JP3368006B2 - Angular velocity sensor and imaging apparatus using angular velocity sensor - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angular velocity sensor utilizing Coriolis force and an image pickup device such as a video camera using the angular velocity sensor.

[0002]

2. Description of the Related Art Conventionally, an angular velocity sensor has been used as a sensor for detecting camera shake in a camera or the like. As an angular velocity sensor of this type, FIG. 6 shows an example thereof, in which a beam 61 of a quadrangular prism whose one end is fixed is shown by an arrow in the xy plane inward view in the xy plane in the x-axis direction by a piezoelectric body (not shown). Vibrate in the direction. When a rotational motion about the z-axis is applied to the beam 61 to which such vibration is applied, Coriolis force acts in the y-axis direction, more specifically, in the direction perpendicular to the plane including the vibration direction and the rotation axis. As a result, the beam 61 bends in the direction in which the Coriolis force acts. The amount of this deflection is, for example, a piezoelectric body (not shown).
The angular velocity of rotation can be detected by detecting with.

The Coriolis force can be expressed by equation (1).

F = 2 mv × Ω (1) F is a Coriolis force vector, m is a mass, v is an oscillating velocity vector, and Ω is an angular velocity vector.

(Deflection amount) ∝F ... (2) Since expression (2) holds true for minute vibration, (1) and (2)
| Ω | can be obtained from the equation.

As these principles, there are a tuning fork type, a vibrating piece having a triangular prism, and a vibrating piece having a cylindrical shape (not shown). However, all of them detect only the angular velocity of only one axis. It is a thing. There is also a so-called rate gyro (not shown) in which the top is held by a gimbal structure. According to this, biaxial angular velocity can be detected.
It is large.

On the other hand, as an image pickup apparatus using these angular velocity sensors, there is a video camera having a camera shake correction function.

FIG. 7 is a diagram showing this state. A general video camera having a camera shake correction function detects the displacement around the x-axis and the y-axis shown in FIG. 7 and corrects the displacement. As the correction means, there are a means for moving the lens group (not shown), a means for changing the apex angle of the prism (not shown), a means for changing the reading position of the CCD (not shown), and the like.

[0009]

However, many of the conventional angular velocity sensors described above detect the angular velocity of only one axis, and the angular velocity sensor that detects two axes also has a drawback that the rotation mechanism and the support mechanism become large. There is.

Further, the image pickup device using these angular velocity sensors requires two angular velocity sensors capable of detecting only one axis, which is problematic in terms of cost and size.
Even if a sensor capable of detecting two axes such as a rate gyro is used, the size of the device becomes large and the noise due to the spinning noise of the top causes problems.
It was impossible to obtain satisfactory performance.

Therefore, an object of the present invention is to provide a small-sized, low-cost angular velocity sensor equipped with a blur correction function and capable of accurately detecting an angular velocity, and an image pickup apparatus using the angular velocity sensor.

[0012]

According to the present invention, there is provided
Both ends may be mounted so that they can rotate with respect to the fixed part.
A vibrating member formed of a flexible columnar member;
The vibrating member is perpendicular to the longitudinal axis of the vibrating member column.
And vibrate with a predetermined phase difference in two directions orthogonal to each other.
Drive the vibrating member to rotate the vibrating member
Means perpendicular to the longitudinal axis of the vibrating member.
Angular velocity about an axis orthogonal to one of the two directions of vibration
And the Coriolis force generated by the
Around an axis that is straight and orthogonal to the other vibration direction of the two directions
Velocity for Detecting Coriolis Force Generated by Angular Velocity
And an angular velocity sensor having a detection means.
It

The present invention also provides an angle detecting device vibration.
A speed sensor and a compensation device that corrects the image blur caused by the vibration.
Corrective means and based on the output of the angular velocity sensor,
Control means for controlling the correcting means to correct the blurring of the image;
The angular velocity sensor is fixed at one end or both ends.
Flexible attached to the part for rotational movement
A vibrating member composed of a columnar member, and the vibrating member
Are perpendicular to the longitudinal axis of the column of the vibrating member and
By vibrating with a predetermined phase difference in two directions orthogonal to
A vibrating member driving means for rotating the vibrating member,
Perpendicular to the longitudinal axis of the vibrating member and
The angular velocity around the axis orthogonal to one of the
Caused by the Coriolis force, and perpendicular to the longitudinal axis and
Angular velocity about an axis orthogonal to the other vibration direction of the two directions
Angular velocity detecting means for detecting the Coriolis force generated by
And an image pickup device including:

[0014]

As a result, one sensor can detect angular velocities around two axes, and by mounting this angular velocity sensor in an image pickup apparatus having a camera shake correction function, it is possible to realize miniaturization and cost reduction.

[0015]

Embodiments of the angular velocity sensor according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a diagram for explaining the configuration and operation of an angular velocity sensor according to the present invention. FIG. 1 (a) shows the angular velocity sensor main body, and FIG. 1 (b) shows the entire angular velocity sensor including a detection circuit. FIG. 3C is a block diagram showing the configuration of FIG. 3C, and FIG. 6C is a diagram for explaining the operating principle of the angular velocity sensor in the present invention.

As shown in FIG. 1A, in the angular velocity sensor of the present invention, a piezoelectric body and an electrode are attached to the side surface of a square column 1 formed of a constant elastic body, or a thin film is formed by vapor deposition or the like. The structure has a fixed bottom. In addition, as shown in FIG. 2B, four pairs of the piezoelectric body and the electrodes (11x, 11y, 12x, 11x, 11y, 12x, one pair on each side surface of the quadrangular prism).
12y) is provided.

Although not shown in the drawing, the electrodes are provided above and below so as to sandwich the piezoelectric bodies 11x, 11y, 12x, 12y, one side is used as a common electrode of each piezoelectric body, and the outer electrode is Each of them is connected to each circuit of FIG.

Reference numeral 11x is a piezoelectric body for driving in the x-axis direction,
Reference numeral 11y is a piezoelectric body for driving in the y-axis direction. Reference numeral 12x is a piezoelectric body for detecting angular velocity around the x-axis, and 12y is a piezoelectric body for detecting angular velocity around the y-axis. FIG. 1 (a),
As shown in FIG. 1B, the driving piezoelectric body 11x is orthogonal to each other.
Drive, which will be described later, in the x direction of the xy direction, which is the two directions
It vibrates when driven by an output signal, and also a piezoelectric body for driving.
11y is the y direction of the xy direction, which is the two orthogonal directions.
Further, it is driven by a drive output signal described later and vibrates.
The driving piezoelectric bodies 11x and 11y are connected to the oscillation circuit 13
Each of the drive output signals output by the drive circuit is driven by a sine wave voltage having a predetermined frequency with a 90 ° phase shift by the phase shift circuit 14 , and a phase difference of 90 °, which is a predetermined phase difference, is generated.
Hold and vibrate . As a result, the center O of the free end of the square pole 1
The axis trace of _xyz makes rotational movement as shown by the solid line in FIG. That is, the square pole 1 has an angular velocity ω about the Z axis.
_The free end rotates in _z . At this time , the angular velocity around the x-axis
When the square pole 1 is rotated with Ω _x , Coriolis force is generated and O
_{In xyz} , the solid line trace shown in (c) becomes the dotted trace. This will be explained. From equation (1) , the angular velocity around the x-axis
Calculate the Coriolis force when rotation is applied at Ω _x .

[0020] O _xyz of the velocity vector v, the angular velocity vector Omega _x of x-axis direction, when the rotation radius r of _{O xyz v = (- rω z} sinω z t, rω z cosω z t,
0) Ω _x = (Ω _x , 0, 0) v × Ω _x = (0, 0, −rω _z Ω _x cos ω _z t) From the equation (1), F _x = (0, 0, −2 mrω _z Ω _x The Coriolis force of cosω _z t) acts in the Z-axis direction. As a result, the axis trace shown by the broken line in FIG. 7C is obtained, and the output obtained from 12x becomes the broken line shown in FIG. The solid line shown in FIG. 7D is when Ω _x = 0. The output signal from 12x is amplified by the amplifier circuit 15, and is passed through a band pass filter (BPF)
16 removes frequency components other than the detection band of the sensor,
The 11x drive signal is synchronously detected by the synchronous detection circuit 17 and the signal in which the phase is adjusted by the phase shift circuit 14, and the smoothing circuit 18
Is converted into a DC component to obtain a V _x output representing the angular velocity Ω _x .

[0021] can be obtained V _y output are similarly when the angular velocity Omega _y around the y-axis is applied to the rectangular prism 1.

FIG. 2 shows a second embodiment of the present invention.

In the present embodiment, an example in which a sensor for detecting biaxial angular velocity with one quadrangular prism is formed by a semiconductor process (photolithography, vapor deposition, etching, etc.) using the same principle as the first embodiment will be shown.

FIG. 1A is a perspective view of this embodiment, in which the cantilever 2 is formed on a silicon substrate by a semiconductor process.

FIG. 3B is a sectional view taken along line AA of FIG. 3A, and FIG. 3C is a sectional view taken along line BB of FIG.
An enlarged view of a portion surrounded by a circle in FIG. 3C is shown in FIG.

Cantilever 2 and piezoelectric body (PZT, etc.) 22y
Are laminated via an insulating film 224y and an electrode 223y. An electrode 222y and an insulating film 221y are formed on the other end of the piezoelectric body 22y by vapor deposition or the like. The other piezoelectric bodies 21x, 22x, 21y have the same layer structure.

The process in this embodiment is not particularly limited.

The principle of this embodiment is the same as that of the first embodiment, and by applying sinusoidal voltage with a 90 ° phase shift to the driving piezoelectric bodies 21x and 21y, the fixed end of the cantilever 2 is centered. When the rubbing movement is performed and rotation is applied about the x-axis or the y-axis, the angular velocity can be detected by the outputs from the detection piezoelectric bodies 22x and 22y.

FIG. 3 shows a third embodiment of the present invention. Hereinafter, description will be given with reference to FIG.

The square pole 3 is supported by a fixed plate 4. By applying a predetermined drive voltage waveform to each of the driving piezoelectric bodies 311x, 311y, 312x, and 312y, 2
The two free ends rotate. At this time 311x and 312
x, 311y and 312y are respectively supplied with drive waveform voltages having opposite phases, and 311x, 311y and 312x
And 312y are supplied with drive waveform voltages that are 90 ° out of phase with each other. As a result, as described above, 2
The two free ends rotate in the same direction in a 180 ° phase-shifted relationship. The detection principle is the first in the present embodiment as well.
However, in the present embodiment, there are two cantilevers, and there are two angular velocity detecting piezoelectric bodies for each axis, and these detecting piezoelectric bodies 321x, 322 are provided.
The outputs of x, 321y, and 322y are supplied to the differential amplifier circuits 35 and 36, respectively (321x-322x),
By taking a difference like (321y-322y) and amplifying the difference, an error due to gravitational acceleration or the like can be offset.

FIG. 4 shows a fourth embodiment of the present invention. This embodiment is an example in which the same detection principle as that of the third embodiment is manufactured by a semiconductor process (evaporation, etching, photolithography, etc.).

As shown in FIG. 3A, two cantilever portions 41 fixed by 42 and side surfaces of the beam portion 41 are provided on the piezoelectric body (411x, 411y, 412x, 41) at a total of eight places.
2y, 421x, 421y, 422x, 422y) are formed. The piezoelectric body has a five-layer structure of "insulating film + electrode + piezoelectric body + electrode + insulating film" as in the second embodiment, but is not limited to five layers.

Also, the process is not particularly limited.

Since the principle of detecting the angular velocity about the x-axis and the y-axis of this embodiment is the same as that of the above-mentioned third embodiment, its explanation is omitted.

Next, as a fifth embodiment of the present invention, an example of a video camera system using the angular velocity sensor of the present invention will be described with reference to FIG.

This system is a camera-shake preventing video camera system which uses a variable apex angle prism (hereinafter referred to as VAP) as a blur correction means.

In the present system, the angular velocity around the x-axis and the y-axis are respectively detected, the velocity signal from the angular velocity sensor is integrated and converted into an angular displacement signal, and the displacement signal from the VAP apex angle sensor is detected. Blur correction is performed by applying a drive signal to the drive actuator of the VAP so that the difference becomes zero.

Many of the conventional angular velocity sensors can only detect the angular velocity of only one axis, and there are those that use a gyro as a sensor capable of detecting two axes, but they are large and expensive, and are not suitable for the system as described above. is there. In this embodiment, since the angular velocity sensor 51 as shown in the above-described first to fourth embodiments is used as the angular velocity sensor 51, it is possible to detect in the biaxial directions with one sensor, and the size can be reduced.
Also, the cost can be reduced.

Reference numeral 52 in FIG. 5 is two parallel glass plates 52x and 5x.
VAP in which liquid is sealed between 2y, 53 is an apex angle sensor that detects the operating position of VAP, 54 is a VAP drive actuator, 55 is a lens, 56 is an integrator that integrates the output of the angular velocity sensor, 57 is an image pickup device such as CCD An element, 58 is a camera process circuit, and 59 is an adder. That is, the angular velocity information corresponding to the vibration detected by the angular velocity sensor 51 is integrated by the integrator 56, and the adder 59 takes the difference from the output of the apex angle sensor 53 that detects the operating position of the VAP, and the difference is 0, That is, the actuator 54 is driven so that the two values are equal. As a result, the VAP is drive-controlled so that the angular velocity detected by the angular velocity sensor 51 becomes 0, and the blur correction operation is performed.

Although only the video camera system has been described in the present embodiment, the present invention is not limited to this and can be applied to all image pickup devices such as a silver halide camera and an SV camera.

Although not shown, a similar blur detection / correction system is also provided in the y-axis direction.

[0042]

As described above, according to the angular velocity sensor of the present invention , one end of the vibration member for detecting vibration is fixed.
The rotational speed of the other end allows the two sensors to simultaneously detect the biaxial angular velocities with a simple structure and with high accuracy.

Further, in the image pickup apparatus using this angular velocity sensor, it is possible to realize only one sensor, which was conventionally required for two sensors, and it is possible to reduce the cost and downsize.

Further, when the two sensors are used, the factors causing performance deterioration such as crosstalk caused by an attachment error of the two angular velocity sensors and beats of the two angular velocity sensors using the vibrator are detected. By reducing the number to one, the effect can be greatly reduced, and as a result, the performance of the image pickup apparatus can be improved.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a first embodiment.

FIG. 2 is a diagram illustrating a second embodiment.

FIG. 3 is a diagram illustrating a third embodiment.

FIG. 4 is a diagram illustrating a fourth embodiment.

FIG. 5 is a diagram illustrating a fifth embodiment.

FIG. 6 is a diagram illustrating Coriolis force.

FIG. 7 is a diagram illustrating camera shake of a video camera.

Claims (5)

(57) [Claims] 1. A one end or vibration member whose both ends are constituted by columnar body-shaped member with a rotary movably mounted flexible with respect to the fixed portion, the vibration member, the pillar of the vibrating member On the longitudinal axis of
It vibrates with a predetermined phase difference in two directions that are straight and orthogonal to each other.
A vibrating member driving means for rotating the vibrating member by rotating the vibrating member ;
The angular velocity around the axis orthogonal to one of the
Caused by the Coriolis force, and perpendicular to the longitudinal axis and
Angular velocity about an axis orthogonal to the other vibration direction of the two directions
An angular velocity sensor for detecting the Coriolis force generated by the angular velocity sensor. 2. The vibrating member driving means according to claim 1, wherein the vibrating member driving means is at least two sheet-shaped piezoelectric bodies, and the angular velocity detecting means is at least two sheet-shaped piezoelectric bodies. Angular velocity sensor. 3. The angular velocity sensor according to claim 1, wherein the vibrating member driving means and the angular velocity detecting means are disposed on the vibrating member by adhesion. 4. The angular velocity sensor according to claim 1, wherein any or all of the vibrating member, the vibrating member driving means, and the angular velocity detecting means are formed by a semiconductor process. 5. An angular velocity sensor for detecting the vibration of the apparatus, a correction unit for correcting the image blur caused by the vibration, and a correction unit for controlling the image blur by controlling the correction unit based on the output of the angular velocity sensor. and control means for the angular velocity sensor, a vibration member having one end or both ends are composed of columnar-shaped member with a rotary movably mounted flexible with respect to the fixed portion, the vibrating member , The vibration
Perpendicular to the longitudinal axis of the member column and orthogonal to each other
The vibration is generated by vibrating in two directions with a predetermined phase difference.
A vibrating member driving means for rotating the member , and one of the two directions perpendicular to the longitudinal axis of the vibrating member.
Co caused by the axis angular velocity which is perpendicular to the vibration Direction
Liori force and the two directions perpendicular to the longitudinal axis
By the angular velocity around the axis orthogonal to the other vibration direction of
And a velocity detecting means for detecting and Jill Coriolis force
Imaging device, characterized in that.