JPH0640664B2 - Imaging device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup apparatus having an anti-vibration mechanism that minimizes vibration of a lens barrel regardless of vibration of a support (main body case), and particularly relates to a portable device. Provided is a compact and lightweight photographing device that can be used as a video camera for automobiles.

2. Description of the Related Art As a conventional anti-vibration mechanism, an anti-vibration mechanism that suppresses transmission of vibration from a support table to a surface plate or the like by air pressure or hydraulic pressure is widely used. FIG. 16 is a sectional view showing the structure of such a conventional vibration damping mechanism.

In FIG. 16, an air chamber 505 is formed between the surface plate 501 and the support base 502, and compressed air is sent from the air compressor 504 through the pipe 503. as a result,
An air layer having a very weak spring property is formed between the surface plate 501 and the support 502. Therefore, even if the support 502 vibrates significantly, the vibration is hardly transmitted to the surface plate 501.

Problems to be Solved by the Invention In such a conventional vibration isolation mechanism, since the compressed air is used, the air chamber 505 is necessary, and the shape becomes large. Moreover, a compressor is required, which makes a loud noise and requires a large installation area. Therefore, such a conventional image stabilization mechanism cannot be used for image stabilization of a portable video camera.

In consideration of such a point, the present invention newly developed a photographing device having a small, lightweight, and high-performance anti-vibration mechanism that can be used for a portable video camera.

Means for Solving the Problems An image pickup apparatus of the present invention includes a lens barrel section having a plurality of lenses and an image pickup element mounted thereon, image signal processing means for generating an image signal from an electric signal obtained by the image pickup element, and A support body that rotatably supports the lens barrel section around a rotation axis that is orthogonal or substantially orthogonal to the axis of the light beam incident on the lens barrel section, and is mounted between the lens barrel section and the support body. Actuator means for rotationally driving the lens barrel portion, position detecting means for detecting a relative angle between the lens barrel portion and the support, angular velocity detecting means for detecting an inertial angular velocity of the lens barrel portion around the rotation axis, and the position A combining means for outputting a combined signal obtained by combining the output signal of the detecting means and the output signal of the angular velocity detecting means, and a driver for supplying electric power to the actuator means so as to suppress the fluctuation of the combined signal output by the combining means. Stage, the start of the panning operation is detected by the output signal of the position detecting means being out of the first predetermined range, and the output signal of the output of the angular velocity detecting means is in the second predetermined range. The operation of the synthesizing means is changed by the output signal of the panning operation detecting means for detecting the end of the panning operation by the, and the output signal of the synthesizing means is independent of the output signal of the angular velocity detecting means. In this way, an operation changing means for changing the output signal of the synthesizing means in accordance with the output signal of the position detecting means is provided.

In addition, the photographing apparatus of the present invention includes a lens barrel portion on which a plurality of lenses and an image sensor are mounted, image signal processing means for generating an image signal from an electric signal obtained by the image sensor, and incidence on the lens barrel portion. A support body that rotatably supports the lens barrel portion around a rotation axis that is orthogonal or substantially orthogonal to the ray axis, and an actuator that is mounted between the lens barrel portion and the support body and that drives the lens barrel portion to rotate. Means, position detecting means for detecting a relative angle between the lens barrel portion and the support, angular velocity detecting means for detecting an inertial angular velocity of the lens barrel portion around the rotation axis, and an output signal of the position detecting means. Combining means for outputting a combined signal obtained by combining the output signals of the angular velocity detecting means,
The combined value of the driving means for supplying electric power to the actuator means so as to suppress the fluctuation of the combined signal output by the combining means, the combined value of the output signal of the position detecting means and the differential signal of the output signal is the first predetermined value. Pan operation detecting means for detecting the start of the panning operation when it is outside the range, and detecting the end of the panning operation when the output signal of the angular velocity detecting means is within the second predetermined range; The output signal of the detecting means changes the operation of the combining means so that the output signal of the combining means becomes independent of the output signal of the angular velocity detecting means, and the output signal of the position detecting means changes the operation of the combining means. And an operation changing means for changing the output signal.

With the above-described structure, the present invention detects the relative position of the lens barrel and the support and the angular velocity of the lens barrel, and drives the lens barrel by actuator means so as to suppress fluctuations in both. The vibration of the lens barrel is controlled and greatly reduced. Further, the operation changing means improves control characteristics by controlling by a signal that responds only to the relative angle between the lens barrel portion and the support during the panning operation, and delays the movement of the lens barrel portion during the panning operation. The size is sufficiently small to prevent collision between the lens barrel and the support.

Embodiment FIG. 1 is a block diagram showing an embodiment of the present invention. In FIG. 1, a large number of lens groups (not shown) and an image pickup device 41 (for example, a CCD plate or an image pickup tube) are attached to a lens barrel portion 1 of an image pickup apparatus (video camera), and reflected light from a subject is reflected. The light is condensed to form an image on the image sensor 41 and converted into a charge signal (electrical signal). The image signal processor 42 sequentially reads out the charge signals obtained by the image sensor 41,
The image signal (video signal) of the method is produced. The actuator 3 arranged between the lens barrel portion 1 and the main body case 2 (support portion) has the lens barrel portion 1 with the rotation axis 4 as the center of rotation.
Is rotationally driven in a predetermined direction (yaw direction) (in the use state, the lens barrel portion 1 is rotatable about a horizontal plane as a corresponding direction). Rotation axis 4 of actuator 3
Is rotatably supported by the main body case 2 through the center of gravity G of the lens barrel portion 1. Although not shown in the drawings, the main body case 2 is provided with a grip portion that is manually supported by the operator of the photographing apparatus.

2 (a), (b), and (c) show a specific configuration of the actuator 3. In FIG. 2, the ferromagnetic back yoke 101 of the magnet 102 is attached to the lens barrel portion 1,
It rotates together with the rotating shaft 4. The magnet 102 is magnetized to have four poles and generates a magnetic field flux. Bearing 10 of rotating shaft 4
In the coil yoke 103 to which 7 is attached, the coil 1
04a and 104b and the Hall element (magnetism sensitive element) 5 are fixed. In this example, the magnet 102 is attached to the lens barrel portion 1 and the coil yoke 103 is attached to the main body case 2 (note that this relationship may be reversed). The coils 104a and 104b are connected in series, and a rotational torque is generated by the current flowing from the terminals 105 to 106 and the magnetic flux of the magnet 102. Further, the Hall element 5 is arranged substantially opposite to the magnetic pole switching portion of the magnet 102, and the magnet 102 (the angular position θm of the lens barrel portion 1) and the coil yoke 103 (the angular position θx of the main body case 2) are relative to each other. An output signal corresponding to the angular position (θh = θx−θm) is generated. Note that θm is the angle of the lens barrel portion 1 around the rotation axis 4 viewed from the coordinate system (inertial coordinates) in absolute space, and θx is the angle of the main body case 2 around the rotation axis 4 viewed from the same inertial coordinate. .

The output signal a of the Hall element 5 that detects the magnetic flux of the magnet 102 of the actuator 3 is input to the position detector 11. FIG. 3 shows a specific configuration of the position detector 11. The DC signal obtained at the two output terminals of the Hall element 5 is supplied to the operational amplifier 111 and the resistors 112, 113, 114, 115.
Is differentially amplified a predetermined number of times by a differential amplifier circuit consisting of to obtain an output signal c.

Further, an angular velocity sensor 6 composed of a vibration type gyro is attached to the lens barrel portion 1 by a fixing member 7. The detection axis of the angular velocity sensor 6 coincides with the rotation axis 4 of the actuator 3, and outputs an output signal b in response to the rotation angular velocity around the rotation axis 4 of the lens barrel 1 in inertial coordinates (that is, the inertial angular velocity). The output signal b of the angular velocity sensor 6 is input to the angular velocity detector 12, and the angular velocity ωm around the rotation axis 4 of the lens barrel 1 viewed from the inertial coordinate (that is, the inertial angular velocity ωm).
Is obtained, or a signal d proportional to the component of the angular velocity ωm in the predetermined frequency range is obtained. The angular velocity detector 12 is shown in FIG.
The specific configuration of is shown. The forced vibration circuit 133 has a sine wave oscillating circuit of a predetermined frequency (1 kHz), and forcibly vibrates the drive element 131 made of the piezoelectric element of the angular velocity sensor 6 by the oscillating frequency signal. Since the sense element 132 made of a piezoelectric element is arranged in mechanical contact with the drive element 131, the sense element 132 vibrates at the same frequency as the drive element 131. At this time, when the lens barrel 1 rotates about the rotation axis 4 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 132, it is proportional to the product of the angular velocity ωm around the rotation axis 4 of the lens barrel portion 1 in inertial coordinates and the angular velocity due to forced vibration. Sense element 132
Generates mechanical strain due to Coriolis force, and generates an electric signal due to piezoelectric action. The output of the sense element 132 is synchronously detected by the synchronous detection circuit 134 at the same frequency as the forced vibration, and the low-pass filter 135 extracts the low frequency component (DC to 100 Hz) of the detected output. Angular velocity ωm around the rotation axis 4
A signal proportional to (that is, the angular velocity of inertia ωm) is obtained.

The output signal c of the position detector 11 and the output signal d of the angular velocity detector 12 are combined in the combiner 13 to obtain a combined signal e. The synthesizer 13 includes A / D converters 21 and 22, an arithmetic unit 23, a memory 24, and a D / A converter 25. The A / D converter 21 produces a digital signal p corresponding to the value of the output signal c of the position detector 11. Further, the A / D converter 22 produces a digital signal q corresponding to the value of the output signal d of the angular velocity detector 12. The arithmetic unit 23 operates according to a predetermined internal program, which will be described later, stored in the ROM area (read-only memory area) of the memory 24, and operates the digital signal p of the A / D converter 21 and the digital signal of the A / D converter 22. Signal q
Of the digital signal w into the RAM area (random access memory area) and after performing a predetermined calculation
The output signal e is output to the converter 25.

The A / D converters 21 and 22 preferably have a sequential conversion type configuration. FIG. 5 shows a specific configuration of the successive conversion A / D converter 21 (the same applies to the A / D converter 22). Input signal c and D / A conversion circuit 147
The output signal m of is compared by the comparator 141,
A comparison signal n corresponding to the magnitude relation is obtained. The oscillator circuit 145 generates clock pulse 1 having a predetermined frequency. The signal h from the calculator 23 is normally "H" (high potential state), and becomes "L" (low potential state) when the digital signal p is read. Therefore, the inverter circuit 142 and the AND circuits 143 and 144 output the clock pulse 1 to the counter circuit 1 according to the comparator signal n.
The signal is input to the down pulse input terminal D or the up pulse input terminal U of 46 (when the signal h is "H"). The counter circuit 146 subtracts the internal state one by one according to the input pulse to the down pulse input terminal D and increments the internal state one by one according to the input pulse to the up pulse input terminal U. The internal state of the counter circuit 146 is output as a digital signal p, and the D / A converter 147 converts the internal state into an analog signal m corresponding to the digital signal p.
As a result, the digital signal p of the counter circuit 146 becomes a value corresponding to the input signal c.

The computing unit 23 sets the signal h to "L" for a predetermined short time to stop the operation of the counter circuit 146 and read the stable digital signal p. Similarly, the computing unit 23
Sets the signal k to "L" for a predetermined short time to read a stable digital signal q.

The output signal e of the D / A converter 25 of the combiner 13 is the driver 1
4 and the voltage signal (or current signal) f proportional to the signal e is applied to the coils 104 a, 10 a of the actuator 3.
The lens barrel portion 4b. FIG. 6 shows a specific configuration of the driver 14. Operational amplifier 151 and transistors 154,1
55 and the resistors 152 and 153 form a power increasing circuit, which outputs a voltage signal f obtained by amplifying the signal e by a predetermined factor.

The built-in program of the arithmetic unit 23 will be described. FIG. 7 shows a basic flowchart thereof, and FIGS. 8 (a) to (d) show detailed flowcharts of respective parts. First, the basic flow chart of FIG. 7 will be described (note that the numbers from to represent nodes and correspond to the numbers in FIG. 8).

[1] <Control operation when stationary> 181 (corresponding to combining means): This corresponds to a method of creating a combined signal when a stationary subject is photographed.

[2] <Pan start detection> 182 (corresponding to the pan start detection means in the pan operation detection means): The start of the panning operation is detected, the operation moves to [3] when the panning operation is performed, and [1] when the panning operation is not performed. Return to.

[3] <Control operation during panning> 183 (corresponding to operation changing means and synthesizing means): This corresponds to the method of creating a synthetic signal during panning operation.

[4] <Pan end detection> 184 (corresponding to the pan end detection unit in the pan operation detection unit): When the end of the panning operation is detected, when the panning operation is continued, the procedure returns to [3] and the panning operation ends. When you do, go back to [1].

In the present embodiment, <pan start detection> 182 (pan start detection means) and <pan end detection> 184 (pan end detection means) constitute the pan operation detection means.

Next, an operation flowchart of each unit will be described. FIG. 8 (a) shows a flowchart of <control operation at rest> 181.

[11] Waiting for an interrupt from the timer. The timer generates an interrupt signal at every predetermined time (T1 = 10 msec), and when an interrupt occurs, the process proceeds to [12].

[12] The signal h is set to "L" for a predetermined short time, the digital signal p is input, and stored in the variable Pn.

[13] The signal k is set to "L" for a predetermined short time, the digital signal q is input, and stored in the variable Qn.

[14] Subtract a predetermined reference value Pr from Pn (P = Pn-P
r), a digital value P corresponding to the relative angle θh between the lens barrel 1 and the support 2 is calculated. Similarly, from Qn to a predetermined reference value
The lens barrel 1 viewed from the inertial coordinate after subtracting Qr (Q = Qn-Qr)
The digital value Q corresponding to the angular velocity ωm of is calculated. The calculation formula means that the calculation result on the right side is stored in the variable on the left side.

[15] With the composition ratio set to 1, P and Q are added and combined to obtain a combined digital value E (E = P + Q).

[16] E is output to the D / A converter 25, and the analog signal e
Convert to.

[17] Subtract Px from P and store in variable V (V = PP
x). Let P be the new Px (Px = P). That is, Px is T
It is the value of P one hour ago, and V is the lens barrel 1 and the main body case 2.
Corresponding to the relative angular velocity (differential value of the relative angle θh).

[18] Add 1 to the count variable N with N1 as mod (N = N + 1 (mod N1)). That is, 1 is added to N to newly store it in N, and if the value of N is equal to N1, N is set to 0. Here, N1 = 5.

[19] If N is not 0, return to [11], and if N is 0, move to [21] of <pan start detection> 182. That is, <pan start detection> 182 every N1 * T1 = 50 msec.
Are doing.

FIG. 8B shows a flowchart of <pan start detection> 182.

[21] The value obtained by multiplying P by H1 (H1 is a constant) and the value obtained by multiplying V by H2 (H2 is a constant) are added and stored in a variable W (W = H1 * P + H2 * V. Here, * is Indicates multiplication.). Therefore, W is relative angle θh (P) and relative angular velocity (V)
It is a composite value of.

[22] | P | <P1 (P1 is a constant) <Control operation at rest> Return to [11] in 181. If | P | <P1, go to [23].

[23] If | P |> P2 (P2 is a constant larger than P1) <Panning operation> Go to [31] in 183, and if not | P |> P2, go to [24].

[24] | W |> W1 (W1 is a constant) <Control operation during panning> Go to [31] of 183, | W |> W1
If not, return to [11] of <control operation at rest> 181.

In [22] to [24] of <pan start detection> 182 described above, the start of the panning operation is detected by the digital value P corresponding to the relative angle θh and the digital value V corresponding to the relative angular velocity. FIG. 9 shows a detection area of the start of the panning operation by P and V (hatched portion in the figure). The line a corresponds to | P | = P1, and the line b corresponds to | P | = P.
2 and the line c corresponds to | W | = W1. Depending on the values of P and V, it is determined that the panning operation has started when entering the shaded portion in the figure. That is, the relative angle θh between the lens barrel portion 1 and the main body case 2 is outside the predetermined range (| P |> P
2) or when the relative angle θh is outside the predetermined range (| P |> P1), the combined value (W) of the relative angle θh and the relative angular velocity is outside the predetermined range (| W |> W1). Therefore, the start of the panning operation is detected. The dotted line in FIG. 9 represents the end of the movable limit, and | P | =
P1in means a collision between the lens barrel portion 1 and the main body case 2.

FIG. 8C shows a flowchart of <control operation during panning> 183.

[31] Waiting for an interrupt from the timer. The timer generates an interrupt signal every predetermined time (T1 = 10 msec), and when an interrupt occurs, the process proceeds to [32].

[32] The signal h is set to "L" for a predetermined short time, the digital signal p is input, and stored in the variable Pn.

[33] The signal k is set to "L" for a predetermined short time, the digital signal q is input, and stored in the variable Qn.

[34] Subtract a predetermined reference value Pr from Pn (P = Pn-Pr),
The digital value P corresponding to the relative angle θh between the lens barrel 1 and the support 2 is calculated. Similarly, a predetermined reference value Qr is subtracted from Qn (Q = Qn-Qr), and a digital value Q corresponding to the angular velocity ωm of the lens barrel 1 viewed from the inertial coordinates is calculated.

[35] Subtract Px from P and store in variable V (V = PP
x). Let P be the new Px (Px = P). That is, Px is T
It is the value of P one hour ago, and V is the lens barrel 1 and the main body case 2.
Corresponding to the relative angular velocity (differential value of the relative angle θh). A value obtained by dividing V by T (T is a constant) and P are added, and then a gain D (D is a constant) is multiplied to obtain a composite digital value E (E = D * (P + V / T)).

[36] E is output to the D / A converter 25, and the analog signal e
Convert to.

[37] Set N2 to mod and set the count variable N to +1 (N = N + 1 (mod N2)). That is, N is incremented by 1 and stored in N, and if the value of N is equal to N2, N is set to 0.
To Here, N2 = 5.

[38] If N is not 0, return to [31], and if N is 0, move to [41] of <pan end detection> 184. That is, <pan end detection> 184 every N2 * T1 = 50 msec.
Are doing.

In the above <control operation during panning> 183, unlike <control operation during rest> 181, control is performed by the digital value P corresponding to the relative angle θh and the digital value V corresponding to the relative angular velocity (differential value of θh). There is. That is, the operation of the combiner 13 is changed (operation changing means), and the output signal e corresponding to only the output signal of the position detector 11 is output to the driver 14 to perform the control operation.

FIG. 8D shows a flowchart of <pan end detection> 184.

[41] When | Q | <Q1 (Q1 is a constant), go to [42], and when not | Q | <Q1, return to [31] of <control operation during panning> 183.

[42] If | P | <P3 (P3 is a constant), go to [43], and if not | P | <P3, return to [31] of <control operation during panning> 183.

[43] When | V | <V1 (V1 is a constant), return to <Control operation at rest> 181 [11], and when not | V | <V1, go to <Control operation during panning> 183 [31] Go home.

In the above-described <pan end detection> 184, the angular velocity ωm of the lens barrel 1 viewed from the inertial coordinate is within a predetermined range (| Q | <Q1).
The relative angle θh between the lens barrel 1 and the main body case 2 is within a predetermined range (| P | <P3), and the relative speed (differential value of the relative angle θh) is within a predetermined range (| V | < Since it has become V1), the end of the panning operation is detected.

Next, the anti-vibration characteristics of the image taking apparatus will be described. Tenth
The control block diagram in <Control operation at rest> 181 is shown in the figure. In the figure, the relative angle θh = θ between the angle θm of the lens barrel 1 and the angle θx of the body case 2 as seen from the inertial coordinate.
x−θm is easily detected by the Hall element 5 that detects the magnetic field of the magnet 102 of the actuator 3.
The Hall element 5 and the position detector 11 are represented by a block 204, and a signal c (an output signal of the position detector 11) of B times θh is obtained. On the other hand, the angular velocity ωm of the lens barrel portion 1 viewed from the inertial coordinates is detected by the angular velocity sensor 6 and the angular velocity detector 12, and is represented by the cascade connection of blocks 205 and 206. That is, the angular velocity sensor 6 and the synchronous detection circuit 13
4 detects a signal obtained by multiplying ωm by −A (block 205), and the low-pass filter 135 detects fh = ωh.
/ 2π = 100Hz or higher high-frequency ripple voltage is reduced.
It is removed (block 206), and the signal d of the frequency component (DC to 100 Hz) that requires the fluctuation of ωm is extracted. The combiner 13 is simply represented by the addition point 208,
The signals c and d are added and combined to obtain a combined signal e. In the block 209 corresponding to the driver 14, the signal e is amplified C times to obtain the voltage signal f. Actuator 3
In the block 210 corresponding to, the voltage signal f is converted into the torque Tm. Where R is the coil 104a and 1
04b is a combined resistance value, and Kt is a torque constant.
The block 201 is a mechanical moment of inertia J of the lens barrel 1.
represents the transmission from the torque Tm to the angular velocity ωm by m,
Block 202 represents the relationship between ωm and θm. here,
s means the Laplace operator.

Now, in the transfer function from the angular velocity ωm to the signal d, the term (block 206) related to frequency is set as F (s) = {ωh / (s + ωh)} (1), and L = C · (Kt / R) / (1 / Jm)
...... (2), the transfer function from θx to θm is G (s) = θm / θx = (B · L) / {s · s + F (s) · A · L
・ S + B ・ L} ...
… (3). Here, ω1 = 2π · f1 = B / A ...
… (4) ω2 = 2π ・ f2 = AL ・ L ...
… (5), ω1 = 2π · f1 << ω2 = 2π · f2
… (6) ωh = 2π ・ fh >> ω2…
… (7). Actually, f1 = 0.1Hz, f2 = 10H
z and fh = 100 Hz.

In this case, since F (jω) = 1 in the frequency range of f1 to f2, the frequency transfer function G (j
The broken line approximation board characteristics of ω) are as shown in FIG. That is, the transfer characteristic G (jω) of the rotation angle θm of the lens barrel portion 1 with respect to the rotation angle θx of the main body case 2 in the inertial coordinate is
1 in the frequency range below the first break point frequency f1
It becomes (0 dB) (line), is attenuated by -6 dB / oct in the frequency range of f1 or more and the second breakpoint frequency f2 or less (line), and is -12 dB / oct in the frequency range of f2 or more.
(Line) (f2 ≧ 6
-It is obtained if f1 and fh≥3.f2). From FIG. 11, from the vibration of θx in the frequency range of f1 and above, θ
The amount of m transmitted to the vibration is small. The degree is 0 dB
It is represented by the difference ZdB between the (line) and the characteristic line.

Further, in this embodiment, since the built-in program of the synthesizer 13 has the pan operation detecting means and the operation changing means, even if the high-speed panning operation is performed in the photographing apparatus, the lens barrel portion 1
It is possible to prevent a collision between the main body case 2 and Next, this will be described.

When photographing a moving subject with a photographing device (video camera), the operator keeps the subject off the photographing screen while rotating about the rotation axis (this kind of operation is called a panning operation). During the panning operation, the photographing device is rotating in the yaw direction in the inertial coordinates. At this time, since the image-taking apparatus is performing the image stabilization operation having the characteristic as shown in FIG.
The follow-up action of is delayed considerably. First, the drawbacks when the operation of the combiner 13 is only <control operation at rest> 181 will be described. As understood from FIG. 11 and the equation (4), the smaller the relative ratio B / A of the detection gain B of the relative angle θh to the addition point 208 and the detection gain A of the angular velocity ωm, the smaller f1 becomes.
Therefore, the relative ratio needs to be selected to be considerably small in order to improve the anti-vibration characteristics. That is, the detection gain B
Needs to be set small. However, the position detector 1
When the detection gain B of 1 is reduced, the generated torque Tm of the actuator 3 can generate only a small torque corresponding to B · θh1 (θh1 is the value of the relative angle θh corresponding to the end of the movable limit). If the torque Tm generated by the actuator 3 is small, the acceleration of the lens barrel unit 1 becomes small, and the rotation angle θx of the body case 2 due to the panning operation.
The increase in the rotation angle θm of the lens barrel portion 1 is significantly delayed with respect to the increase. As a result, the main body case 2 and the lens barrel portion 1 collided at the movable limit end (| θh | = θh1), and the operator felt an impact force due to the collision. Such a collision is likely to cause damage to the photographing device and gives an operator an unpleasant feeling, and should be avoided as much as possible.

In this embodiment, the panning operation detecting means detects that the panning operation is in progress, changes the operation of the combiner 13 during the panning operation (operation changing means), and the output signal e of the combiner 13 is the output signal of the angular velocity detector 12. The output signal e of the combiner 13 is changed in response to only the output signal c of the position detector 11 without responding to d, thereby improving the control characteristic. That is, the output signal e of the combiner 13 responds only to the relative angle θh between the lens barrel 1 and the main body case 2. As a result, the control gain during the panning operation increases, the torque Tm generated by the actuator 3 also increases, and the barrel portion 1 can be accelerated sufficiently following the increase in the rotation angle θx of the main body case 2 due to the panning operation. . As a result, a collision between the lens barrel portion 1 and the main body case 2 can be prevented.

Next, this will be described in more detail. In the pan start detecting means of the pan operation detecting means, the relative angle θh falls outside the predetermined range due to the digital value P corresponding to the relative angle θh between the lens barrel 1 and the main body case 2 and the digital value V corresponding to the relative angular velocity. That is, or the combined value of the relative angle and the relative angular velocity is out of the predetermined range, the start of the panning operation is detected. When not panning (when shooting a stationary subject),
The relative angle θh slightly changes within a predetermined narrow range, and the relative angular velocity is also small. That is, the absolute values of the digital values P, V, W are sufficiently small, and the calculator 23 repeats <control operation at rest> 181.

If the panning operation is started in such a state, the lens barrel portion 1 will not be affected by the increase in the body case θx.
Since the angle θm does not change, the absolute value of the relative angle θh increases and the absolute value of the relative angular velocity also increases. as a result,
<Pan start detection> In 182, the digital values P and V enter the start detection region of the panning operation in FIG. 9, and the panning operation is detected. <Control operation during panning> 18
Move to 3.

FIG. 12 shows a control block diagram in <control operation during panning> 183. From the control block of FIG. 12,
The transfer function G ′ (s) from the angle θx of the body case 2 to the angle θm of the lens barrel 1 is Becomes here, In other words, f3 >> f4 (11). The frequency transfer characteristic G ′ (jω) from the angle θx of the main body case 2 to the angle θm of the lens barrel portion 1 at this time is shown in FIG. 13 (line-to-line approximation). From this, if the gain D is increased and the break point frequency f3 is increased, the angle θx of the body case 2 to the angle θm of the lens barrel 1 is increased.
It can be seen that the band of the frequency transfer characteristic G ′ (jω) to the is wide. Therefore, the body case 2 by the panning operation
The angle θm of the lens barrel portion 1 increases almost in accordance with the increase of the angle θx. As a result, a collision between the lens barrel portion 1 and the main body case 2 is prevented.

Since the gain D is large during the panning operation, the angle θm of the lens barrel portion 1 also increases following the increase in the angle θx of the main body case 2 due to panning. That is, the angular velocity ωm of the lens barrel portion 1 matches or substantially agrees with the angular velocity of the main body case 2 (as viewed from the inertial coordinate) due to panning, and ωm is outside the predetermined range (| Q |> Q1).

After the panning operation is completed, the operator of the photographing apparatus shifts to photographing a normal still subject. When the panning operation is completed, the angle θx of the main body case 2 hardly changes, so that the angle θm of the lens barrel portion 1 tries to stay at a value that matches θx. Along with this, the angular velocity ωm of the lens barrel portion 1 becomes a small value within a predetermined range or becomes 0, and the relative angle θh and the relative angular velocity also settle at small values. That is, the absolute value of the digital value Q corresponding to the angular velocity ωm of the lens barrel unit 1 becomes smaller than Q1 (| Q | <Q
1), the absolute value of the digital value P corresponding to the relative angle θx between the lens barrel 1 and the main body case 2 becomes smaller than P3 (|
P | <P3), the absolute value of the digital value V corresponding to the relative angular velocity between the lens barrel 1 and the main body case 2 becomes smaller than V1 (| V | <V1). As a result, <pan detection> 184
The end of the panning operation is detected at, and the control moves to <control operation at rest> 181.

Thereafter, the <control operation at rest> 181 is continued until the next panning operation is started. When the next panning operation occurs, the <pan start detection> 182 detects it in accordance with the above-described operation, moves to <control operation at panning> 183, and ends the panning operation by <pan end detection> 184. Until the detection, <control operation during panning> 183 is performed.

In the <pan start detection> 182 of the above-described embodiment, the digital value P corresponding to the relative angle θh and the digital value V corresponding to the relative angular velocity cause these to enter the shaded area in FIG. However, the present invention is not limited to such a case. Figure 14 (a)
Another example of the flowchart of <pan start detection> 182 is shown in FIG. In this example, the start of the panning operation is detected when the relative angle θh (P) is out of the predetermined range.
This will be described.

[201] | P | <P2 (P2 is a constant) <Control operation at rest> Return to [11] of 181, and if not | P | <P2 <Control operation during panning> [31] of 183 go to.

Further, FIG. 14 (b) shows another example of the flowchart of <pan start detection> 182. In this example, the relative angle θh (P)
Is outside the predetermined range, or the combined value (W) of the relative angle (P) and the relative angular velocity (V) is outside the predetermined range, the start of the panning operation is detected ( (Slightly different from the panning start detection area in FIG. 9). This will be described.

[211] The value obtained by multiplying P by H1 (H1 is a constant) and the value obtained by multiplying V by H2 (H2 is a constant) are added and stored in a variable W (W = H1 * P + H2 * V).

[212] | P |> P2 (P2 is a constant) <Control operation during panning> Go to [31] in 183, | P |> P
If not 2, go to [213].

[213] | W |> W1 (W1 is a constant) <Control operation during panning> Go to [31] of 183, | W |> W
If not 1, <Control operation at rest> [11] of 181
Return to.

Further, in the <pan end detection> 184 of the above-described embodiment, the digital value Q corresponding to the angular velocity ωm and the relative angle θ.
Although the end of panning is detected by reducing the absolute values of the digital value P corresponding to h and the digital value V corresponding to the relative angular velocity, the present invention is not limited to such a case. FIG. 15A shows another example of the flowchart of <pan end detection> 184. In this example, the end of the panning operation is detected when the angular velocity ωm (Q) of the lens barrel portion 1 viewed from the inertial coordinate is within a predetermined range. This will be described.

[301] If | Q | <Q1 (Q1 is a constant), return to <control operation at rest> 181 [11]; if not | Q | <Q1, <control operation at panning> 183 [31] Return to.

Further, FIG. 15B shows another example of the flowchart of <pan end detection> 184. In this example, the end of the panning operation is detected when the angular velocity ωm (Q) is within the predetermined range and the relative angle θh (P) is within the predetermined range. This will be described.

[311] If | Q | <Q1 (Q1 is a constant), go to [312]. If not | Q | <Q1, return to [31] of <control operation during panning> 183.

[312] If | P | <P3 (P3 is a constant), return to <Control operation at rest> 181 [11]. If not | P | <P3, <Control operation at panning> 183 [31] Return to.

In the above embodiment, the relative angular velocity is detected by the differential digital value V of the digital value P corresponding to the relative angle θh, but the present invention is not limited to such a case. For example, a dedicated relative angular velocity detector for detecting the relative angular velocity between the lens barrel portion 1 and the main body case 2 is attached, and the output signal of the position detector and the output signal of the relative angular velocity detector are added and combined for control during panning operation. Needless to say, the operation of the combiner may be changed and is included in the present invention. However, if the control is performed only by the output signal of the position detector, there is an advantage that the relative angular velocity detector is unnecessary and the configuration is simplified.

In addition, as shown in the above-described embodiments, the image pickup apparatus of the present invention does not require an air chamber, and can be reduced in size and weight. Moreover, the number of sensors is small and the cost is low. Further, since the relative position is detected by the Hall element (magnetism sensitive element) that detects the magnetic field of the magnet of the actuator, the configuration is simple and the number of parts is small. In addition, the detection of the magnetic field of the magnet is not limited to the Hall element,
A magnetoresistive element or a supersaturated reactor may be used. Further, the panning movement detecting means and the movement changing means can be simply constructed, and the collision between the lens barrel portion and the support body during the panning movement can be prevented. Of course, the application range of the photographing apparatus is not limited to the video camera. Other,
Various changes can be made without changing the gist of the present invention.

Advantageous Effects of Invention According to the photographing apparatus of the present invention, by detecting the relative position of the lens barrel and the support and the angular velocity of the lens barrel, the lens barrel is driven and controlled by the actuator means so as to suppress the fluctuation of both. However, the vibration of the lens barrel is greatly reduced. Furthermore, a pan movement detecting means and a movement changing means are provided,
The collision between the lens barrel and the support is also prevented. Therefore, if, for example, a video camera is constructed based on the present invention, a compact, lightweight and high-performance video camera with a vibration isolation mechanism can be easily obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of an image pickup apparatus according to an embodiment of the present invention, FIGS. 2 (a), (b) and (c) are diagrams showing a concrete structure of an actuator, and FIG. 3 is a block diagram of FIG. FIG. 4 is a diagram showing a specific configuration of a position detector, FIG. 4 is a diagram showing a specific configuration of the angular velocity detector of FIG. 1, and FIG. 5 is a diagram showing a specific configuration of an A / D converter. FIG. 6 is a diagram showing a concrete configuration of the driver of FIG. 1, FIG. 7 is a diagram showing a basic flow chart of a program incorporated in the synthesizer, and FIGS. 8 (a) to (d) are detailed diagrams of respective parts. FIG. 9 is a diagram showing a flowchart, FIG. 9 is a diagram showing a panning start detection region, FIG. 10 is a block diagram of a vibration isolation mechanism at rest, and FIG. 11 is a frequency transfer function G (jω) from θx to θm at rest. FIG. 12 is a block diagram of a vibration isolation mechanism during panning operation, and FIG. 13 is a frequency chart from θx to θm during panning operation. A diagram showing the number transfer function G '(jω), FIGS. 14 (a) and 14 (b) are <pan start detection> 182.
15 is a diagram showing another flowchart of <pan end detection> 184, and FIG. 16 is a configuration diagram showing an example of a conventional image stabilizing mechanism. 1 ... Lens barrel part, 2 ... Main body case (support), 3 ... Actuator, 4 ... Rotation axis, 5 ... Hall element (sensing element), 6 ... Angular velocity sensor, 7 ... Fixing member , 11 ...
... Position detector, 12 ... Angular velocity detector, 13 ... Combiner, 14 ... Driver, 21, 22 ... A / D converter, 2
3 ... arithmetic unit, 24 ... memory, 25 ... D / A converter, 41 ... image sensor, 42 ... image signal processor, G ...
The center of gravity of the lens barrel section 1.

Claims (2)

[Claims] 1. A lens barrel portion on which a plurality of lenses and an image pickup device are mounted, image signal processing means for generating an image signal from an electric signal obtained by the image pickup device, and an axis of a light ray incident on the lens barrel portion. Alternatively, a support body that rotatably supports the lens barrel portion around substantially orthogonal rotation axes, and an actuator means that is mounted between the lens barrel portion and the support body and that drives the lens barrel portion to rotate, Position detecting means for detecting a relative angle between the lens barrel and the support, angular velocity detecting means for detecting an inertial angular velocity of the lens barrel around the rotation axis, an output signal of the position detecting means and the angular velocity detecting means. Of the output signal of the position detecting means, a combining means for outputting a combined signal obtained by combining the output signals of, a driving means for supplying electric power to the actuator means so as to suppress the fluctuation of the combined signal output by the combining means, Panning detecting means for detecting the start of the panning operation when it is outside the predetermined range of 1, and detecting the end of the panning operation when the output signal of the angular velocity detecting means is within the second predetermined range; The operation of the synthesizing means is changed by the output signal of the pan operation detecting means so that the output signal of the synthesizing means becomes independent of the output signal of the angular velocity detecting means, and the output signal of the position detecting means is used to And an operation changing unit that changes the output signal of the synthesizing unit. 2. A lens barrel portion having a plurality of lenses and an image pickup element mounted thereon, image signal processing means for generating an image signal from an electric signal obtained by the image pickup element, and an axis of an incident light beam to the lens barrel portion. Alternatively, a support body that rotatably supports the lens barrel portion around substantially orthogonal rotation axes, and an actuator means that is mounted between the lens barrel portion and the support body and that drives the lens barrel portion to rotate, Position detecting means for detecting a relative angle between the lens barrel and the support, angular velocity detecting means for detecting an inertial angular velocity of the lens barrel around the rotation axis, an output signal of the position detecting means and the angular velocity detecting means. A combination means for outputting a combined signal obtained by combining the output signals of, a driving means for supplying electric power to the actuator means so as to suppress fluctuations in the combined signal output by the combining means, and an output signal for the position detecting means. The start of the panning operation is detected when the combined value of the output signal and the differential signal is out of the first predetermined range, and the panning operation is detected when the output signal of the angular velocity detecting means is in the second predetermined range. The operation of the synthesizing means is changed by the output signal of the panning motion detecting means for detecting the end of the above, and the output signal of the synthesizing means is independent of the output signal of the angular velocity detecting means. And an operation changing unit that changes the output signal of the synthesizing unit according to the output signal of the position detecting unit.