JPS62152279A - Photographing device - Google Patents

Abstract

PURPOSE:To reduce the vibration of a tube part by detecting a relative angle of the tube part and a support base and an angular velocity around a rotating shaft watching from an inertia coordinate of the tube part and driving and controlling by an actuator means so as to suppress the fluctuation thereof. CONSTITUTION:The relative angle of the tube part 1 and the support base 15 is detected by an angle detecting means 6 and the angular velocity around the rotating shaft watching from the inertia coordinate of the tube part 1 is detected by an angular velocity detecting means 7. The tube part 1 is driven and controlled by the actuator means 4 so as to suppress the relative angle and the angular velocity and the vibration is reduced. Further, by a tilt start and completion detecting circuit 12, the delay of the tube part 1 during a tilting operation is made small completely in a practical manner and the movement of the tube part 1 during the tilting operation is controlled smoothly by a relative angle command circuit 10.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a photographic device equipped with an anti-vibration mechanism that minimizes the vibration of the lens barrel despite the vibration of the support, and particularly relates to a portable photographic device. The present invention provides a small and lightweight photographing device that can be used in video cameras and the like.

2. Description of the Related Art Conventional vibration isolation mechanisms are widely used in which vibrations are suppressed from being transmitted from the support f3 to a surface plate or the like using air pressure or oil pressure. Figure 11 shows a conventional vibration isolation mechanism (
, 14 configurations are not shown and cross-sectional views are shown.

In FIG. 11, an air chamber 105 is formed between the constant M 101 and the support stand 102, and an air compressor 104 is formed.
Compressed air is sent from the pipe 103 through the pipe 103. As a result, an air layer with very weak springiness is formed between the surface plate 101 and the support base 102.

Therefore, even if the support base 102 vibrates greatly, the surface plate 101
Almost no vibration is transmitted to the

When taking images that require image stabilization, the video camera is placed on the surface plate +01 of the above-mentioned anti-JFI mechanism.

Problems to be Solved by the Invention Since such conventional vibration isolation mechanisms use compressed air, they require a compressor and an air chamber, making them too large to be portable. Another problem was that the compressor made a lot of noise.

When handling a photographic device using such a conventional anti-vibration mechanism, if a tilt operation is performed, the tracking ability of the photographic device becomes poor due to the anti-vibration mechanism, making the photographer feel uncomfortable, but at the same time it does not work properly. There was a problem that tilt shooting was not possible.

In consideration of these points, it is an object of the present invention to provide a photographing device that is small and lightweight and has a high-performance image stabilization mechanism that can also be used in portable video cameras.

Means for Solving the Problems A lens barrel section that mounts a plurality of lenses and an image sensor, an image circuit that generates an image signal from an electric signal obtained from the image sensor, and an axis of light rays incident on the lens barrel section. a support that rotatably supports the lens barrel in the pitching direction around orthogonal or substantially orthogonal rotation axes, and a support that is installed between the lens barrel and the support and drives the lens barrel in rotation. an angle detection means for detecting the relative angle between the lens barrel and the support; angular velocity detecting means for detecting the angular velocity of the part; and... detecting that the output of the angle detecting means exceeds a predetermined 1n range, the start of the tilting operation is precipitated; a tilt start/end detection circuit that detects the end of the tilt operation by detecting that the output of the angular velocity detection means is within a predetermined range; and the tilt start/end detection circuit detects the angle. a relative angle command circuit that calculates the relative angular velocity of the lens barrel section and the support body at the time when it is detected that the output of the means exceeds a predetermined range, and issues a relative angle command according to the result; a synthesis circuit that synthesizes the output of the angle detection means, the output of the angular velocity detection means and the output of the relative angle command circuit according to the output of the tilt start/end detection circuit, and the output of the synthesis circuit; The above object is achieved by providing a drive circuit that drives the actuator means accordingly.

Effect The present invention has the above-described configuration to detect the relative angle between the lens barrel and the support base and the angular velocity around the rotation Φ as seen from the inertial coordinates of the lens barrel, and to suppress these fluctuations. In addition, the actuator means is used to drive and control the lens barrel, greatly reducing vibrations in the lens barrel.

Furthermore, the tilt start/end detection circuit makes the delay of the lens barrel during tilt operation sufficiently small for practical use, and the relative angle command circuit smoothly controls the movement of the lens barrel during tilt operation. By using ffU, it is assumed that the photographer does not feel any discomfort.

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

In FIG. 1, a lens barrel l includes a plurality of lens groups (not shown) and an image sensor 2 (for example, a CCD board or an image pickup tube).
is attached to collect the reflected light from the subject, form an image on the image sensor 2, and convert it into an electrical signal. The image circuit 3 sequentially reads out the electrical signals obtained by the image sensor 2 and generates an image signal.

Actuator means 4 is provided between the lens barrel l and the support 15, and rotates the lens barrel l in the yawing direction about the rotating shaft 13. The rotation axis 13 of the actuator means 4 passes through the center of gravity G of the lens barrel 1, and connects the lens barrel l to the support 1.
It is rotatably supported with respect to 5. Although not shown in the drawings, the support body 15 is provided with a grip portion for a photographer to support the photographing device of the present invention.

Figure 2 (al fbl (cl) actuator means 4
A specific example of the configuration is shown below. In FIG. 2, a ferromagnetic hack yoke 201 of a magnet 202 is attached to the lens barrel portion 1 and rotates together with the rotating shaft 13.

The magnet 202 is magnetized into four poles and generates a magnetic field (a multi-flux).A coil 203a is attached to the coil yoke 204 in which the bearing 205 of the rotating shaft 13 is provided.

203b and angle detection means (Hall element) 6 are attached. Further, the coil yoke 204 is installed on the support 15. The coils 203a and 203b are connected in series, and the current flowing from the terminal 206 to the terminal 207 and the magnet 20
Rotational torque is generated by the field magnetic flux of 2. Further, the angle detecting means 6 is disposed almost opposite to the switching part of the magnetic pole of the magnet 202,
An output signal corresponding to the relative angle (θ□.−θ□−θ.) between the angle θ, ) of the coil yoke 204 (the angle θ. of the support body 15) is generated. Note that θ is the angle of the lens barrel section 1 around the rotation axis 13 as seen from the inertial coordinates, and θ. is the angle of the support body 15 around the rotating shaft load 3 as seen from the same inertial coordinates.

Now, in FIG. 1, the output signal of the angle detection means 6 is input manually to the relative angle detection circuit 8. FIG. 3 shows a specific example of the configuration of the angle detection circuit 8. Angle detection means 6 (Hall element) DC biased via resistors 301 and 302
The DC signal obtained at the two output terminals of the operational amplifier 30
7 and resistors 303°, 304, 305, and 306, the differential amplification is performed by a predetermined factor, and the output is sent to terminals c,
d.

Synthesizing circuit 11, tilt start/end detection circuit 1 via e
2. Supply to the relative angle command circuit 10. 8. In FIG. 3, +■II''11 is an appropriate power supply voltage.

Further, in FIG. 1, an angle detection circuit 7 for detecting the angular velocity around the rotation axis 13 as seen from the inertial coordinates of the lens barrel 1 is attached to the lens barrel 1 by a fixing member 14. The output of the angular velocity detection means 7 is input to the angular velocity detection circuit 9, and an output corresponding to the rotational angular velocity of the lens barrel I about the rotation axis 13 as seen from the rotational coordinates is obtained. FIG. 4 shows a specific example of the configuration of the angular velocity detection means 7 and the angular velocity detection circuit 9.

The forced vibration circuit 403 includes a sine wave oscillation circuit with a predetermined frequency, and uses the oscillation frequency signal to forcibly vibrate the drive element 401 made of a piezoelectric element of the angular velocity detection means 7. The sense element 402 made of a piezoelectric element is placed in mechanical contact with the drive element 401 so that the drive element 40
It vibrates at the same frequency as 1. At this time, when the lens barrel portion 1 rotates around the rotation axis 13 in the inertial coordinates, mechanical Coriolis occurs. Since Coriolis is proportional to the product of the angular velocities of two orthogonal axes of the sense element 402, it is proportional to the product of the angular velocity (ω, 1) around the rotation axis 13 of the lens barrel 1 in inertial coordinates and the angular velocity due to forced vibration.

The sense element 402 generates mechanical strain due to Coriolis horns, and generates an electrical signal due to the effects of pressure ' and u. The output of the sense element 402 is made to have the same frequency as the forced vibration by the equal quantity detection circuit 404! ! By performing Jl detection and extracting the low frequency component of the detection output by the low-pass filter 405, a signal proportional to the angular velocity ω□ around the rotation axis 13 of the lens barrel portion 1 as seen from the intellectual coordinates can be obtained.

This output is supplied to a synthesis circuit 11 and a tilt start/end detection circuit 12 via terminals a and b.

In FIG. 1, a tilt start/end detection circuit 12 is connected to a relative angle detection circuit 8 and an angular velocity detection circuit 9 via terminals d and b.
The start and end of the tilt operation is detected by manually inputting the output signal of the Tilt operation is an operation in which the photographer rotates the camera in the pitching direction using his or her own wrist as the rotation axis to prevent the subject from leaving the shooting screen when photographing a moving subject. During the tilt operation, the image capturing device is rotating in the pitching direction in the inertial coordinates.

In the end, this operation is contradictory to realizing the anti-vibration characteristic, which is the purpose of the present invention, and the tilt start/end detection circuit 12
is provided for this purpose. FIG. 5 shows an example of a specific configuration of the tilt start/end detection circuit 12.

Comparators 501 and 502, power supplies 503 and 504, and OR gate circuit 505 constitute a window comparator. Electrical fX503.504+, the predetermined angular difference between the lens barrel l and the support 15 (relative angle θ, .+11)
has a voltage value (V (11)) corresponding to the terminal d
When the input signal corresponding to the relative angle between the lens barrel 1 and the support 15 is within the range of ±V (11), O
R gate circuit 505 outputs an "H" level signal. Furthermore, the relative angle θ, 0 between the lens barrel portion l and the support body 15 is θ. . 〉θ. . (1) or θ. . 〈−θ. . (1)
When the input signal input from the terminal d exceeds the range of ±V(1), the OR gate circuit 50
5 outputs an "L" level signal.

(°H° level is a high potential, “L” level/l<
means low potential. ) θ. . is the predetermined angular difference θ. o(1), that is, when the OR gate circuit 505 outputs the "L" level, this is input to the set terminal (=terminal) of the RS flip-flop circuit 512, and the RS flip-flop circuit 512 outputs the "L" level. When set, an "H" level signal is output to the non-inverting output terminal (Q terminal). This detects that the photographer has started a tilt operation.

Sarani, Philippine IU,? W506. 507, electric 5sos.

509 and an OR gate circuit 510 constitute a window comparator. Electric B 508.

509 is a predetermined angular velocity (
It has a voltage value (V +21 ) corresponding to ? The gate circuit 510 outputs a signal at the "I-1" level. Conversely, when ω.〉ω□ (1) or ω1〈-ω, (1), the OR gate circuit 510 outputs a signal at the "I-1" level. [,” Outputs a level signal.

The N A N [) gate circuit 511 which inputs the respective outputs of the OR gate circuits 505 and 510 eventually calculates the (observation angle θ□. of the clear barrel part l and the support body 15, and the angular velocity ω of the lens barrel part 1, But, 10,.(1)〈θ,.kuθ□.ill Ka-ωl
l1(1)〈ω. 〈ω. +11, a signal of "HI" level is outputted, and at this time, the RS flip-flop 512 is reset and a signal of "L" level is outputted to the non-inverting output terminal (Q terminal). This detects that the photographer has finished the tilt operation. The output of the tilt start/end detection circuit 12 is sent to the relative angle command circuit lO1 synthesis circuit 11 via terminals g and h.
The information is input to each unit and provides information as to whether or not the tilt operation is in progress.

In FIG. 1, a relative angle command circuit lO supplies a command signal for the relative angle between the lens barrel part l and the support body 15 during a tilt operation to the synthesis circuit 11 via a terminal r. As will be described later, the synthesis circuit 11 determines the relative angle θ□. , the voltage signals corresponding to the angular velocity ω1 are added and synthesized with their respective gains, but when a tilt operation is being detected, the angular difference between the lens barrel 1 and the support body 15 at the time of detecting the start of tilt (the above θmo(I+) In order to eliminate the angular side i1n gain, however,
]t! T difference θ, □. If you immediately set +11 to zero,
19 The lens barrel 1 moves sharply at an angular velocity that is significantly higher than the angular velocity at which the photographer tilts the support 15, making the photographer feel extremely uncomfortable. The relative angle command circuit IO is
For this purpose, a relative angle between the lens barrel portion 1 and the support body I5 is a predetermined angle θm. [Angle difference θ used as a reference for detecting the start of tilt, which is described from 01 onwards. (The relative angular velocity is calculated from the time it takes to reach 11, this is recognized as the tilt velocity, and the relative angle command value is set as θ, 1o.
This is a gradual change from (1) to zero.

FIG. 6 shows a specific example of the configuration of the relative angle command circuit 10.

A window comparator is constituted by comparators 601 and 602, power supplies 603 and 604, and an OR gate circuit 605, and the voltage signal corresponding to the relative angle θmo input from the terminal e is the angular difference θ. . Voltage value V(] corresponding to +11
) compared to θ□. is ±θIll.

(When it is within the range of 11, the OR gate circuit 605
It outputs a 1" level signal. The power supply a9603.604 has the same voltage value V as the power supply 503.504 shown in FIG.
(11. θ1o is earth θnl 0(1
), the OR gate circuit 605 outputs “L°
Outputs a level signal.

Furthermore, comparators 606, 607, power supplies 608° 609,
The OR gate circuit 610 constitutes a comparator, and a voltage signal corresponding to the relative angle θ1o inputted from the terminal e is the angle difference θllll. (1) A smaller angle difference θ. ′ quasi-pressure value corresponding to (0) ■ (0)
Compare with,θ,. is ±θ□. (0), the OR gate circuit 610 outputs a 'H' level signal.The power supplies 608.6'09 output a voltage value (0) that is smaller than the voltage value (1) described above. The voltage value ■(0) is
The relative angle between the lens barrel part l and the support body 15 described above is θl1lo
It is equal to the voltage value corresponding to (0).

The output signal of the tilt start/end detection circuit 12 is inputted to the terminal g, and a signal of "l(" level) is inputted when a tilt operation is performed, and a signal of "L" level is inputted when a tilt operation is not performed.

611 is an inverter gate circuit that inverts the logic of the signal input from terminal g, and serves as an AND gate circuit 61
2. Manpower at 613.

614 and 615 are analog switches which close when the input signal is at the "H" level and open when the input signal is at the "HI" level. In the following explanation, 614.61
Analog switch similar to 5.

Various circuits will be described, but all of them are assumed to open and close according to the voltage level of the human input signal as described above.

Now, when the photographer starts the tilting operation, the relative angle between the lens barrel l and the support body 15 changes from almost zero to a wide angle (first, the angle difference θlIl.(0) is reached. Then, the 20R The tilt circuit 6]0 outputs the "L" level signal as described above.Furthermore, in this state, the tilt start/end detection circuit 12 has not detected the tilt operation, and the terminal g is "L".
” level signal is input, and its inverted output, the “l(” level signal, is input to the AND gate circuit 6]3. Therefore, the AND gate circuit 613;
Outputs a signal at L“ level and switches the analog switch 615
to open.

In addition, in this state (θ, .=θ, .(0)), the OR gate circuit 605 outputs a signal at the “H” level, so the AND gate circuit 612 outputs a signal at the “H” level. , the analog switch 614 is closed. That is, when θ, .-〇mo(o) is reached, the constant current t
Charging of capacitor 617 is started by X616.

After that, when the photographer continues the tilting operation, the relative angle θmo between the lens barrel 1 and the support body 15 becomes even larger, resulting in an angular difference θ. It leads to having ill. Then, the tilt starts
The end detection circuit 12 detects the tilt operation, and the terminal g has the following signal.
I(" level signal is input manually, and its inverted No. 13, "L" level No. 13, is input to AND gate circuits 612 and 61.
3 will be done manually.

At the same time, the OR gates 605 and 610 are outputting a "1-" level signal, and the AND gate circuits 612 and 61
3 outputs an "H" level signal, opens analog switches 614 and 615, and stops charging capacitor 617. In the end, the capacitor 617 has θ, no θ,
An electric charge corresponding to the time from oto+ to θ,, ofil (I) is charged and held. This represents the relative angular velocity between the lens barrel I and the support 15, but it is important to note that the tilt operation is When not detected, the lens barrel l is 4n.
The voltage value held by the capacitor 617 represents the angular velocity of the support body 15, that is, the tilt velocity.

Furthermore, the relative angle θ is input from the terminal e. .

The sign of the voltage signal corresponding to is detected by the comparator 621, and when it is "positive", an "H" level signal is output, and when it is "negative", an "L" level signal is output. Analog switches 623 and 624 are opened and closed by this signal and a signal logically inverted by inverter circuit 622.

That is, θ,. 〉0, analog switch 6
23 is closed and analog switch 624 is opened.

Then, the voltage charged and held in the capacitor 617 is input to the operational amplifier 625 without changing its sign. Reverse,
θ. . When <0, analog switch 623 is open and analog switch 624 is closed. The actual amplifier 62o and the resistors 618 and 619 are constructed to have a full gain of "-1", and as a result, the capacitor 61
The voltage charged and held at 7 has its sign reversed and is applied to operational amplifier 6.
25.

By the way, when no tilt movement is detected, the input signal of the analog switch 639 is at the "■(" level, and it is closed, and the relative angle θ input manually from the terminal e is
The voltage value corresponding to IIIo is transmitted to the capacitor 637 via the voltage borrow circuit composed of the 64'b circuit 640, and when the tilt operation is detected, the analog switch 6
The input signal of 39 becomes "L" level and is opened. In the end, the capacitor 637 has 0 m at the time of detecting the tilt operation.

The voltage value V C11 corresponding to (1) is held with either a plus or minus sign. When θ, no>o, “positive”, θ,. Of course, when <0, it is negative.

Now, when a voltage proportional to the tilt speed held in the capacitor 617 is applied to the operational amplifier 625,
It is converted into a current by an operational amplifier 625, transistors 627 and 628, and a resistor 626.

When θ, lo>0, a “positive” voltage is applied to the operational amplifier 625, and at this time, the transistor 627 is turned on and the transistor 628 is turned off. As a result, a '1tJ current flows through the transistor 629, and a current corresponding to the tilt speed flows through the transistor 631 forming a current mirror circuit with the transistor 629. moreover,
The transistor 633 is turned on, and the transistor 635 forming a current mirror circuit with the transistor 633 sucks a TL flow corresponding to the tilt speed from the collector terminal.

At this time, the capacitor 637 holds 4 voltages +Vfll, and the dirt is discharged with an electric current l corresponding to the tilt speed, that is, it is discharged in a time corresponding to the tilt speed, and the voltage reaches a final voltage of 1 d. becomes zero. When the tilt start/speed is fast, the potential of the capacitors 17 changes as the charging time (θ,. However, from θ1..1o(o) to θl,1o(1
) is short, the potential is high, and the capacitor 6
The discharge current of 37 discharges quickly and quickly. Conversely, when the tilt speed is slow, the charging time of the capacitor 617 is long and the potential of the capacitor 617 is low.
The discharge current of capacitor 637 is small and discharged slowly.

On the contrary, θ,. When the voltage is 0, the transistor 628 is turned on, contrary to the above, and the transistor 63o is turned on.

632, 634, 636, the capacitor 637 is
It will be charged to the potential "zero". Of course, in this case, the holding voltage of the capacitor 637 is "true" when the tilt operation is detected.

The voltage value 1 of the capacitor 637 is input to the combining circuit 11 from the terminal f by the operational amplifier 638 and the resistors 641 and 642 with a gain of "-1".

Now, in FIG. 1, the synthesis circuit 11 receives a voltage signal from a terminal a corresponding to the angular velocity of the lens barrel l, a voltage signal from a terminal C corresponding to the relative angle between the lens barrel 1 and the support 15, and a terminal f. A relative angle command signal is inputted from the terminal, and each signal is added and synthesized with a predetermined gain based on information on whether or not a tilt operation is being performed manually from the terminal.

When detecting a tilt movement, the gain of the signal according to the relative angle is increased in order to make the lens barrel 1 follow the support 15, and the relative angle command signal is simultaneously increased to prevent sudden movement of the lens barrel 1. Perform additive synthesis.

Furthermore, when no tilt movement is detected, the gain of the signal corresponding to the relative angle is lowered to keep the lens barrel 1 stationary on the inertial coordinates. Of course, at this time, the relative angle command signal is not subjected to additive synthesis.

FIG. 7 shows a specific example of the configuration of the synthesis circuit 11.

When the panning operation is being detected, the "H" level signal is input to the terminal as described above, and the analog switches 707 and 708 are closed. At this time, the gain of the voltage signal according to the angular velocity of the lens barrel section 1 inputted from the terminal a is 'vos/Rvo+
becomes.

Hereinafter, when expressing a resistance value in the explanation, the reference number of the resistor to be referred to will be R1 (n is here, a is
Please refrain from expressing it like this (number).

Furthermore, the gain of the voltage signal input from the terminal C according to the relative angle between the lens barrel section 1 and the support body 15 is '705/R70.
3, and the gain of the relative angle command signal input from the terminal f is -R7o5/R7°4.

Conversely, when no tilt operation is detected, an "L" level signal is input to the terminal, and the analog switches 707 and 708 are opened. The gain of the input signal from terminal a at this time is the same as in the above case, -R705"R70
1, and the gain of the input signal from terminal C is smaller than in the above case, being −R7°5/(R7o2+R7°3), and the input from terminal f has no gain.

Then, in each case, the above-mentioned gain is added and combined, an output signal is generated from the operational amplifier 706, and the output signal is outputted by the operational amplifier 709 and the resistor 710°711.
The signal is multiplied by 1'' and input to the drive circuit 5 via the terminal i.

FIG. 8 shows a specific example of the configuration of the drive circuit 5.

A current corresponding to the voltage signal input to the terminal tube is supplied to the coils 203a and 203b of the actuator means 4. When the input signal from terminal i is “positive”, transistor 8
05 turns on, and eventually transistor 813 turns on,
Current is attracted from the collector terminal through the coils 203a and 203b.

This current generates a voltage across the resistor 816, which is negatively returned to the operational amplifier 801 via the resistor 803.
A current will flow according to the input signal from terminal i.

Conversely, when the input signal from the terminal i is "negative", the transistor 804 is turned on, the transistor 812 is turned on, and electricity is transmitted through the coils 203a and 203b. 11. This current value is negatively added In as described above, and corresponds to the input signal from the terminal 1. In addition, Mr. 1 anti-814
, a capacitor 815 is provided for the oscillation period.

Now, in the photographing apparatus of the present invention shown in FIG. 1, the angle θ of the support body 15. to the angle θ of the lens barrel l. Transfer gain θIIl/θ. When the frequency characteristics of 2 are represented by a broken line approximate Bode diagram, it becomes as shown in FIG. In the figure, in the region where the vibration frequency of θ0 is up to fl, the transfer gain θm/θ is “1” (OdB), and θ changes l to l with θ.

In the region where the vibration frequency f is from fl to f2, the transfer gain θm/θ. is attenuated with a slope of -6d B 10ct. Furthermore, θ. In a region where the vibration frequency r is 12 or more, the transfer gain θm/θ. is the slope -12-d B 10c
Attenuates at t. Normally, when photographers take still photographs,
The vibration due to camera shake transmitted to the support 15 is 0.5H.
It is known that it is concentrated in the frequency range of 5 Hz to 5 Hz. Therefore, the above r,, R2 is set to r1≦0-5 Hz −f
If the frequency is set to 2≧5 Hz, the vibration of the lens barrel l due to camera shake during still shooting will be significantly damped, and will not be transmitted to the support 15, resulting in good vibration isolation. characteristics can be realized.

By the way, when detecting the tilt movement, the support 1
In order to improve the followability of 5, the above r.

It is desirable to make the setting as large as possible. This is the relative angle θ between the support body 15 and the lens barrel portion 1. This is achieved by increasing the feedback gain of , as described in the description of the combining circuit 11.

In FIG. 1, the gain of the angle detection means 6 is expressed as θ(m
V/rad), the gain of the relative angle detection circuit 8 is 80 (times), and the gain of the angular velocity detection means 7 is ω(m V/ra
d/sec), and the gain of the angular velocity detection circuit 9 is Aω(
(times), the gain of the angle-corresponding signal of the synthesis circuit 11 is set to Bθ (times)
, Bω (times) the gain of No. 13 corresponding to the angular velocity of the synthesis circuit 11
, the voltage/current conversion gain of the drive circuit 5 is g m (m
A/mV), the current/torque conversion gain of the actuator means 4 is Kt (gωcffI/mA), and the moment of inertia of the lens barrel 1 is J. (g4), gravitational acceleration is K
j Ccm/sec 2), the Laplace operator is represented by S, and when expressed as a control block diagram, it becomes as shown in FIG.

In FIG. 1O, θ0 is an angle on the inertial coordinates of the support 15, and the unit is rad (radian). θ
. is the angle on the inertial coordinates of the lens barrel 1, and the unit is ra
It is d. ω1 is the angular velocity of the lens barrel l on the inertial coordinates, and the unit is rad/5ec (radian/second).

If the corner frequency f1, "2" of the Bode diagram shown in FIG. 9 is expressed by each gain shown in FIG. 10, it is K.

becomes. Here, π is pi (π33.14)
.

Now, Kθ, Aθ, ω, Aω, g, , etc.

Taking Jllll, ni as an invariant constant, the synthesis circuit 11
If it is configured as shown in FIG. 7 as described above, then Bω is given by, and furthermore, Bθ is given by R702"R703 when no tilting motion is detected, and when no tilting motion is detected. When it is R?03
R? It is given by 02+R703.

From this, it can be seen that the setting of fl during the tilt operation and when the tilt operation is not performed is set to a large value during the tilt operation, and to a small value when the tilt operation is not performed, as described above.

When the tilt start/end detection circuit 12 detects a tilt operation, the angle control gain is increased and the lens barrel 1 is moved to the support 1.
However, as described above (the relative angle command circuit 10 gives a relative angle command, the relative angle does not immediately become zero, but first the relative angle at the time of detecting the tilt motion is used). The relative angle that is controlled and then controlled at a time corresponding to the tilt speed approaches zero, and the angle between the lens barrel portion l and the support body 15 completely collapses.

That is, during the tilt operation, the lens barrel section 1 can be made to follow the support body 15 without causing any discomfort to the viewer.

Effects of the Invention As described above, the relative angle between the lens barrel and the support base,
It detects the angular velocity around the rotation axis as seen from the inertial coordinates of the lens barrel, and drives and controls it using actuator means to suppress these fluctuations, greatly reducing vibrations in the lens barrel, resulting in excellent anti-vibration properties. I can be hatched.

Furthermore, the tilt start/end detection circuit makes the delay of the lens barrel during tilt operation sufficiently small for practical use, and the relative angle command circuit smoothly controls the movement of the lens barrel during tilt operation, making it easier for photographers to It can be made to be comfortable for people.

In other words, it is possible to realize a photographing device that achieves both the image stabilization characteristics required during still photographing and the tracking performance required during tilt operation.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an imaging device according to an embodiment of the present invention, FIG. 2 is a configuration diagram for explaining an actuator means, and FIG. 3 is a block diagram for explaining an angle detection means and a relative angle detection circuit. 4 is a block diagram for explaining the angular velocity detection means and the angular velocity detection circuit. FIG. 5 is a circuit diagram for explaining the tilt start/end detection circuit.
The figure is a circuit diagram for explaining the relative angle command circuit.
The figure is a circuit diagram for explaining the two-composite circuit, FIG. 8 is a circuit diagram for explaining the drive circuit, and FIG. 9 is a board for explaining the operation of the block diagram shown in FIG. l! i1
0, FIG. 10 is a control block diagram for explaining the operation of the block diagram shown in FIG. 1, and FIG. 11 is a configuration diagram for explaining an anti-vibration mechanism used in a conventional photographing device. 1... Lens barrel section, 2... Image sensor, 3
...image circuit, 4... actuator means, 5 ... drive circuit, 6 ... angle detection means, 7 ... angular velocity detection means , 10...
...Relative angle command circuit, 11...Synthesis circuit, 1
2...Tilt start/end detection circuit, 15...
...Support. Name of agent Patent attorney Toshio Nakao One idiot Figure 1 j Enter Figure 2 13 Figure 4 / y Figure 5 Figure 6 Figure 7 Cabinet-y. lf Fig. 8 Fig. 9 2θ・ke, π lachi 2Zθ force f

Claims (4)

[Claims] (1) A lens barrel section that mounts a plurality of lenses and an image sensor, an image circuit that generates an image signal from an electrical signal obtained from the image sensor, and a rotation that is orthogonal or approximately orthogonal to the axis of the incident light beam to the lens barrel section. a support that rotatably supports the lens barrel in a pitching direction around an axis; an actuator installed between the lens barrel and the support for rotationally driving the lens barrel; and an actuator for rotating the lens barrel. an angle detection means for detecting a relative angle between the lens barrel and the support body; an angular velocity detection means installed in the lens barrel section for detecting the angular velocity of the lens barrel section around the rotation axis as seen from an inertial coordinate; The start of the tilt operation is detected by detecting that the output exceeds a predetermined range, and the output of the angle detection means is within the predetermined range, and the output of the angular velocity detection means is within the predetermined range. a tilt start/end detection circuit that detects the end of the tilt operation by detecting the end of the tilt operation; and a tilt start/end detection circuit that detects that the tilt start/end detection circuit detects that the output of the angle detection means exceeds a predetermined range. a relative angle command circuit that calculates relative angular velocities between the part and the support body and issues a relative angle command according to the result; an output of the angle detection means; an output of the angular velocity detection means; and an output of the relative angle command circuit. 1. A photographing device comprising: a combining circuit that combines the signals with respective gains according to the outputs of a tilt start/end detection circuit; and a drive circuit that drives the actuator means according to the outputs of the combining circuit. (2) The photographing device according to claim 1, wherein the angular velocity detection means includes a vibration type gyro sensor. (3) 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. (4) When the tilt start/end detection circuit detects that the output of the angle detection means exceeds a predetermined range, the synthesis circuit combines the output of the angle detection means, the output of the angular velocity detection means, and the relative angle. The outputs of the command circuits are combined with each predetermined gain, and the tilt start/end detection circuit detects that the output of the angle detection means is within the predetermined range, and the output of the angular velocity detection means is within the predetermined range. Claim 1, characterized in that the output of the angle detecting means and the output of the angular velocity detecting means are combined at a predetermined gain lower than that of the above, respectively, when detecting an object. Photography equipment.