WO1994029766A1 - Driver - Google Patents
Driver Download PDFInfo
- Publication number
- WO1994029766A1 WO1994029766A1 PCT/JP1994/000917 JP9400917W WO9429766A1 WO 1994029766 A1 WO1994029766 A1 WO 1994029766A1 JP 9400917 W JP9400917 W JP 9400917W WO 9429766 A1 WO9429766 A1 WO 9429766A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- driving
- drive
- angle
- amount
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
- G02B27/646—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for small deviations, e.g. due to vibration or shake
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B2205/0007—Movement of one or more optical elements for control of motion blur
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B2205/0053—Driving means for the movement of one or more optical element
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2217/00—Details of cameras or camera bodies; Accessories therefor
- G03B2217/005—Blur detection
Definitions
- the present invention relates to a driving device represented by, for example, an image blur prevention device for a camera, and more particularly to a driving device that drives a driven object such as a correction optical system based on an output of a rotational motion detector.
- a driving device represented by, for example, an image blur prevention device for a camera, and more particularly to a driving device that drives a driven object such as a correction optical system based on an output of a rotational motion detector.
- a camera equipped with this type of image blur prevention device has a detector for detecting the amount of camera shake, and an optical system (correction optical system) for image blur correction is provided based on the detection output of the detector. It is driven in a direction perpendicular to the optical axis to prevent image blur.
- Japanese Unexamined Patent Publication No. 11291/65 has a pair of accelerometers for detecting the amount of camera shake in the pitch direction Dp and the yaw direction Dy of the camera shown in FIG.
- An anti-shake device that drives a correction optical system in the horizontal and vertical directions of the camera based on the detection output of each speedometer is disclosed. This publication also discloses an example in which an angular accelerometer is used instead of the accelerometer.
- an gyro detects rotational angular velocity about a predetermined detection axis
- an gyro detects pitch-direction blurring.
- the pitch blur is usually a vertical rotational movement centered on the horizontal axis (true pitch axis) TP in the horizontal direction of the camera shown in Fig. 15.
- Göble is a horizontal rotation about a vertical axis (one axis). Both axes ⁇ ,, ⁇ ⁇ are perpendicular to the optical axis L of the taking lens and perpendicular to each other.
- the detection axes of the pitch gyro and the gyro are referred to as the pitch detection axis and the gyro detection axis, respectively.
- the pitch angular velocity meter detects the rotational momentum of the camera about the pitch detection axis
- the single angular velocity meter detects the rotational momentum of the camera about the black detection axis.
- the driving direction of the correction optical system based on the output of the pitch gyro originally the camera vertical direction
- the driving direction of the correction optical system based on the output of the mono gyro originally the camera left and right direction. Is called the driving direction.
- the axis (reference axis) perpendicular to the pitch drive direction when driving the correction optical system in the pitch drive direction is the pitch correction axis
- the orthogonal axis) is called the X axis.
- the direction of the pitch correction axis and the Yaw correction axis is determined by the mounting attitude of the correction optical system drive unit to the lens barrel, or the assembly status of the drive unit itself, and the pitch drive is made by the pitch correction axis and the Yaw correction axis direction.
- the direction and the Yaw drive direction are determined.
- a vibrator for determining the direction of the detection axis is supported in a space by a wire-like support member, and this support member is Since it is fixed to the main body case, the direction of the detection axis with respect to the main body case varies depending on the individual gyro. For this reason, when attaching the gyro to the camera, unless the attitude of each gyro is precisely adjusted so that its detection axis is directed to a desired direction, for example, the output of the pitch gyro may be output.
- the force may include a shake component, or the output of the angular velocity meter may include a pitch shake component. In this case, if the output of each gyro is used as it is, the drive amount of the correction optical system will not be an appropriate amount, and accurate blur correction cannot be performed.
- the above-described pitch correction axis and the Yaw correction axis cannot be used due to the mounting error of the drive unit of the correction optical system to the lens barrel and the assembly accuracy of the drive unit itself. It does not always coincide with the pitch detection axis and the yaw detection axis. If they do not match, accurate blur correction cannot be performed when the correction optical system is driven using the output of each gyro as it is as described above.
- the two angular accelerometers are fixed to one member, and then the unified rotational positions in the pitch direction and the yaw direction are fixed. It only adjusts the position, and there is no description about the attitude adjustment of each angular accelerometer or the position adjustment of the drive unit of the correction optical system.Therefore, accurate camera shake detection cannot be performed for the reasons described above. There is a risk.
- the output of the pitch gyro and the gyro should not include the wobbler component and the pitch wobbler component, and the yaw detection axis and the pitch detection axis should coincide with the yaw correction axis and the pitch correction axis, respectively.
- an adjustment work that strictly matches the mounting accuracy of each gyro and the driving direction accuracy of the correction optical system drive unit with respect to the fixed barrel portion of the lens barrel can be considered.
- this adjustment is rather cumbersome and costly.
- An object of the present invention is to provide a drive device capable of controlling a drive amount of a driven object to an appropriate amount with only a minimum adjustment operation. Disclosure of the invention
- a driving device includes: A detector that detects a physical quantity related to the rotational movement of the body about a predetermined detection axis, and a drive amount of the driven object provided on the detected object, at least an output of the detector and the detection axis and the detection axis and the driven object.
- the calculating means calculates a driving amount of the driven object provided on the detected object based on at least an output of the detector and an angle between the detection axis and a reference axis defining a driving direction of the driven object. .
- the driving means drives the driven object in a direction defined by the reference axis based on the calculation result of the calculation means.
- the drive amount of the driven object is calculated in consideration of the angle between the detection axis of the detector and the reference axis, so that the directions of the detection axis and the correction axis are ideal. Even when there is no relationship, the driven object can be driven with an accurate drive amount. Therefore, it is not necessary to strictly adjust the position of the detection system, which can reduce man-hours and cost.
- FIG. 1 is a block diagram showing an image blur prevention device for a camera according to one embodiment of the present invention.
- FIG. 2 is a perspective view of a camera provided with the image blur prevention device.
- FIG. 3 is a diagram showing details of a correction drive unit and a monitor unit that constitute the image blur prevention device.
- FIG. 4 is a front view showing the configuration of the shake detection unit.
- Figure 5 is a left side view of Figure 4.
- Fig. 6 is a diagram showing the attitude adjustment procedure to prevent the roll shake component from being included in the output of the gyro.
- FIG. 7 is a diagram showing a coordinate system when a drive conversion amount of the correction optical system is obtained.
- Figures 8A and 8B show the method for obtaining various coefficients for calculating the drive conversion amount.
- FIGS. 8A and 8B are diagrams similar to FIGS. 8A and 8B.
- FIGS. 10A and 10B are diagrams similar to FIGS. 8A and 8B.
- FIGS. 11A and 11B are the same as FIGS. 8A and 8B.
- Fig. 12 is a flowchart showing the procedure for preventing camera shake.
- Fig. 13 is a diagram for explaining the problem with blurring around the optical axis.
- FIG. 14 is a diagram showing a modification of the correction optical system.
- Figure 15 is a diagram explaining the direction of camera shake. BEST MODE FOR CARRYING OUT THE INVENTION
- Fig. 1 is a block diagram showing the overall configuration of the camera image blur prevention device (drive device).
- Reference numeral 100 denotes a shake detection unit including a vibration-type pitch gyro 18 and a gyro gyro 19 (both shown in FIG. 2), and the detection output is input to the arithmetic and control unit 110. Is done.
- Reference numeral 130 denotes a monitor unit that detects the drive amount of the correction optical system 2 shown in FIG. 2 and inputs the same to the arithmetic control unit 110.
- Reference numeral 140 denotes a camera state detection unit. The camera state detector 140 detects, for example, the focal length of the photographing lens, the photographing distance, or the selection status of the exposure mode, using various switch encoders, and outputs the detected information to the arithmetic and control unit 110. To enter.
- Reference numeral 120 denotes a correction drive unit that drives the correction optical system 2.o
- the arithmetic control unit 110 is based on input information from the shake detection unit 100, monitor unit 130, camera state detection unit 140, and storage unit 150. Calculates the drive conversion amount (to be described in detail later) of the correction optical system 2 for performing appropriate shake correction, and adjusts the correction optical system 2 by the correction drive unit 120 based on the calculation result. Drive by the amount.
- FIG. 3 is a diagram showing the configuration of the correction drive unit 120 and the monitor unit 130.
- Reference numeral 3 denotes a lens chamber in which the correction optical system 2 is accommodated, and is mounted so as to be free from the optical axis and move in a plane perpendicular to the optical axis.
- a pitch correction driving plate 4 and a Yaw correction driving plate 5 are connected to the lens chamber 3 by bins 3a to 3d, respectively.
- the lens chamber 3 is located in a plane perpendicular to the optical axis L (FIG. 2) of the photographing optical system due to the vertical movement of the pitch correction drive plate 4 in the camera and the horizontal movement of the yellow correction drive plate 5 in the camera.
- the correction optical system 2 performs an operation for preventing image blurring.
- Reference numeral 10 denotes a pitch drive motor 110 for driving a pitch correction drive plate, and the rotation of the correction optical system 2 is performed.
- the power is transmitted to the pitch drive screw 6 via the pitch gear train 8, and the pitch correction drive plate 4 is driven by the rotation of the screw 6.
- Reference numeral 11 denotes a gaw drive motor, the rotation of which is transmitted to a gaw drive screw 7 via a gaw gear train 9, and the gaw correction drive plate 5 is driven by the rotation of the screw 7.
- the pitch drive motor 10 and the drive motor 11 are driven by a drive signal from the arithmetic control unit 110 via a motor driver (not shown).
- Reference numerals 15 and 16 denote a pitch spring and a spring interposed between the lens barrel 3 and the lens chamber 3 which form a part of the camera housing 1 (FIG. 2).
- the springs # 5 and # 16 prevent the lens chamber 3 from separating from the pitch correction driving plate 4 and the Yaw correction driving plate 5.
- reference numerals 13 and 14 denote the drive amounts of the pitch drive motor 10 and the haw drive motor 11, that is, the drive amounts of the correction optical system 2. And the output of each of the inter- vals 13 and 14 is a monitor signal generator (not shown). It is input to the arithmetic and control unit 110 via the circuit.
- Reference numeral 17 in FIG. 2 denotes a substrate disposed in the housing 1.
- the substrate 17 has a pitch gyro 18 and an angular velocity as shown in the enlarged views of FIGS. A total of 19 are fixed.
- a circuit pattern for extracting the outputs of the angular velocity meters 18 and 19 is also formed on the substrate 17.
- the pitch gyro 18 detects the angular velocity (angular velocity in the Dp direction) centered on the true pitch axis TP which is originally perpendicular to the optical axis L of the photographing optical system and extends in the left-right direction of the camera. belongs to.
- the gyro gyro 19 is for detecting the angular velocity (angular velocity in the Dy direction) around the true axis TY which is originally perpendicular to the optical axis L and extends upward and downward from the camera. is there.
- the board 17 is attached to the camera housing 1 by a center screw 20, pitch tilt adjusting screw 21, and jaw tilt adjusting screw 22, and each screw 20 to Adjustment springs 23 to 25 (24 not shown) externally attached to 22 constantly urge the camera forward.
- the center screw 20 is disposed substantially at the center of the substrate 17, and the pitch tilt adjusting screw 21 is separated from the center screw 20 by a predetermined distance in the direction of the axis L p (true pitch axis; an axis parallel to TP). Is located in the position.
- the tilting screw 22 is arranged at a predetermined distance from the center screw 20 in the direction of the axis Ly (an axis parallel to the true axis TY).
- the pitch tilt adjusting screw 21, the center screw 20, and the jog tilt adjusting screw 22 are arranged so as to form a right-angled triangle having the center screw 20 as a vertex of a right angle.
- the detection axes (pitch detection axis and yaw detection axis) of the gyros 18 and 19 are controlled as described later. Posture for removing falling An adjusting operation is performed.
- a camera in addition to the pitch blur described above, a camera also has a blur (roll blur) in a rotational direction around the optical axis L. Therefore, if the attitude of the gyro is not adjusted, the output of the pitch gyro and the gyro may contain a roll blur component, and it may not be possible to accurately detect camera shake.
- a blur roll blur
- V r A x R x c os (7)
- the detection axis of the gyro 19 is a plane perpendicular to the photographing optical axis L, that is, a small amount compared to 90 degrees from the normal rotation center axis Ty. However, it is assumed that it is inclined with respect to the optical axis L by an angle other than 0 degree.
- the tilt of the first detection axis with respect to the optical axis does not significantly affect the detection accuracy of the first blur.
- the output of the angular velocity meter 19 for rotation about the rolling rotation axis optical axis L
- the roll shake component as an error included in the output of the shake detector 19 increases rapidly with an increase in the angle, for example, AXRX 5.2% at a temperature of 3 degrees and AXRX 8 at a temperature of 5 degrees. 7%.
- the output of the yaw detection gyro is relatively large due to the roll blur component that should not be output. It is included in the ratio, and accurate detection results cannot be obtained.
- the roll blur component is included in the output of the pitch detection gyro 18 at a relatively large ratio. Therefore, it is necessary to perform at least a posture adjustment operation to prevent this kind of roll blur component from being included in the outputs of the gyros 18 and 19.
- FIG. 6 shows an adjustment procedure for preventing the roll blur component from being included in the outputs of the gyros 18 and 19.
- step 1 a predetermined rolling motion is given to the camera.
- the rolling motion is a rotating motion about the optical axis L of the photographing optical system as described above.
- the pitch gyro 18 and the gyro gyro 19 due to the rolling motion cause the light on the respective axes to be detected.
- step 2 the output Vr of the bitter gyro 18 is extracted, and in step 3, the output Vr of the angular gyro 19 is extracted.
- step 4 from the output Vr of the pitch gyro 18 obtained in step 2, the tilt angle corresponding to the key in equation (2) is calculated. From the output obtained in step 3, calculate the angle of inclination of the detection axis of the angular velocity meter 19.
- step 6 the pitch fall adjustment screw 21 is inserted or loosened.
- the substrate 17 swings in the front-rear direction of the camera around the axis Ly shown in FIG. 4, and the angle of the pitch gyro 18 changes.
- the pitch detection axis is displaced in a direction parallel to a plane (first plane) orthogonal to the optical axis L.
- the screw 21 is operated by an amount equivalent to removing the tilt of the pitch detection axis calculated in step 4, the pitch detection axis becomes parallel to the first plane.
- the board 17 does not fall with respect to the blue axis TY by the adjustment of the pitch falling adjustment screw 21. Therefore, the angle between the blue detection axis and the first plane does not change.
- the axis Ly in Fig. 4 passes through the center of the board 17, the amount of rotation of the board 17 when operating the screw 21 is divided into left and right, and the amount of movement of the left and right ends of the board 17 in the front-rear direction of the camera is minimized. Can be minimized. Therefore, even if the space surrounding the board 17 in the camera housing 1 is relatively small, the posture adjustment work can be performed by the pitch tilt adjusting screw 21. Since they are arranged substantially symmetrically with respect to the axis Ly, the amount of rotation of the gyros 18 and 19 by adjusting the pitch tilt adjustment screw 21 can be minimized, and the board 17 Left and right width can be reduced. This also contributes to reducing the space around the substrate.
- step 7 tighten or loosen the cam tilt adjustment screw 22 by an amount equivalent to removing the tilt of the detection axis of the angular velocity meter 19 calculated in step 5.
- the operation of the screw 22 causes the substrate 17 to swing about the axis Lp in the front-rear direction of the camera, thereby changing the angle of the mono-angular velocimeter 19. This makes the bow detection axis parallel to the first plane. be able to.
- the board 17 does not fall with respect to the true pitch axis TP by adjusting the tilt adjustment screw 22. Therefore, the angle between the pitch detection axis and the first plane does not change.
- the vertical width of the board 17 is larger than the horizontal width, the amount of movement of the upper and lower ends of the board in the front-rear direction of the camera when adjusting the angular velocity meter 19 with the screw 22 is greater than when adjusting the pitch angular velocity meter 18.
- the axis Lp passes through the center of the substrate 17, the amount of rotation of the substrate 17 when operating the screw 22 is divided into right and left, and thus the amount of movement of the upper and lower ends of the substrate 17 is limited. Can be reduced to a minimum.
- the space for adjustment is somewhat larger. Can be taken.
- the bite gyro 18 and the gyro gyro 19, which are relatively high in mounting height are moved toward the center of the board. The extra space can be made relatively large.
- the target value of the angle adjustment work differs depending on the device.
- the pitch detection axis and the Yaw detection axis are each substantially parallel to the first plane orthogonal to the optical axis L. Therefore, the ⁇ in equation (2) becomes almost zero, and the rolling motion component applied to the camera is not included in the outputs of the dual gyros 18 and 19.
- the processing from step 4 onward may be performed while rolling exercise is continuously applied, or only steps 2 and 3 are performed during rolling exercise, and after step 4 is stopped, steps 4 onward are performed. Is also good.
- the above steps may be repeated until the required accuracy is obtained, that is, until the outputs of the respective gyros 18 and 19 become almost zero during the rolling operation.
- each adjustment bottle and screws with an adhesive or the like improves the reliability with respect to aging. If it is guaranteed that the angle of inclination of each detection axis with respect to the optical axis at the time of mounting each detector 18 and 19 to the board 17 is within the allowable range, adjust with the above screws. May be omitted and the substrate 17 may be directly fixed at a predetermined position of the camera housing 1.
- the rolling motion given to the camera in step 1 is not a one-way rotation but a so-called alternating rotation in which the camera rotates alternately in two directions. This is because when detecting the output of the gyro, a high-pass filter is often used to remove zero output drift, etc., and if the rotation in one direction is continued, an accurate output can be obtained. Because it is difficult,
- the pitch correction axis and the Yaw correction axis are axes that serve as references when the correction optical system 2 is driven in the pitch drive direction and the Yaw drive direction, respectively (perpendicular to the pitch drive direction and the Yaw drive direction).
- Direction If the horizon detection axis and the horizon detection axis do not coincide with these axes, when the correction optical system 2 is driven using the outputs of the pitch gyro 18 Correction may not be possible.
- the gyro is soldered to the substrate 17 perpendicular to the optical axis L of the camera, it is difficult to suppress variations in the direction of the detection axis in a plane perpendicular to the optical axis L.
- the pitch correction axis and the Yaw correction axis are both perpendicular to the roll rotation axis L, and the pitch detection axis and the Yaw detection axis are also perpendicular to the roll rotation axis L by the above-described posture adjustment.
- the relationship between the two correction axes and the two detection axes can be regarded as a relationship in a two-dimensional plane.
- the drive conversion amount is a physical amount that represents the drive amount when the correction optical system 2 is driven to prevent image blurring by the output level of the gyro. Therefore, in the ideal state where the pitch detection axis and the Yaw detection axis coincide with the pitch correction axis and the Yaw correction axis, and the Yaw correction axis and the pitch correction axis are exactly orthogonal, The output itself corresponds to the drive conversion amount related to the Yaw correction, and the output of the pitch gyro corresponds to the drive conversion amount related to the pitch correction.
- the two detection axes and the two correction axes do not always match, and there is no guarantee that the Yaw correction axis and the pitch correction axis are orthogonal to each other. It is necessary to obtain it by calculation.
- FIG. 7 is a diagram showing the relationship between the pitch detection axis u and the Yaw detection axis V, the pitch correction axis PP, and the Yaw correction axis YP, as viewed from the back of the camera.
- TY is the true axis for camera case 1
- TP is the true pitch axis.
- the angle between the bite correction axis PP and the Yaw correction axis YP is 77.
- H, ⁇ , ⁇ s 7? are angles determined by the structure of the camera body, and these relations determined at the time of manufacture do not change thereafter.
- vector B representing camera shake in which the bitch motion and the yaw motion are combined
- this vector B is decomposed into vectors B u and BV in the pitch detection axis u and the yaw detection axis V direction. Is done.
- vectors Bu and BV correspond to the detection outputs of the pitch gyro 18 and the yaw gyro 19 for the vector B.
- vector B is also decomposed into vectors P D and Y D in the pitch correction axis PP and the Yaw correction axis Y P direction.
- These PD and YD correspond to the drive conversion amounts for the pitch correction and yaw correction to be obtained.
- the vectors Bu and BV are signal outputs that are proportional to the cosine in the axial direction as described in the equation (1).
- the vectors PD and YD are vectors forming a parallelogram, but since the vectors PD and YD are usually in a perpendicular relationship to each other, they can be paraphrased as vectors forming a rectangle or a square. no problem. Then, the vectors PD and YD can be obtained from the vectors Bu and BV by the following equations. BV
- A1 sin . + (BVx tn ⁇ )
- A2 ⁇ sin> 5 + (cos> 5xcot 77) ⁇
- each axis direction is set so that the pitch detection axis u coincides with the pitch correction axis ⁇ ⁇ , and the first detection axis V coincides with the first correction axis ⁇ ⁇ .
- YD BV- ⁇ B u (?-77 ') ⁇ ⁇ ⁇ ⁇ (5)
- PD 5 Bu + ⁇ BV x (h + 77,) ⁇ ⁇ ⁇ (6).
- step 12 the output ⁇ of the gyro 19 is detected in order to confirm (or adjust) the output level for this gyro motion.
- the relationship between the angle /? Between the correction axis and the detection axis is not clear yet, but since the equation (1) and the angle condition of /? (Near 0 (rad)) are satisfied, At this stage, the output level of the gyro 19 may be checked.
- step 13 the output PE of the pitch gyro 18 is detected. Since the yaw movement in step 11 is a rotational movement about the true yaw axis, this output PE is proportional to the amount of inclination of the pitch detection axis u from the true pitch axis TP.
- step 15 the output PA of the bite gyro 18 is detected in order to confirm (or adjust) the output level for this bite motion.
- step 16 the output YE of the angular velocity meter 19 (which is proportional to the amount of inclination of the axis V from the axis TY) is detected. Since the pitch movement in step 14 is a rotation movement about the true pitch axis, this output YE is proportional to the amount of tilt of the detected single axis V from the true axis TY.
- step 17 a coefficient ⁇ relating to the angle between the pitch detection axis U and the pitch correction axis PP is calculated. That is, using the output ⁇ ⁇ ⁇ detected in step 13 and the output ⁇ ⁇ detected in step 15,
- the coefficient is stored in the storage unit 150 in the camera.
- step 19 the angle /? Formed by the Yaw detection axis V and the Y correction axis ⁇ is
- step 20 the coefficient /? Is stored in the storage unit 150 in the camera.
- each coefficient stored in the storage unit 150 in the camera is not limited to the above.
- the values of ⁇ ⁇ ⁇ , ⁇ , ⁇ , and ⁇ ⁇ are stored in the camera, and the operations corresponding to the equations (9) and (10) are performed. May be performed by the arithmetic and control unit 110 to generate the coefficients H and?.
- a configuration may be employed in which a voltage corresponding to the coefficients H and? Is generated by setting the resistance value of the analog arithmetic circuit corresponding to H and.
- FIGS. 9A and 9B are basically the same as steps 11 to 20 described in FIGS. 8A and 8B.
- equations (7) and (8) can be used, only the coefficient to be found needs to be only / ?.
- the calculation method of ⁇ and> 5 is different from that in FIGS. 8A and 8 ⁇ . In other words, if the yaw correction axis ⁇ , and the pitch correction axis ⁇ ⁇ do not match the true uniaxial axis ⁇ ⁇ and the true bit axis TP, the yaw and pitch movements performed in steps 11 and 14 will be accurate.
- the angle (5 is, for example, the dimension of the mounting portion of the correction driving portion of the correction optical system 2, Alternatively, if it is caused by a dimensional error in the mounting portion on the camera housing 1 side, the mechanical dimensions of the parts and the like can be measured so as to make it clear in advance. If (5 is unknown, for example, it is only necessary to perform a simulation correction driving in which the correction optical system 2 is simulatedly driven by the correction correction driving plate 5. That is, in the driving direction of the correction optical system 2, Since the vertical direction is the correction axis direction, the above 5 can be obtained by detecting the driving direction of the correction optical system 2.
- a light beam may be incident on the correction optical system 2 and the moving direction of the image forming point may be detected by a photoelectric conversion element such as a position sensor.
- step 101 the direction of the yellow correction axis is checked.
- the angle described above the angle ⁇ 5 y from true axis TY to yaw correction axis YP as in 5
- the angle from true pitch axis TP to pitch correction axis PP when 5 p is known in advance, Can be omitted because it is sufficient to use (5 y as it is.
- the correction optical system 2 is moved by the correction driving plate 5 What is necessary is just to perform the simulated correction
- step 102 the correction pitch direction is similarly confirmed. Also in this case, if the angle 6p from the true pitch axis TP to the pitch correction axis PP is already known, this step can be omitted.
- Steps 103 to 108 are the same as steps 11 to 16 described in FIGS. 8A and 8B and FIGS. 9A and 9B, and a description thereof will be omitted.
- steps 109 and 111 corresponding to steps 17 and 19 in Fig. 8B,
- the appropriate drive conversion amount can be calculated from the outputs of the pitch gyro 18 and the gyro gyro 19. You can ask.
- Equations (5), (6), and Equations (11) to (13) can be summarized as follows:
- equations (5) and (6) do not hold, so the only option is to calculate the drive conversion amount using equations (3) and (4).
- this case will be described with reference to FIGS. 11A and 11 1.
- Step 201 and Step 202 are the same as Step 101 and Step 102 in FIG. 1OA, respectively.
- step 203 the angle between the pitch detection axis u and the true pitch axis TP shown in FIG.
- the angle (5 pb (rad) is specified. That is, if the angle is not close to 0 (rad) as described above, the equation (9) described with reference to FIGS. 8A and 8B holds. (5 p, S pb is obtained to obtain the power.
- the pitch gyro 1 is given to the camera housing 1 while rotating the camera housing 1 in the direction around the Y axis.
- a possible procedure is to detect the output PE of 8 and change the direction of the rotation axis of the rotational motion applied to the camera until the output PE becomes 0.
- the direction perpendicular to the rotation axis direction when the output PE of the gyro gyro 18 becomes 0 is the direction of the pitch detection axis u.
- the angle between this direction and the true pitch axis TP is detected and dpb
- step 203 may be omitted.
- step 204 the angle from the first detection axis V to the true axis TY (5 yb is specified.
- the specification method is the same as in step 203.
- step 205 the pitch is determined.
- the angle between the detection axis u and the pitch correction axis PP is
- step 206 the data is stored in the storage unit 150 in the camera.
- step 207 the angle formed by the Yaw detection axis V and the Y correction axis YP is
- step 208 ? Is stored in the storage unit 150 in the camera.
- step 2 09 In step 2 09,
- V 6 y-6 p + ( ⁇ / 2)
- step 210 ? Is stored in the storage unit 150 in the camera.
- the yaw motion and the pitch motion given to the camera in FIGS. 8 ⁇ to 11 ⁇ are preferably alternating rotations as in the rolling motion described above. The reason is the same as described above.
- FIG. 12 is a flowchart illustrating a procedure of image blur correction control by the arithmetic and control unit 110 of the camera.
- step 301 the output signals of the pitch gyro 18 and the gyro 19 are input.
- step 302 each coefficient stored in the storage section 150 is read out, and in step 303, information detected by the camera state detection section 140, for example, the focal length or shooting distance of the shooting lens. Enter something like
- step 304 the drive conversion amounts serving as the basis for calculating the pitch correction and yaw correction drive amounts are calculated by substituting the output signals of the respective gyros 18 and 19 and the values of the coefficients into the above-described equations.
- a drive amount of the correction optical system 2 that is, a signal relating to the current position of the correction optical system is input from the monitor unit 130.
- step 306 based on the drive conversion amount in each direction calculated in step 304, information on the camera state (for example, the focal length of the photographic lens and the photographic distance), and the monitor signal information, The pitch correction drive amount and the Yaw correction drive amount of the correction optical system 2 are calculated.
- the reason why the focal length and the photographing distance of the photographing lens are taken into account is that the appropriate movement amount of the correction optical system is slightly different according to the distance information.
- step 307 a drive signal based on each correction drive amount obtained in step 306 is output to the auxiliary drive section 120.
- the pitch drive motor 10 and the first drive mode 10 constituting the correction drive unit 120 are driven, and the correction optical system is driven via the pitch correction plate 4 and the first correction plate 5. 2 is driven by an appropriate amount.
- the correction optical system 2 is moved in accordance with the drive amount and the drive direction in which the correction drive amount in the arrow direction and the correction drive amount in the pitch direction are combined, and image blur is prevented.
- step 310 it is determined whether or not the exposure has been completed. If the exposure has not been completed, the process returns to step 301 to repeat the above-described processing, and if completed, terminates the processing.
- coefficients stored in the storage unit 150 are ⁇ , / ?, ⁇ , (5 p, ⁇ y, ⁇ pb, ⁇ yb ⁇ v ′,? 7 or PE, PA, YE, YA only.
- a coefficient for example, S determined by the directional relationship between each detection axis and the correction axis may be used.
- variable apex angle prism 51 as shown in FIG. 14 may be used.
- the boundary surface 51 a of the variable apex angle prism 51 is adjusted with respect to a plane perpendicular to the optical axis L of the photographing optical system in order to adjust the image forming position of light transmitted through the photographing optical system on the photographing screen. It can be tilted in the first drive direction (rotation direction about the bite correction axis Ap) and in the second drive direction (rotation direction about the yaw correction axis Ay).
- the present invention can be applied to this type of device.
- the vertical driving unit of the image sensor corresponds to the pitch driving unit
- the horizontal driving unit corresponds to the gray drive unit.
- the driving direction of the correction optical system may be a direction defined by the correction axis, and is not particularly limited to the orthogonal direction.
- an angular accelerometer may be used.
- the present invention can also be applied to an image blur prevention device of a video camera. Further, the present invention can be applied to a driving device other than an image blur prevention device of a camera as long as the device detects a rotational motion around a predetermined detection axis and drives a driven object in response to the rotation.
- the drive device according to the present invention is suitable for use as an image blur prevention device for a still camera or a video camera.
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69434252T DE69434252T2 (de) | 1993-06-07 | 1994-06-07 | Antriebseinrichtung |
EP94917166A EP0654697B1 (en) | 1993-06-07 | 1994-06-07 | Driver |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5/136235 | 1993-06-07 | ||
JP13623593A JP3691524B2 (ja) | 1993-06-07 | 1993-06-07 | 駆動装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1994029766A1 true WO1994029766A1 (en) | 1994-12-22 |
Family
ID=15170447
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/000917 WO1994029766A1 (en) | 1993-06-07 | 1994-06-07 | Driver |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0654697B1 (ja) |
JP (1) | JP3691524B2 (ja) |
DE (1) | DE69434252T2 (ja) |
WO (1) | WO1994029766A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011193083A (ja) * | 2010-03-12 | 2011-09-29 | Toshiba Corp | 撮像装置、画像補正プログラム、画像補正方法 |
JP6245149B2 (ja) * | 2014-11-25 | 2017-12-13 | 株式会社Jvcケンウッド | ジンバル装置及びジンバル装置の制御方法 |
WO2022141485A1 (zh) * | 2020-12-31 | 2022-07-07 | 欧菲光集团股份有限公司 | 光学防抖驱动器、取像模组及电子设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5987513A (ja) * | 1982-11-12 | 1984-05-21 | Tech Res & Dev Inst Of Japan Def Agency | 慣性空間における安定化装置 |
JPS60143330A (ja) * | 1983-12-29 | 1985-07-29 | Matsushita Electric Ind Co Ltd | 撮影装置 |
JPH02296230A (ja) * | 1989-05-11 | 1990-12-06 | Olympus Optical Co Ltd | カメラのブレ検出装置 |
JPH0346642A (ja) * | 1989-07-14 | 1991-02-27 | Nec Home Electron Ltd | 撮像装置の画ぶれ防止機構 |
JPH03138629A (ja) * | 1989-10-25 | 1991-06-13 | Hitachi Ltd | 撮影装置 |
JPH03248136A (ja) * | 1990-02-26 | 1991-11-06 | Olympus Optical Co Ltd | カメラの像ブレ検出装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5210563A (en) * | 1989-11-29 | 1993-05-11 | Minolta Camera Kabushiki Kaisha | Camera capable of correcting blurring |
-
1993
- 1993-06-07 JP JP13623593A patent/JP3691524B2/ja not_active Expired - Lifetime
-
1994
- 1994-06-07 DE DE69434252T patent/DE69434252T2/de not_active Expired - Lifetime
- 1994-06-07 EP EP94917166A patent/EP0654697B1/en not_active Expired - Lifetime
- 1994-06-07 WO PCT/JP1994/000917 patent/WO1994029766A1/ja active IP Right Grant
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5987513A (ja) * | 1982-11-12 | 1984-05-21 | Tech Res & Dev Inst Of Japan Def Agency | 慣性空間における安定化装置 |
JPS60143330A (ja) * | 1983-12-29 | 1985-07-29 | Matsushita Electric Ind Co Ltd | 撮影装置 |
JPH02296230A (ja) * | 1989-05-11 | 1990-12-06 | Olympus Optical Co Ltd | カメラのブレ検出装置 |
JPH0346642A (ja) * | 1989-07-14 | 1991-02-27 | Nec Home Electron Ltd | 撮像装置の画ぶれ防止機構 |
JPH03138629A (ja) * | 1989-10-25 | 1991-06-13 | Hitachi Ltd | 撮影装置 |
JPH03248136A (ja) * | 1990-02-26 | 1991-11-06 | Olympus Optical Co Ltd | カメラの像ブレ検出装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0654697A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0654697A1 (en) | 1995-05-24 |
DE69434252D1 (de) | 2005-03-10 |
JP3691524B2 (ja) | 2005-09-07 |
EP0654697A4 (en) | 1996-02-28 |
JPH06347854A (ja) | 1994-12-22 |
EP0654697B1 (en) | 2005-02-02 |
DE69434252T2 (de) | 2005-06-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP3513950B2 (ja) | 像振れ補正カメラ | |
CN107077146B (zh) | 用于云台的控制方法、控制系统、云台和无人飞行器 | |
JP5391074B2 (ja) | カメラ、カメラシステムおよびカメラ本体 | |
US6930708B1 (en) | Apparatus and system for correction based upon detecting a camera shaking | |
EP2157783B1 (en) | Eyeball movement controller using principle of vestibulo-ocular reflex | |
KR20180076307A (ko) | 카메라의 상 흔들림을 보정하도록 구성된 액츄에이터의 구동량을 교정하기 위한 방법 | |
US8339466B2 (en) | Image stabilization apparatus and image pickup apparatus | |
JPH11249185A (ja) | カメラシステム及び交換レンズ | |
JP2004295027A (ja) | ブレ補正装置 | |
JP3041152B2 (ja) | 像安定化装置 | |
CN109040573B (zh) | 抖动校正方法和抖动校正设备 | |
JP2001251552A (ja) | ぶれ防止機能付き撮像装置 | |
US5686665A (en) | Dynamic amount detector, dynamic amount detecting method, and camera with dynamic amount detector | |
WO1994029766A1 (en) | Driver | |
JP2009031353A (ja) | 撮像装置 | |
EP0658797B1 (en) | Image movement correction of camera | |
US5828909A (en) | Driving apparatus | |
JPH07301839A (ja) | カメラの手ブレ補正装置 | |
JPH06250099A (ja) | 像安定化装置 | |
JP7017961B2 (ja) | ぶれ補正装置及びぶれ補正方法 | |
JP3197995B2 (ja) | 手振れ補正機能を有する光学機器 | |
US9270884B2 (en) | Imaging apparatus and detecting apparatus | |
JP2000227613A (ja) | 手振れ補正装置 | |
JP2000081646A (ja) | 手振れ補正機能付きカメラ | |
JP2020144257A (ja) | 観察光学系 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE |
|
ENP | Entry into the national phase |
Ref country code: US Ref document number: 1995 379589 Date of ref document: 19950206 Kind code of ref document: A Format of ref document f/p: F |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1994917166 Country of ref document: EP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWP | Wipo information: published in national office |
Ref document number: 1994917166 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref country code: US Ref document number: 1997 837794 Date of ref document: 19970422 Kind code of ref document: A Format of ref document f/p: F |
|
WWG | Wipo information: grant in national office |
Ref document number: 1994917166 Country of ref document: EP |