the apparatus includes gain setting means for setting a value corresponding to the relative angle or relative angular velocity between the lens barrel part and the support body as an initial relative ratio. Photography equipment. (19) The photographing device according to claim (1), wherein the gain modifying means changes the combination ratio of the output signal of the position detection means and the output signal of the angular velocity detection means in the combination means.