JPH0771213B2 - Imaging device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup apparatus having a vibration isolation mechanism that significantly reduces vibration of a lens barrel despite vibration of a support.

2. Description of the Related Art As a conventional anti-vibration mechanism, one in which transmission of vibration from a support table to a surface plate or the like is suppressed by air pressure or hydraulic pressure is widely used. FIG. 11 is a sectional view showing the structure of such a conventional vibration isolation mechanism.

In FIG. 11, an air chamber 10 is provided between the surface plate 101 and the support base 102.
5 is formed, and compressed air is sent from the air compressor 104 through the pipe 103. As a result, the surface plate 101 and the support base 1
Between 02, a very weak air layer is formed. Therefore, even if the support base 102 vibrates significantly, the vibration is hardly transmitted to the surface plate 101. And for shooting that requires anti-vibration, the video camera is used as the anti-vibration mechanism surface plate 10 described above.
It was placed on top of 1 and photographed.

Problems to be Solved by the Invention In such a conventional vibration isolation mechanism, since compressed air is used, a compressor and an air chamber are required, and the scale is large and it cannot be used for portable use. Furthermore, there was a problem that the sound emitted from the compressor was loud.

When a panning operation is performed when an image pickup apparatus is handled using such a conventional image stabilization mechanism, the image pickup apparatus deteriorates in followability due to the image stabilization mechanism, and the photographer feels uncomfortable at the same time. There was a problem that panning photography was not possible.

The present invention has been made in view of the above points, and an object thereof is to provide a photographing apparatus having a small-scale, high-performance anti-vibration mechanism that can be used for a portable video camera.

Means for Solving the Problems A lens barrel part on which a plurality of lenses and an image sensor are mounted, an image circuit for generating an image signal from an electric signal obtained by the image sensor, and an axis of a light beam incident on the lens barrel part. Alternatively, a support body that rotatably supports the lens barrel portion in the yawing direction about rotation axes that are substantially orthogonal to each other, and actuator means that is installed between the lens barrel portion and the support body and that drives the lens barrel portion to rotate. An angle detecting means for detecting a relative angle between the lens barrel portion and the support, and an angular velocity detecting means for detecting an angular velocity of the lens barrel portion around the rotation axis as viewed from the inertial coordinates installed in the lens barrel portion, The output of the angle detecting means is detected by detecting that the output of the angle detecting means exceeds a predetermined relative angle range defined in advance with respect to the relative angle between the lens barrel portion and the support, and detecting the start of the panning operation. Is the predetermined phase The panning operation is performed by detecting that the angular velocity is within the opposite angular range and that the output of the angular velocity detecting means is within a predetermined angular velocity range that is predetermined with respect to the angular velocity around the rotation axis viewed from the inertial coordinate of the lens barrel portion. A panning start / end detection circuit for detecting the end of the lens barrel section and the support at the time when the panning start / end detection circuit detects that the output of the angle detection means exceeds the predetermined relative angle range. A relative angle command circuit that calculates the relative angular velocity of the body and issues a relative angle command in accordance with this result, the output of the angle detection means, the output of the angular velocity detection means, and the output of the relative angle command circuit start the panning. A combination circuit for combining the gains according to the output of the end detection circuit and a drive circuit for driving the actuator means according to the output of the combination circuit Ri is also to achieve the above purpose.

Action The present invention has the above-described configuration, and detects the relative angle between the lens barrel and the support and the angular velocity around the rotation axis as seen from the inertial coordinates of the lens barrel, and suppresses fluctuations of these. Driven and controlled by means to significantly reduce the vibration of the lens barrel.

Furthermore, the panning start / end detection circuit minimizes the delay of the lens barrel during panning operation for practical use.
The relative angle command circuit smoothly controls the movement of the lens barrel during the panning operation so that the photographer does not feel uncomfortable.

Embodiment FIG. 1 shows an embodiment of the present invention. In FIG. 1, a lens barrel 1 includes a plurality of lens groups (not shown) and an image sensor 2.
(For example, a CCD plate or an image pickup tube) is attached to collect reflected light from an object and form an image on the image pickup element 2 to convert it into an electric signal. The image circuit 3 sequentially reads the electric signal obtained by the image pickup element 2 to generate an image signal. Lens barrel 1
The actuator means 4 is provided between the support 15 and
The lens barrel portion 1 is driven to rotate in the yawing direction about the rotation shaft 13. The rotating shaft 13 of the actuator means 4 is the lens barrel portion 1.
The lens barrel portion 1 is rotatably supported with respect to the support body 15 through the center of gravity G of the above. Although not shown in the drawing,
Reference numeral 15 is provided with a grip portion for supporting the photographing apparatus of the present invention by a photographer.

The actuator means 4 is shown in FIGS. 2 (a), (b) and (c).
A specific configuration example of is shown. In FIG. 2, a magnet
The ferromagnetic back yoke 201 of 202 is attached to the lens barrel portion 1 and rotates together with the rotary shaft 13. Magnet 202 has 4
It is magnetized by the poles to generate a magnetic field flux. Bearing of rotating shaft 13
The coil yoke 204 provided with 205 has coils 203a and 203b.
And angle detecting means (Hall element) 6 are attached. Further, the coil yoke 204 is installed on the support 15. Coil 2
03a and 203b are connected in series, and a rotating torque is generated by a current flowing from the terminal 206 to the terminal 207 and a field magnetic flux of the magnet 202. The angle detecting means 6 is a magnet 202.
Of the magnet 202 (the angle θ _m of the lens barrel 1) and the coil yoke 204 (the angle θ ₀ of the support 15) are arranged substantially opposite to the switching portion of the magnetic poles (θ _m0 = θ). Generate an output signal corresponding to _m − θ ₀ ). It should be noted that θ _m is the angle of the lens barrel portion 1 around the rotation axis 13 viewed from the inertial coordinate, and θ ₀ is the angle of the support 15 around the rotation axis 13 viewed from the same inertial coordinate.

Now, in FIG. 1, the output signal of the angle detecting means 6 is inputted to the relative angle detecting circuit 8. FIG. 3 shows a specific configuration example of the angle detection circuit 8. The DC signal obtained at the two output terminals of the angle detecting means 6 (Hall element), which is DC biased via the resistors 301 and 302, is supplied to the operational amplifier 307 and the resistor 30.
The differential amplification circuit composed of 3,304,305,306 differentially amplifies the signal by a predetermined factor, and supplies the output to the combination circuit 11, the panning start / end detection circuit 12, and the relative angle command circuit 10 via terminals c, d, and e. In addition, in FIG. 3, + V _H and −V _H are appropriate power supply voltages.

Further, in FIG. 1, the angular velocity detecting means 7 for detecting the angular velocity around the rotation axis 13 viewed from the inertial coordinate of the lens barrel portion 1 is attached to the lens barrel portion 1 by the 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 around the rotation axis 13 of the lens barrel 1 viewed from the inertial coordinates is obtained. FIG. 4 shows a specific configuration example of the angular velocity detecting means 7 and the angular velocity detecting circuit 9.

The forced vibration circuit 403 has a sine wave oscillating circuit having a predetermined frequency, and the oscillating frequency signal forcibly vibrates the drive element 401 made of the piezoelectric element of the angular velocity detecting means 7. Since the sense element 402 made of a piezoelectric element is arranged in mechanical contact with the drive element 401, the sense element 402 vibrates at the same frequency as the drive element 401. At this time, when the lens barrel 1 rotates about the rotation axis 13 in the inertial coordinate, a mechanical Coriolis force is generated. Since the Coriolis force is proportional to the product of the angular velocities of the two orthogonal axes of the sense element 402, it is proportional to the product of the angular velocity (ω _m ) around the rotation axis 13 of the lens barrel portion 1 in inertial coordinates and the angular velocity due to forced vibration. Sense element 40
2 causes mechanical strain due to Coriolis force and generates an electrical symbol due to piezoelectric action. The output of the sense element 402 is synchronously detected by the synchronous detection circuit 404 at the same frequency as the forced vibration, and if the low-frequency component of the detected output is taken out by the low-pass filter 405, the rotation axis 13 of the lens barrel 1 seen from the inertial coordinates A signal proportional to the angular velocity ω _m of is obtained. This output is supplied to the synthesizing circuit 11 and the panning start / end detecting circuit 12 via the terminals a and b.

In FIG. 1, a panning start / end detection circuit 12 includes a relative angle detection circuit 8 and an angular velocity detection circuit 9 via terminals d and b.
The output symbol is input to detect the start and end of the panning operation. The panning operation is an operation that prevents the subject from getting out of the shooting screen while rotating around himself as a rotation axis when shooting a moving subject.
That is, during the panning operation, the photographing device is rotating in the yawing direction in the inertial coordinates.

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

A window comparator is configured by the comparators 501 and 502, the power supplies 503 and 504, and the OR gate circuit 505. Power supply 503,
504 has a voltage value (V (1)) corresponding to a predetermined angular difference (relative angle θ _m0 (1)) between the lens barrel 1 and the support body 15, and is input via the terminal d. When the input signal according to the relative angle between the lens barrel 1 and the support 15 is within ± V (1), the OR gate circuit 505 outputs a signal of “H” level. The relative angle θ _m0 between the part 1 and the support 15 is θ
_{When m0} > θ _m0 (1) or θ _m0 > θ _m0 (1), that is, when the input signal input from the terminal d is ± V
When the range of (1) is exceeded, the OR gate circuit 505 becomes “L”.
Output level signal. (“H” level means high potential and “L” level means low potential.) When θ _m0 exceeds a predetermined angular difference θ _m0 (1), that is, the OR gate circuit 505. but if outputs "L" level, which is set terminal of the RS flip-flop circuit 512 ^(- s terminal) is input to the RS flip-flop circuit 512,
A "H" level signal is output to the non-inverted output terminal (Q terminal) which is set. This detects that the photographer has entered the panning operation.

Furthermore, comparators 506 and 507, power supplies 508 and 509, OR gate circuit 510
Constitutes a window comparator. Power 50
Reference numeral 8509 denotes a lens barrel which has a voltage value (V (2)) corresponding to a predetermined angular velocity (ω _m (1)) viewed from the inertial coordinate of the lens barrel portion 1 and which is input via a terminal b. Angular velocity of part 1 ω _m
The OR gate circuit 510 outputs a signal of "H" level when the input signal corresponding to is within the range of ± V (2). On the contrary, when ω _m > ω _m (1) or ω _m <−ω _m (1), the OR gate circuit 510 outputs a signal of “L” level.

NAND inputting the output of each of the OR gate circuits 505 and 510
In the gate circuit 511, after all, the relative angle θ _m0 between the lens barrel 1 and the support 15 and the angular velocity ω _m of the lens barrel 1 are −θ _m0 (1) <θ _m0 <θ _m0 (1) and −ω _m. (1) <ω _m <ω _m Outputs the “L” level signal only when (1), at which time the RS flip-flop 512 is reset and the non-inverted output terminal (Q terminal) outputs “L”. "Output level signal. This detects that the photographer has finished the panning operation. The output of the panning start / end detection circuit 12 is the terminal
It is input to the relative angle command circuit 10 and the synthesizing circuit 11 via g and h, and supplies information on whether or not the panning operation is in progress to each.

In FIG. 1, a relative angle command circuit 10 supplies a command signal of a relative angle between the lens barrel 1 and the support 15 during a panning operation to a synthesizing circuit 11 via a terminal f. As will be described later, the synthesizing circuit 11 adds and synthesizes the voltage signals according to the relative angle θ _m0 and the angular velocity ω _m with their respective gains. In order to eliminate the angle difference (θ _m0 (1)) with the support 15,
Increase the angle control gain. However, the angle difference θ
_{If m0} (1) was immediately set to zero, the photographer would not support 15
Since the lens barrel unit 1 suddenly moves at an angular velocity significantly higher than the angular velocity at which the panning operation is performed, the photographer feels extreme discomfort. The relative angle command circuit 10 is provided for this purpose, and the relative angle between the lens barrel 1 and the support 15 is a predetermined angle θ.
_The relative angular velocity is calculated from the time from _m0 (0) to the angle difference θ _m0 (1) used as the reference for the detection of panning start, which is recognized as the panning velocity, and the relative angle The command value is gradually changed from θ _m0 (1) to zero.

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

The comparators 601, 602, the power supplies 603, 604, and the OR gate circuit 605 constitute a window comparator, and the voltage signal corresponding to the relative angle θ _m0 input from the terminal e is the angular velocity difference θ.
Compared with the voltage value V (1) corresponding to _m0 (1), θ _m0 is ± θ
When it is within the range of _m0 (1), the OR gate circuit 605 outputs an "H" level signal. The power supplies 603 and 604 have the same voltage value V (1) as the power supplies 503 and 504 shown in FIG. When θ _m0 exceeds the range of ± θ _m0 (1), the OR gate circuit 605 outputs an “L” level signal.

Furthermore, comparators 606 and 607, power supplies 608 and 609, OR gate circuit 610
A window comparator is constituted by the voltage comparator, and the voltage value V (0) corresponding to the angle difference θ _m0 (0) smaller than the angle difference θ _m0 (1) is _supplied to the voltage signal corresponding to the relative angle θ _m0 input from the terminal e. ), When OR _m0 is within the range of ± θ _m0 (0), the OR gate circuit 610 outputs a signal of "H" level. The power supplies 608 and 609 have a voltage value V (0) smaller than the above-mentioned voltage value V (1), and the voltage value V (0) has a relative angle θ _m0 (θ _m0 ( It is equal to the voltage value according to 0).

An output signal of the panning start / end detection circuit 12 is input to the terminal g, and an "H" level signal is input during the panning operation, and an "L" level signal is input when the panning operation is not performed. An inverter / gate circuit 611 inverts the logic of the signal input from the terminal g and inputs the inverted signal to the AND gate circuits 612 and 613.

Reference numerals 614 and 615 are analog switches which are closed when the input signal is at the "H" level and open when the input signal is at the "L" level. In the following description, various analog switches similar to 614 and 615 will be described, but all are assumed to be opened and closed according to the voltage value level of the input signal as described above. Now, when the photographer starts the panning operation, the relative angle between the lens barrel portion 1 and the support member 15 increases from almost zero to reach the angle difference θ _m0 (0). Then, the OR gate circuit
The 610 outputs the "L" level signal as described above. Further, in this state, the panning start / end detection circuit 12 has not detected the panning operation, and the “L” level signal is input to the terminal g, and the inverted output of the “H” level signal is output. , AND gate circuit 613. Therefore, the AND gate circuit 613 outputs a signal of “L” level,
Open analog switch 615.

Further, in this state (θ _m0 = θ _m0 (0)), since the OR gate circuit 605 outputs the “H” level signal, the AND gate circuit 612 outputs the “H” level signal, analog·
Switch 614 is closed. That is, θ _m0 = θ
_{When m0} (0) is reached, the constant current source 616 starts charging the capacitor 617.

After that, when the photographer continues the panning operation, the relative angle θ _m0 between the lens barrel portion 1 and the support 15 further increases, and the angle difference θ _m0 (1) is reached. Then, the panning start / end detection circuit 12 detects the panning operation, and the terminal g
A "H" level signal is input to the AND gate, and an "L" level signal that is the inverted signal thereof is input to the AND gate circuits 612 and 613. At the same time, the OR gate circuits 605 and 610 output "L" level signals, and the AND gate circuits 612 and 613 output "L" level signals to open the analog switches 614 and 615 and stop charging the capacitor 617. . Eventually, the capacitor 617, charges theta _m0 is a function of time from θ _m0 (0) up to the θ _m0 (1) will hold the charge.
This represents the relative angular velocity between the lens barrel portion 1 and the support body 15. However, when the panning operation is not detected, the lens barrel portion 1 is controlled so as to be almost stationary on the inertial coordinates ( Since the details will be described later), the voltage value held by the capacitor 617 represents the angular velocity of the support 15, that is, the panning velocity.

Further, the comparator 621 detects the sign of the voltage signal corresponding to the relative angle θ _m0 input from the terminal e,
An "H" level signal is output when "positive", and an "L" level signal is output when "negative". This signal and the inverter circuit
With the signal logically inverted by the 622,
The switches 623 and 624 are opened and closed. That is, when θ _m0 > 0, the analog switch 623 is closed and the analog switch
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. Conversely, when θ _m0 <0, analog switch 623 is open and analog switch 624 is closed. The operational amplifier 620 and the resistors 618 and 619 are configured to have a gain of “−1”, and the voltage charged and held in the capacitor 617 is finally inverted in sign and input to the operational amplifier 625.

By the way, when the panning operation is not detected, the input signal of the analog switch 639 is at the “H” level and is closed, and the relative angle θ input from the terminal e is input.
_The voltage value corresponding to _m0 is transmitted to the capacitor 637 via the voltage follower circuit configured by the operational amplifier 640, and when the panning operation is detected, the input signal of the analog switch 639 becomes “L” level and is opened. After all, the voltage value V (1) corresponding to θ _m0 (1) at the time of detecting the panning operation is held in the capacitor 637 with either a plus sign or a minus sign. When θ _m0 > 0, “positive”, θ _m0 <
When it is 0, it is of course "negative".

When a voltage proportional to the panning speed held in the capacitor 617 is input to the operational amplifier 625, it is converted into a current by the operational amplifier 625, the transistors 627 and 628, and the resistor 626.

When θ _m0 > 0, the input to the operational amplifier 625 is
This is a "positive" voltage, at which time transistor 627 turns on and transistor 628 turns off. Eventually, a current flows through the transistor 629, and a current according to the panning speed flows through the transistor 631 that forms a current mirror circuit with the transistor 629. Further, the transistor 633 is turned on, and the transistor 635 that forms a current mirror circuit with the transistor 633 attracts a current according to the panning speed from the collector terminal. At this time, the voltage of + V (1) is held in the conden 637, which is discharged at a current according to the panning speed, that is, at a time corresponding to the panning speed, and finally the voltage value is
It becomes zero. When the panning speed is fast, the potential of the capacitor 617 changes from the charging time (θ _m0 is θ _m0 (0) to θ
_Since the time to reach _m0 (1) is short and the potential is high, the discharge current of the capacitor 637 is large and discharged quickly. Conversely, when the panning speed is slow, the charging time of the capacitor 617 is long, the potential of the capacitor 617 is low, the discharge current of the capacitor 637 is small, and the capacitor 637 is slowly discharged.

Conversely, when θ _m0 <0, the transistor 62
8 turns on and the transistors 630, 632, 634, 636 charge the capacitor 637 to the potential "zero". Of course, in this case, the holding voltage of the capacitor 637 is "negative" when the panning operation is detected.

The voltage value of the capacitor 637 is the operational amplifier 638, the resistors 641 and 64.
Therefore, the gain is multiplied by "-1" and input to the combining circuit 11 from the terminal f.

Now, referring to FIG. 1, in the synthesizing circuit 11, the voltage signal corresponding to the angular velocity of the lens barrel portion 1 is supplied from the terminal a, and the lens barrel portion 1 is supplied from the terminal c.
A voltage signal corresponding to the relative angle of the support 15 and the relative angle command signal from the terminal f are input, and each of them is supplied with a predetermined gain based on the information indicating whether or not the panning operation is being performed, which is input from the terminal h. Add and synthesize.

When the panning operation is detected, the lens barrel 1 is made to follow the support member 15, so that the signal gain corresponding to the relative angle is increased, and in addition, the relative angle command signal is added at the same time to prevent a sharp movement of the lens barrel 1. To synthesize. Further, when the panning operation is not detected, the gain of the signal according to the relative angle is lowered, and the lens barrel portion 1 is made to stand still on the inertial coordinates. Of course, at this time, addition synthesis is not performed for the relative angle command signal.

FIG. 7 shows a specific configuration example of the synthesis circuit 11. When the panning operation is detected, the "H" level signal is input to the terminal h as described above, and the analog switch 70
7,708 is closed. At this time, the gain of the voltage signal input from the terminal a according to the angular velocity of the lens barrel 1 is
If the resistance value of 1 is R ₇₀₁ and the resistance value of resistor 705 is R ₇₀₅ , −
It becomes R ₇₀₅ / R ₇₀₁ . In the following description, when expressing the resistance value, the reference number of the resistor to be referred to is suffixed to R
It should be noted here that it is expressed as _n (n is a reference number).

Further, the gain of the voltage signal according to the relative angle between the lens barrel 1 and the support 15 input from the terminal c is −R ₇₀₅ / R ₇₀₃ , and the gain of the relative angle command signal input from the terminal f is ,
-R ₇₀₅ / R ₇₀₄ .

On the contrary, when the panning operation is not detected, the terminal h
An "L" level signal is input to the analog switches 707 and 708, and the analog switches 707 and 708 are opened. The gain of the input signal from the terminal a at this time is the same as in the above case, −R ₇₀₅ / R ₇₀₁ , and the gain of the input signal from the terminal c is smaller than that in the above case.
R ₇₀₅ / (R ₇₀₂ + R ₇₀₃ ) and the input from the terminal f has no gain.

Then, in each case, the above-mentioned gains are added and combined, and the output signal is output from the operational amplifier 706.
It is multiplied by "-1" by the operational amplifier 709 and the resistors 710 and 711 and input to the drive circuit 5 through the terminal i.

FIG. 8 shows a specific configuration example of the drive circuit 5. Terminal i
A current corresponding to the voltage signal input to the coils is supplied to the coils 203a and 203b of the actuator means 4. When the input signal from the terminal i is "positive", the transistor 805 is turned on, and eventually the transistor 813 is turned on to draw a current from the collector terminal via the coils 203a and 203b. This current is
A voltage is generated in the resistor 816, and this voltage is negatively fed back to the operational amplifier 801 via the resistor 803, and a current corresponding to the input signal from the terminal i flows.

On the contrary, when the input signal from the terminal i is “negative”, the transistor 804 is turned on, the transistor 812 is turned on, and the coil 20 is turned on.
A current is discharged through 3a and 203b. This current value is negatively fed back as described above, and becomes a value according to the input signal from the terminal i. The resistor 814 and the capacitor 815 are provided to prevent oscillation.

Now, in the image pickup apparatus of the present invention shown in FIG. 1, the transfer gain θ _m from the angle θ ₀ of the support 15 to the angle θ _m of the lens barrel section 1 is shown.
The frequency characteristic of / θ ₀ is represented by a broken line approximate Bode diagram as shown in FIG. In the figure, the vibration frequency f of θ ₀ is f
_In the region up to ₁ , the transfer gain θ _m / θ ₀ is “1” (0 dB), and θ _m changes one-to-one with θ ₀ . In the region where the vibration frequency f of θ ₀ is from f ₁ to f ₂ , the transfer gain θ _m / θ ₀ is
Attenuation at -6 dB / oct. Further, the vibration frequency f of θ ₀
In the region where f is ₂ or more, the transfer gain θ _m / θ ₀ has a slope of −12 dB.
Attenuates with / oct. Normally, when a photographer shoots still images, the vibration due to camera shake transmitted to the support 15 is 0.5 Hz.
It is known that it concentrates on ~ 5Hz. Therefore, if the above-mentioned f ₁ and f ₂ are configured to be set as f ₁ ≦ 0.5 Hz and f ₂ ≧ 5 Hz, the vibration of the lens barrel portion 1 due to camera shake during still photography is
It is significantly attenuated and hardly transmitted to the support 15,
Good vibration damping characteristics can be realized.

By the way, when the panning operation is being detected, it is desirable that the setting of f ₁ be as large as possible in order to improve the followability of the support 15. This is support 15
This is realized by increasing the feedback gain of the relative angle θ _m0 of the lens barrel portion 1 and is as described in the description of the combining circuit 11.

In FIG. 1, the gain of the angle detecting means 6 is set to Kθ (mV / ra
d), the gain of the relative angle detection circuit 8 is Aθ (times), the gain of the angular velocity detection means 7 is Kω (mV / rad / sec), the gain of the angular velocity detection circuit 9 is Aω (times), and the angle of the synthesis circuit 11 is supported. The gain of the signal is Bθ (times), the gain of the signal corresponding to the angular velocity of the synthesis circuit 11 is Bω (times), and the voltage / current conversion gain of the drive circuit 5 is g.
_m (mA / mV), the current / torque conversion gain of the actuator means 4 is K _t (gωcm / mA), and the moment of inertia of the barrel 1 is J
FIG. 10 is a control block diagram in which _m (gcm ² ), gravitational acceleration is K _j (cm / sec ² ), and Laplace operator is S.

In FIG. 10, θ ₀ is the angle of the support 15 on the inertial coordinate, and the unit is rad (radian). θ _m is an angle on the inertial coordinate of the lens barrel unit 1, and its unit is rad. ω
_m is the angular velocity on the inertial coordinate of the lens barrel unit 1, and the unit is r
It is ad / sec (radian / second).

When the breakpoint frequencies f ₁ and f ₂ of the Bode diagram shown in FIG. 9 are expressed by the respective gains shown in FIG. 10, Becomes Where π is the pi (π3.14).

Now, if Kθ, Aθ, Kω, Aω, g _m , K _t , J _m , and K _j are regarded as invariant constants and the synthesizing circuit 11 is configured as shown in FIG. Is given, and further, Bθ is, when the panning motion is not detected, , And when detecting the panning motion, Given in.

From this, it is understood that the setting of f ₁ during the panning operation and when the panning operation is not performed is set to be large during the panning operation and is set to be small when the panning operation is not performed.

When the panning start / end detection circuit 12 detects the panning operation, the angle control gain is increased and the lens barrel unit 1 follows the support member 15 well. Immediately after the command is given, the relative angle does not become zero immediately, but first the angle is controlled with the relative angle that is at the time when the panning operation is detected, and then the relative angle that is controlled in time according to the panning speed approaches zero. The angles of the lens barrel 1 and the support 15 are the same. That is, during the panning operation, the lens barrel portion 1
Can be made to follow the support 15 without causing the photographer to feel uncomfortable.

Advantageous Effects of Invention The present invention, as described above, includes the relative angle between the lens barrel portion and the support base,
Detects the angular velocity around the rotation axis as seen from the inertial coordinate of the lens barrel, and drives and controls it by actuator means to suppress these fluctuations, and greatly reduces the vibration of the lens barrel, so it has excellent anti-vibration characteristics. Is obtained.

Furthermore, the panning start / end detection circuit minimizes the delay of the lens barrel during panning operation for practical use.
The relative angle command circuit smoothly controls the movement of the lens barrel portion during the panning operation, thereby making the photographer feel comfortable.

That is, it is possible to realize an image pickup apparatus that achieves both the image stabilization characteristics required during still image pickup and the followability required during panning operation.

[Brief description of drawings]

FIG. 1 is a block diagram of an image pickup apparatus according to an embodiment of the present invention, and FIGS. 2A, 2B and 2C are front views, plan views and plan views of main parts for explaining actuator means. 4 is a circuit diagram for explaining an angle detecting means and a relative angle detecting circuit,
FIG. 5 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 panning start / end detection circuit, and FIG. 6 is for explaining the relative angle command circuit. FIG. 7, FIG. 7 is a circuit diagram for explaining a combination circuit, FIG. 8 is a circuit diagram for explaining a drive circuit, FIG. 9 is a Bode diagram of the same embodiment, and FIG. Is a control block diagram for explaining the operation of the embodiment,
FIG. 11 is a configuration diagram of a vibration isolation mechanism used in a conventional imaging device. 1 ... Lens barrel, 2 ... Image sensor, 3 ... Image circuit, 4 ...
... actuator means, 5 ... driving circuit, 6 ... angle detecting means, 7 ... angular velocity detecting means, 10 ... relative angle command circuit, 11 ... combining circuit, 12 ... panning start / end detecting circuit, 15 ... ... support.

Claims (4)

[Claims] 1. A lens barrel portion having a plurality of lenses and an image pickup device mounted thereon, an image circuit for generating an image signal from an electric signal obtained by the image pickup device, and an axis of light rays incident on the lens barrel portion. A support body that rotatably supports the lens barrel portion around the rotation axis in the yawing direction, actuator means that is installed between the lens barrel portion and the support body, and that drives the lens barrel portion to rotate. Angle detection means for detecting a relative angle between the lens barrel portion and the support, angular velocity detection means installed in the lens barrel portion for detecting an angular velocity of the lens barrel portion around the rotation axis viewed from inertial coordinates, and The output of the angle detection means detects the start of the panning operation by detecting that the output of the angle detection means exceeds a predetermined relative angle range set in advance for the relative angle between the lens barrel portion and the support, and the output of the angle detection means is The predetermined relative angle Ending the panning operation by detecting that the output of the speed detecting means is within the range and is within a predetermined angular velocity range predetermined with respect to the angular velocity around the rotation axis viewed from the inertial coordinate of the lens barrel portion. The panning start / end detection circuit for detecting, and the relative relationship between the lens barrel part and the support at the time when the panning start / end detection circuit detects that the output of the angle detection means exceeds the predetermined relative angle range. A relative angle command circuit that calculates an angular velocity and issues a relative angle command in accordance with the result, an output of the angle detection unit, an output of the angular velocity detection unit, and an output of the relative angle command circuit to detect the panning start / end. An imaging device comprising a combining circuit for combining the gains according to the output of the circuit and a drive circuit for driving the actuator means according to the output of the combining circuit. . 2. The photographing apparatus according to claim 1, wherein the angular velocity detecting means includes a vibration type gyro sensor. 3. The photographing apparatus according to claim 1, wherein the rotation axis of the actuator means passes through or near the center of gravity of the lens barrel. 4. The synthesizing circuit detects the output of the angle detecting means and the angular velocity when the panning start / end detecting circuit detects that the output of the angle detecting means exceeds the predetermined relative angle range. The output of the means and the output of the relative angle command means circuit are respectively combined with a first predetermined gain, and the panning start / end detection circuit is such that the output of the angle detection means is within the predetermined relative angle range, Further, when it is detected that the output of the angular velocity detecting means is within the predetermined angular velocity range, the output of the angle detecting means and the output of the angular velocity detecting means are given to the output of the angular velocity detecting means. The second predetermined gain is set such that the ratio of the gain coefficient given to the output of the angle detecting means to the coefficient is smaller than the ratio in the setting of the first predetermined gain. Patent imaging apparatus ranging first claim of claim, characterized in that configured.