1373682 101年(3½ 23日梭正_頁1 六、發明說明： · 【發明所屬之技術領域】 [0001] 本發明涉及一種成像裝置。 【先前技術] [0002] [0003] [0004] 眾所周知’圖像模构是攝影中常見的問題，造成這種問 題有多種原因，例如物件的移動和聚焦錯誤等。然而， 一種最常見的導致圖像模糊的原因在於操作者造成的成 像裝置的抖動。人體肌肉通常在一定赫茲頻率範圍内會 自然振動。當一個人手持成像裝置時，這樣的振動就會 造成圖像模糊《«這樣的人體振動造成的模糊在長曝光時 間或使用具備非常長焦距的變焦/長焦透鏡時特別明顯。 而當拍攝條件改變，比如在行駛的車内拍攝或者是其他 運動的環境下拍攝，除了人體肌肉自然的振動外，外界 壌境也迫使手持成像裝置時成像裝置的抖動，這種外界 迫使抖動造成的圖像模糊也相當明顯。因此，目前成像 裳置防抖技術成為解決圖像模糊的關鍵。 【發明内容】 有馨於此’本發明提供-種具有防抖功能的成像裝置。 ，種成像裝置’其包括-個鏡頭模組…個圖像穩定器 勺個控制器以及-個圖像抖動檢測器。所述鏡頭模組 =括〜個影像感測器。所述圖像穩定器包括—個第一平 均為個第一平σ ’ u及六根連桿。所述各連桿的一端 形速Γ個第一球形連接邹’另-端均具有-個第二球 ，。所述第-平台上靠近所述各連桿的一側上具 、個第-阻擔部以及Μ與所述各第—阻檔部相對設 09711222fM5t A〇101 1013281527-0 第4 Κ /共18頁 1373682 |~ΐ〇ΐ¥〇7月 23 日 置的第二阻擋部，所述各第一阻擋部與所述各第二阻撐 部共同卡合所述第一球形連接部以使所述各連桿的一端 均與所述第一平台活動連接。所述第二平台靠近所述各 連桿的一側上具有六個連接柱’所述各連接柱在靠近所 述各連桿的端面上均開設有一個收容槽以收容所述第二 球形連接部而使所述各連桿的另一端均與所述第一平台 活動連接。所述影像感測器固設於所述第二平台上。沿 光線入射的方向，所述影像感測器、所述第二平台、所 述各連桿 '以及所述第一平台依次排列。所述圖像抖動 檢測Is用以檢測所述成像裝置的抖動方向和抖動幅度。 所述控制器根據檢測到的抖動方向和抖動幅度控制所述 各連桿伸縮，旋轉從而使所述第二平台帶動所述影像感 測器沿所述鏡頭模組的光軸方向運動、沿垂直所述鏡頭 模組光軸方向運弩以及相對所述鏡頭模組光軸傾斜轉動 以補償所述成像裝置的抖動。 [0005] 與先前技術相比，所述圖像穩定器帶動放置在其上的影 像感測器沿所述鏡頭模組的光軸運動、沿垂直所述鏡頭 模組光軸的方向運動以及相對所述鏡頭模組光軸傾斜轉 動以補償所述成像裝置的抖動，保證成像品質。 【實施方式】 [0006] 下面將結合附圖，對本發明作進一步的詳細說明》 [0007] 請一併參閱圖1及圖2，本發明舞供的一種成像裝置1〇〇包 括一個圖像抖動檢測器10，一個與所述圖像抖動檢測器 10通過導線或者柔性電路板電性連接的控制器2〇，一個 鏡頭模絚30，以及一個與所述控制器2〇通過導線或者柔 *單编號A0101 第5頁/共18頁 09711222T 1013281527-0 [0008] [0008] [0009] [0010] [0011] [0012]1373682 101 (31⁄2 23rd shuttle)_Page 1 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to an image forming apparatus. [Prior Art] [0002] [0003] [0004] Image modeling is a common problem in photography, causing such problems for various reasons, such as movement of objects and focus errors, etc. However, one of the most common causes of image blurring is the jitter of the imaging device caused by the operator. Human muscles usually vibrate naturally within a certain Hertzian frequency range. When a person holds an imaging device, such vibrations can cause blurred images. "This blur caused by human vibration during long exposure times or using a zoom with very long focal length. Especially when the telephoto lens is changed, and when the shooting conditions are changed, such as shooting in a moving car or other sports environment, in addition to the natural vibration of the human muscle, the external environment also forces the imaging device to shake when the imaging device is held. The image blur caused by the external force is also quite obvious. Therefore, the current imaging anti-shake technology The invention is the key to solving the image blur. [Invention] The present invention provides an imaging device with anti-shake function. The imaging device includes a lens module and an image stabilizer. The controller and the image jitter detector. The lens module includes an image sensor. The image stabilizer includes a first average of a first flat σ 'u and six links. One end of each of the connecting rods has a shape of a first spherical connection, and the other end has a second ball, and the first platform is adjacent to the side of each of the connecting rods, and the first The blocking portion and the 阻挡 and the respective first blocking portions are provided with a second blocking portion which is disposed on the surface of the ninth, the ninth, the third, the third, the third, the third, the The first blocking portion and the second blocking portions jointly engage the first spherical connecting portion such that one end of each of the links is movably connected to the first platform. Each of the connecting rods has six connecting columns on one side. The connecting posts are on the end faces of the connecting rods. A receiving slot is defined to receive the second spherical connecting portion, and the other ends of the connecting rods are movably connected to the first platform. The image sensor is fixed on the second platform. The image sensor, the second platform, the respective links 'and the first platform are sequentially arranged along a direction in which the light is incident. The image shake detection Is is used to detect the jitter of the imaging device. Direction and jitter amplitude. The controller controls the telescopic expansion and contraction according to the detected shaking direction and the amplitude of the vibration, so that the second platform drives the image sensor along the optical axis of the lens module. The directional movement, moving along the optical axis of the lens module and tilting relative to the optical axis of the lens module to compensate for the jitter of the imaging device. [0005] Compared with the prior art, the image stabilizer drives the image sensor placed thereon to move along the optical axis of the lens module, move in a direction perpendicular to the optical axis of the lens module, and The optical axis of the lens module is tilted to compensate for the jitter of the imaging device to ensure image quality. [Embodiment] The present invention will be further described in detail below with reference to the accompanying drawings. [0007] Referring to FIG. 1 and FIG. 2 together, an imaging apparatus 1 of the present invention includes an image shake. a detector 10, a controller 2A electrically connected to the image jitter detector 10 via a wire or a flexible circuit board, a lens module 30, and a wire or flexible unit with the controller 2 No. A0101 Page 5 of 18 09711222T 1013281527-0 [0008] [0009] [0010] [0012]
A單编號 09711222T 1101年07月23日梭正替換頁 吐电路板-¾性連接的圖像穩定器4 〇。 所述圖像抖動檢測器10用以檢測所述成像裝置100的抖動 方向和抖動幅度。 所述控制㈣㈣檢測到的抖動方向和抖動幅度控制所 述圖像穩定器40沿所述鏡頭模組3〇的光軸〇〇，方向運動 、沿垂直光軸00，的方向運動以及相對光軸〇〇，傾斜轉 動。 所述鏡頭模組30包括一個本體3〇2，一個鏡筒3〇4，兩個 鏡片306，一個鏡座308，以及一個影像感測器31〇。所 述鏡片306收容於所述鏡筒3〇4中。所述鏡筒3〇4結合於 所述鏡座308上。所述鏡座3〇8被_設於所述本體3〇2上》 所述影像感測器310固設於所述圖像穩定器4〇上。沿光線 入射的方向’所述鏡筒304、所述鏡座308、所述影像感 測器310、所述圖像穩定器40依次排列。 請一併參閱圖3及圖4 ’所述圖像穩定器40包括一個第一 平台402，一個第二平台404，以及六根長度可變的連桿 406。所述各連桿406的一端406a(以下稱第一端）與所述 第一平台402活動連接，另一端40 6b (以下稱第二端）與 所述第二平台404活動連接。所述各連桿406可以為液壓 式伸縮桿、氣壓式伸縮桿、螺桿式伸縮桿、磁力式伸縮 桿以及壓電式伸縮桿。在本實施方式中，所述各連桿406 均由壓電材料製成，為壓電式伸縮桿。 所述各連桿406的第一端406a均具有一個第一球形連接部 408，一個第一延伸部410，一個與所述第一延伸部410 A0101 ^ 6 1 / λ 18 1 1013281527-0 1373682 101年07月23日修正替換頁 相對的第二延伸部412。所述第一球形連接部4〇8上具有 一個第一凹槽414，一個第二凹槽416，一個第三凹槽 418以及一個第四凹槽420。所述第一延伸部41〇與所述 第二延伸部412相對的一側具有一個第一突柱，所述 第二延伸部412與所述第一延伸部41〇相對的一側具有一 個第一穴柱424。所述第一突柱422與所述第一凹槽414 相配合，及所述第二突柱424與所述第二凹槽416相配合 以共同作用與所述第一球形連接部4〇8連接。所述各連桿 406的第二端406b均具有一個第二球形連接部434。 [0013] 所述第一平台402靠近所述各連桿4〇6的一側上具有六個 與所述第一端406a相對應的第一阻擋部426以及六個第二 阻擋部428。所述第一阻擋部426與所述第二阻擋部428 兩兩相對設置。所述各第一阻擋部426與所述第二阻擋部 428相對的一側上具有一個第三突柱43〇 ,所述各第二阻 擋部428與所述第一阻擋部426相對的一側上具有一個第 四突柱432。所述第三突柱430與所述第三凹槽418相配 合，及所述第四突柱432與所述第四凹槽42〇相配合以共 同卡合所述第一球形連接部408，從而使所述各連桿4〇6 的第一端406a均與所述第一平台4〇2通過萬向接頭活動連 接。 [0014] 所述第二平台404靠近所述六根連桿4〇6的一側上具有六 個連接柱436，所述各連接柱436在靠近所述六根連桿 406的端面上均開設有一個收容槽438以收容所述第二球 形連接部434，從而使所述各連桿406的第二端4〇6b均與 所遠第二平台404通過球接頭活動連接。 09711222#單減 A〇101 第7頁/共18頁 1013281527-0 1373682 101年07月Z3日梭正替換頁 [0015] 可以理解的是，所述各連桿406的第一端406a與所述第一 平台402並不局限於本實施方式中通過萬向接頭活動連接 ’還可以是通過球接頭活動連接。所述各連桿406的第二 端406b與所述第二平台404並不局限於本實施方式中通過 球接頭活動連接’也可以是通過萬向接頭活動連接》 [0016] 請結合圖2，所述影像感測器310固設於所述第二平台404 · 上。沿光線入射的方向，所述鏡筒304、所述鏡座308、 所述影像感測器310 '所述第二平台404、所述各連桿 406、以及所述第一平台402依次排列。由於所述各連桿 406由壓電材料製成，所述各連桿406通上電流後就會產 生機械形變’在本實施方式中表現為伸縮運動和旋轉運 動0 [0017] 當所述圖像抖動檢測器1 〇檢測到所述成像裝置1 〇 〇的抖動 方向和抖動幅度後，所述控制器20根據檢測到的抖動方 向和抖動幅度控制各連桿406伸縮運動和旋轉運動◊其中 ，所述各連桿406的伸縮運動使所述第二平台4〇4帶動放 置在其上的影像感測器31 0沿著所述鏡頭模組3 〇的光軸〇 〇 運動。另，所述各連桿406的第一端4〇6a均利用所述第 一球形連接部408與所述第一平台402實現萬向接頭活動 連接，第二端406b均利用所述第二球形連接部434與所述 第一平台404實現球接頭活動連接，從而使所述第二平台 4〇4帶動放置在其上的影像感測器31〇沿著垂直光軸〇〇， 的方向運動以及相對光軸00,傾斜轉動以補償所述成像 裝置100的抖動，保證成像品質。 [_具體地，為了清楚說明所述第二平台404帶動放置在其上 09711222f單編號A0101 第8頁/共18頁 1013281527-0 1373682 101年07月23日梭正替換頁 的影像感測器310的運動情況，請參見圖5，由於所述圖 像抖動檢測器10檢測到所述成像裝置100的抖動方向和抖 動幅度，則為了補償成像裝置100的抖動，所述第二平台 404需要到達的位置即為已知，即所述第二平台404運動 後的姿態已知為尸㈣^ ，（其中，為所述第 二平台404在三度空間t的座標位置，^J為所述第二 平台404對各軸的旋轉角度），則以逆向運動學求解六根 連桿406經過伸長或縮短後的長度及旋轉的角度。由圖5 所對應的各連桿長度&如式（1): [0019]A single number 09711222T July 23, 1101 shuttle replacement page spit board -3⁄4 connected image stabilizer 4 〇. The image shake detector 10 is for detecting a wobble direction and a wobble amplitude of the imaging device 100. The control (4) (4) detected jitter direction and jitter amplitude control the image stabilizer 40 along the optical axis of the lens module 3, direction movement, direction along the vertical optical axis 00, and relative optical axis Hey, tilt and turn. The lens module 30 includes a body 3〇2, a lens barrel 3〇4, two lenses 306, a lens holder 308, and an image sensor 31〇. The lens 306 is housed in the lens barrel 3〇4. The lens barrel 3〇4 is coupled to the lens holder 308. The lens holder 3 is disposed on the body 3〇2. The image sensor 310 is fixed on the image stabilizer 4〇. The lens barrel 304, the lens holder 308, the image sensor 310, and the image stabilizer 40 are sequentially arranged in the direction in which the light is incident. Referring to Figures 3 and 4, the image stabilizer 40 includes a first platform 402, a second platform 404, and six variable length links 406. One end 406a (hereinafter referred to as a first end) of each of the links 406 is movably coupled to the first platform 402, and the other end 40 6b (hereinafter referred to as a second end) is movably coupled to the second stage 404. Each of the links 406 may be a hydraulic telescopic rod, a pneumatic telescopic rod, a screw telescopic rod, a magnetic telescopic rod, and a piezoelectric telescopic rod. In the present embodiment, each of the links 406 is made of a piezoelectric material and is a piezoelectric telescopic rod. The first ends 406a of the respective links 406 each have a first spherical connecting portion 408, a first extending portion 410, and a first extending portion 410 A0101 ^ 6 1 / λ 18 1 1013281527-0 1373682 101 On July 23, the second extension 412 opposite the replacement page is corrected. The first spherical connecting portion 4A has a first recess 414, a second recess 416, a third recess 418 and a fourth recess 420. The first extension portion 41 has a first protrusion on a side opposite to the second extension portion 412, and the second extension portion 412 has a first side opposite to the first extension portion 41 A hole 424. The first protrusion 422 cooperates with the first groove 414, and the second protrusion 424 cooperates with the second groove 416 to cooperate with the first spherical connection portion 4〇8 connection. The second ends 406b of each of the links 406 each have a second spherical connection 434. [0013] The first platform 402 has six first blocking portions 426 corresponding to the first ends 406a and six second blocking portions 428 on a side of the respective links 4〇6. The first blocking portion 426 and the second blocking portion 428 are disposed opposite each other. a side of each of the first blocking portions 426 opposite to the second blocking portion 428 has a third stud 43 〇, and a side of each of the second blocking portions 428 opposite to the first blocking portion 426 There is a fourth stud 432 on it. The third protrusion 430 cooperates with the third groove 418, and the fourth protrusion 432 cooperates with the fourth groove 42 以 to jointly engage the first spherical connection portion 408, Thereby, the first ends 406a of the respective links 4〇6 are movably connected to the first platform 4〇2 through the universal joint. [0014] The second platform 404 has six connecting posts 436 on a side of the six connecting rods 4〇6, and each connecting post 436 is open on an end surface adjacent to the six connecting rods 406. The receiving groove 438 is configured to receive the second spherical connecting portion 434 such that the second ends 4〇6b of the respective links 406 are movably connected to the far second platform 404 through the ball joint. 09711222#单减A〇101 Page 7 of 18 pages 1032881527-0 1373682 101 July Z3 shuttle replacement page [0015] It can be understood that the first end 406a of each link 406 is The first platform 402 is not limited to being connected by a universal joint in the present embodiment, and may be connected by a ball joint. The second end 406b of the respective links 406 and the second platform 404 are not limited to being connected by a ball joint in the present embodiment, and may be connected by a universal joint. [0016] Please refer to FIG. 2, The image sensor 310 is fixed on the second platform 404 ·. In the direction in which the light is incident, the lens barrel 304, the lens holder 308, the image sensor 310', the second platform 404, the respective links 406, and the first platform 402 are sequentially arranged. Since each of the links 406 is made of a piezoelectric material, the respective links 406 are mechanically deformed when a current is applied thereto. In the present embodiment, the telescopic motion and the rotational motion are expressed as 0 [0017] After the jitter detector 1 detects the jitter direction and the jitter amplitude of the imaging device 1 , the controller 20 controls the telescopic motion and the rotational motion of each of the links 406 according to the detected shake direction and the shake amplitude. The telescopic movement of the respective links 406 causes the second platform 4〇4 to drive the image sensor 301 placed thereon to move along the optical axis 所述 of the lens module 3〇. In addition, the first ends 4〇6a of the respective links 406 are respectively connected to the first platform 402 by the first spherical connecting portion 408, and the second end 406b utilizes the second spherical shape. The connecting portion 434 implements a ball joint movable connection with the first platform 404, so that the second platform 4〇4 drives the image sensor 31 放置 placed thereon to move along the vertical optical axis 以及, and With respect to the optical axis 00, the tilt is rotated to compensate the jitter of the imaging device 100, and the image quality is ensured. [ </ RTI> Specifically, for the sake of clarity, the second platform 404 is placed on the image sensor 310 on which the page is placed on the 09912222f single number A0101 page 8 / 18 pages 1013281527-0 1373682 on July 23, 2011. For the motion situation, referring to FIG. 5, since the image jitter detector 10 detects the jitter direction and the jitter amplitude of the imaging device 100, in order to compensate for the jitter of the imaging device 100, the second platform 404 needs to arrive. The position is known, that is, the posture after the movement of the second platform 404 is known as the corpse (4), (wherein the second platform 404 is at the coordinate position of the third space t, and the second is the second The angle of rotation of the platform 404 for each axis) is inverse kinematically solved for the length and angle of rotation of the six links 406 after being elongated or shortened. The length of each link corresponding to Figure 5 & as in equation (1): [0019]
(1) [0020]其中，i = 1，2，3，4，5，6 ; % 、％ 、.¾ 為所述第一 ^ιζ 平台402的坐標系統5:上任一點的座標；& ' Br> rix Viy 、為所述第二平台404的坐標系統P上任一點座標 ris 經轉換後相對所述第一平台402的坐標系統.5:的座標。 [0021] 另，所述第二平台404坐標系統P.上任一點座標 一經ii?.旋轉矩陣轉換至所述第一平 台402坐標系統.5.後表示為5 1 ，而 p=[PiX Piy PiA\ j及定義為第二平台404坐標系統對第一平台402坐標系 統之旋轉矩陣，定義為第二平台404尸對第一平台402 坐標系統5之X軸旋轉一角度，再對第一平台402坐標系 09711222^^ A0101 第9頁/共18頁 1013281527-0 1373682 101年07月23日核正替换百 统之Y軸旋轉一角度’再對第/平台402坐標系統之Z軸旋 轉一角度，關係如式（2 ): [0022] hPn X 3Piy = }R- PPiy + y BPiz_ z+d (2) [0023] 其中j為常量，因此，當給定第一平台4〇2的座標位置 P = [χγζψθφ] ’先計算第一个台402坐標系統的齊次變 換矩陣，再將第一平台4 〇 2系統上的六根接點經$及 轉換至第二平台404坐標系，便可計算出六根連桿406經 過伸長或縮短後的長度及旋轉的角度，由此控制器20便 可精確控制所述六根連桿406的伸長量或縮短量以及旋轉 角度使第二平台404帶動影像感測器31〇到達能補償成像 裝置100抖動位置。 [0024] 本發明提供的成像裝置利用所述圖像穩定器帶動放置在 其上的影像感測裔A鏡頭模組的光轴運動、沿垂直鏡頭 模組光轴的方向運動以及相對鏡頭模組的光軸傾斜轉動 以補償所述成像裝置的抖動，保證成像品質。 _]、综上所述，本發明確已符合發明專利要件，爰依法提出 專利申請。惟，以上所述者僅為本㈣之較佳實施方式 ，舉凡熟悉本案技藝之人士，於援依本案發明精神所作 之等效修飾或變化，皆應包含於以下之申請專利範圍内 【圖式簡單說明】 09711222^單编號卿1 帛10頁/共18頁 1013281527-0 1373682 101年07月23日核正替換百 [0026] [0027] [0028] [0029] 圖1為本發明成像裝置的模組示意圖。 圖2為本發明成像裝置的結構示意圖。 圖3為本發明成像裝置的圖像穩定器的立體分解圖。 圖4為本發明成像裝置的圖像穩定器的另一視角的立體分 解圖。 [0030] 圖5為本發明圖像穩定器的運動模型圖。 【主要元件符號說明】 [0031] 成像裝置： 100 [0032] 鏡頭模組： 30 [0033] 本體：302 [0034] 鏡筒：304 [0035] 鏡片：306 [0036] 鏡座：308 [0037] 影像感測器 ：310 [0038] 圖像穩定器 ：40 [0039] 第一平台： 402 [0040] 第二平台： 404 [0041] 連桿U 0 6 [0042] 圖像抖動檢測器：10 [0043] 控制器：20 09711222产單編號 A〇101 第11頁/共18頁 1013281527-0 1373682 [0044] 第一端：406a [0045] 第二端：406b [0046] 第一球形連接部：408 [0047] 第一延伸部：41 0 [0048] 第二延伸部：412 [0049] 第一凹槽：414 [0050] 第二凹槽：416 [0051] 第三凹槽：418 [0052] 第四凹槽：420 [0053] 第一突枉：422 [0054] 第二突柱：424 [0055] 第一阻擋部：426 [0056] 第二阻擋部：428 [0057] 第三突柱：430 [0058] 第四突柱：432 [0059] 第二球形連接部：434 [0060] 連接柱：436 [0061] 收容槽：438 _12^單编號删1 第12頁/共18頁 101年07月23日按正替换頁 1013281527-0(1) where i = 1, 2, 3, 4, 5, 6; %, %, .3⁄4 are coordinates of the coordinate system 5 of the first ^ ζ platform 402: any point above; & ' Br> rix Viy is a coordinate of the coordinate system .5: of the first platform 402 after being converted to any point coordinate ris on the coordinate system P of the second platform 404. [0021] In addition, the coordinate of any point on the coordinate system P. of the second platform 404 is converted to the coordinate system of the first platform 402 by the ii?. rotation matrix, and is represented as 5 1 , and p=[PiX Piy PiA \ j and defined as the rotation matrix of the coordinate system of the second platform 404 to the coordinate system of the first platform 402, defined as the angle of rotation of the second platform 404 to the X axis of the first platform 402 coordinate system 5, and then to the first platform 402 Coordinate system 09711222^^ A0101 Page 9/18 pages 1013281527-0 1373682 On July 23, 101, the nuclear replacement of the Y-axis of the yoke was rotated by an angle 'and then the angle of the Z-axis of the platform/platform 402 coordinate system was rotated. The relationship is as shown in the formula (2): [0022] hPn X 3Piy = }R- PPiy + y BPiz_ z+d (2) where j is a constant, therefore, when the coordinate position P of the first platform 4〇2 is given = [χγζψθφ] 'First calculate the homogeneous transformation matrix of the first station 402 coordinate system, and then convert the six junctions on the first platform 4 〇 2 system to the second platform 404 coordinate system, then calculate The length of the six links 406 is extended or shortened and the angle of rotation, whereby the controller 20 can be precisely controlled Six of said connecting rod elongation or shortening the amount of 406 and a rotation angle of the second platform 404 to drive the image sensor to compensate 31〇 reaches the imaging position 100 jitter means. [0024] The imaging device provided by the present invention uses the image stabilizer to drive the optical axis motion of the image sensing A lens module placed thereon, the movement along the optical axis of the vertical lens module, and the relative lens module. The optical axis is tilted to compensate for the jitter of the imaging device to ensure image quality. _] In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above is only the preferred embodiment of the present invention. For those who are familiar with the art of the present invention, the equivalent modifications or changes made by the applicant in accordance with the spirit of the invention shall be included in the following patent application. Brief Description: 09711222^单单卿1 帛10 pages/total 18 pages 1013281527-0 1373682 101 July 31 Module schematic. 2 is a schematic view showing the structure of an image forming apparatus of the present invention. 3 is an exploded perspective view of an image stabilizer of the image forming apparatus of the present invention. Fig. 4 is a perspective exploded view of another perspective of the image stabilizer of the image forming apparatus of the present invention. 5 is a motion model diagram of an image stabilizer of the present invention. [Main component symbol description] [0031] Imaging device: 100 [0032] Lens module: 30 [0033] Body: 302 [0034] Lens barrel: 304 [0035] Lens: 306 [0036] Mirror holder: 308 [0037] Image Sensor: 310 [0038] Image Stabilizer: 40 [0039] First Platform: 402 [0040] Second Platform: 404 [0041] Connecting Rod U 0 6 [0042] Image Jitter Detector: 10 [ 0043] Controller: 20 09711222 Order No. A〇101 Page 11/Total 18 Page 1013281527-0 1373682 [0044] First End: 406a [0045] Second End: 406b [0046] First Ball Connection: 408 [0047] First extension: 41 0 [0048] Second extension: 412 [0049] First groove: 414 [0050] Second groove: 416 [0051] Third groove: 418 [0052] Four grooves: 420 [0053] First protrusion: 422 [0054] Second protrusion: 424 [0055] First blocking portion: 426 [0056] Second blocking portion: 428 [0057] Third protruding column: 430 [0058] Fourth stud: 432 [0059] Second spherical joint: 434 [0060] Connecting post: 436 [0061] Storage trough: 438 _12^ Single number deletion 1 Page 12 / Total 18 pages 101 years 07 Press on the 23rd of the month Feed 1013281527-0