JPH10271383A - Camera-shake preventing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the miniaturization of the shell for forming an elevation part, focus control, active vibration control and rotation control of an image by arranging 6 pairs of motors two by two on the three sides of triangle connecting the link points of 6 pairs of rods, so as to make output shafts respectively mutually opposite. SOLUTION: Six pairs of motors 21 perform fine shaft driving, arms 31 are coupled to shafts for outputting torque, and six pairs of arms 31 are coupled to the output shafts of respective motors 21. Six pairs of rods 32 convert the torque outputted from the motors 21 into axial force through joints with the arms 31 and transmit the driving force to a camera 2. The camera 2 is linked through 2nd joints to the rods 32, the rods 32 are linked through 1st joints to the arms 31 coupled to the motors 21, and the link mechanism of oscillation and parallel movement is constituted for the rotation of motors 21.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera, mounted on a vehicle, a ship, an aircraft, or the like, which keeps a line of sight fixed.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera anti-vibration device for obtaining a stable image without blur, and particularly to a camera anti-vibration device having a fine axis drive mechanism for correcting a fast motion such as vibration or shaking.

[0002]

2. Description of the Related Art FIG. 19 shows a conventional camera image stabilizer. In the figure, reference numeral 1 denotes a lens which forms an image of light entering from the outside as an image, 2 denotes a camera which converts an image formed by the lens 1 coupled to the lens 1 into an electric signal, and 3 denotes light emitted from the outside. A window for transmitting the light to the lens 1, a raising portion 11 for rotating the fine axis driving portion about the pitch axis, a turning portion 12 for rotating the fine axis driving portion and the raising portion 11 about the yaw axis, and a turning portion 13. A mother machine (or mother ship, mother vehicle) equipped with the unit 12 and the entire camera anti-vibration device
, 51 is an inner frame supporting the camera 2, 52 is an outer frame connecting the inner frame 51 and the elevating section 11, 61 is an image of the camera 2, the lens 1, and the inner frame 51 on the outer frame 52. The yaw axis driving section 62 contains a bearing and a motor for rotating around the yaw axis in the horizontal direction, that is, the yaw axis driving section 62 moves the outer frame 52, the camera 2, the lens 1, and the inner frame 51 in a direction perpendicular to the elevating section 11, that is, A pitch axis drive section containing a bearing and a motor for rotating around the pitch axis. The fine axis drive section is constituted by a yaw axis drive section 61, a pitch axis drive section 62, an outer frame 52, and an inner frame 51. Was.

[0003] The conventional camera anti-vibration device is configured as described above, and the turning part 12 and the elevating part 11 rotate to turn the camera 2 and the lens 1 in a desired direction based on an operation command from a controller. However, since a vehicle, a ship, an aircraft, and the like on which the entire camera anti-vibration device is mounted are always in motion, high-speed motion such as vibration and shaking occurs with respect to the camera anti-vibration device. Under the influence, the line of sight of the camera 2 and the lens 1 is not constant. Therefore, by swinging the pitch axis drive unit 62 and the yaw axis drive unit 61, the line of sight of the camera 2 and the lens 1 is stabilized in a certain direction, and an image without blur is obtained.

[0004]

As shown in FIG.
In the conventional camera anti-vibration device, a coarse axis driving unit that rotates the turning unit 12 with respect to the fixed unit 13 and rotates the elevating unit 11 with respect to the turning unit 12, a pitch axis driving unit 62, and a yaw axis driving unit In this case, two sets of drive units including the fine shaft drive unit 61 are combined.

However, with the above structure, the outer frame 52 and the inner frame 51 connecting the pitch axis drive section 62 and the yaw axis drive section 61 inside the elevation section 11 (in the shell) surround the camera 2. In the outer frame 52 compared to the size of the camera 2.
Therefore, the diameter of the inner surface of the shell, that is, the elevating portion 11 has to be increased by the amount occupied by the inner frame 51.

When the distance between the lens 1 and the subject changes as shown in FIG. 20, the distance between the lens 1 and the image also changes. If the position of the image and the imaging surface of the camera 2 are shifted due to the movement of the image, a clear image cannot be obtained (a so-called out-of-focus state). Therefore, in the conventional lens 1, a driving mechanism such as a screw mechanism is incorporated in the lens 1, and the lens 1 is moved in the direction of the line of sight (so-called focus adjustment and focus adjustment) to obtain a good image. However, the focus adjustment drive mechanism needs to equip the lens 1 with a motor, a screw mechanism, a gear, and the like, which are drive sources, separately from the motor that drives the fine axes of the pitch axis and the yaw axis. Had a strong tendency to increase in size.

Further, since the conventional pitch axis drive unit 62 and yaw axis drive unit 61 can move only in the swinging direction, it is necessary to protect the sensitive camera 2 from translational disturbance such as vibration. Had to rely on passive methods such as anti-vibration mounts, and could not actively control vibration.

At the same time, the conventional pitch axis drive section 62 and conventional yaw axis drive section 61 can only swing about two axes of yaw and pitch.
It was not possible to correct the rotation of the image.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to reduce the size of a shell forming an elevating portion as much as possible, and to enable a focus adjustment by a fine axis driving portion. It is intended to enable active vibration control and to correct the rotation of an image.

[0010]

According to a first aspect of the present invention, there is provided a camera vibration isolating apparatus including: a lens; and a camera for converting an image formed by the lens into an electric signal;
An elevating unit for pitch-rotating the imaging unit, a turning unit for supporting the elevating unit and rotating in yaw, six pairs of motors fixed to the elevating unit and having an arm coupled to an output shaft, the arm and the imaging unit And six pairs of rods that move the imaging unit in the three-axis direction or the swinging direction in accordance with the rotation of the arm, and connect the respective motors to the connection points of the imaging unit and the rods. Two of them are arranged on three sides of the triangle so that the output axes are opposite to each other.

Further, in the camera anti-vibration device according to the second invention, the camera and the lens are separated from each other.
The camera is fixed to a raised part, and the lens is connected to the rod.

Also, in the camera anti-vibration apparatus according to the third invention, the image pickup section is separated from the lens and the camera.
The lens is fixed to the elevating part, and the camera is connected to the rod.

Still further, a camera anti-vibration device according to a fourth aspect of the present invention includes a lens, a camera for converting an image formed by the lens into an electric signal, a raising unit for rotating the lens and the camera by a pitch, A swivel unit that supports the elevating unit and performs yaw rotation; a twelve pair of motors fixed to the elevating unit and having an arm coupled to an output shaft; a lens that is connected to the arm and the lens; And six pairs of rods connected to the arm and the camera for moving the camera in the three-axis direction or the oscillating direction according to the rotation of the arm. And each of the motors is a triangular triangle connecting a connecting point between the lens and the rod.
Triangle 3 connecting the side and the connection point of the camera and the rod
Two sides are arranged on the side such that the output axes are opposite to each other.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a diagram showing a camera image stabilizer according to Embodiment 1 of the present invention. In the figure, 1 is a lens that collects light that has entered from the outside world and forms an image,
2 is a camera that converts an image formed by the lens 1 into an electric signal,
Reference numeral 3 denotes a window for transmitting light emitted from the outside world to guide the lens 1 to the lens 1. Reference numeral 11 denotes an elevating part which is one of coarse axes for rotating the fine axis driving part up and down. Reference numeral 12 denotes the fine axis driving part and the elevating part 11. The turning parts 12 and 13, which are one of the coarse axes for rotating the right and left, are fixed parts for connecting the turning part 12 and a mother machine (or a mother ship or a mother vehicle) on which the entire camera anti-vibration device is mounted.
Numeral 1 denotes six pairs of motors each having an arm coupled to a shaft from which torque is output by performing fine shaft driving, numeral 31 denotes six pairs of arms coupled to the output shaft of each motor 21, and numeral 32 denotes torque output from the motor 21. Are converted into an axial force via a joint with the arm 31, and the pair of rods transmits the driving force to the camera 2. As shown in the figure, the motor 21 is fixed to the elevating section 11. The lens 1 is fixed to the camera 2, the camera 2 is connected to a rod 32 via a second joint, and the rod 32 is connected to an arm 31 connected to the motor 21 via a first joint. When the motor 21 rotates freely (when the motor is not stopped), the camera 2 constitutes a link mechanism that swings or translates in three rotation directions with respect to the elevating unit 11. In addition, 1 to 13 are the same as conventional devices. Further, two second joints for connecting the camera 2 and the six pairs of rods 32 are arranged on three sides of the triangle connecting each other.

FIG. 2 is a diagram showing the movement of the arm 31, the rod 32, the lens 1, and the camera 2 in the yaw direction when the motor 21 is rotated.

FIG. 3 is a view showing the movement of the arm 31, the rod 32, the lens 1, and the camera 2 in the pitch direction when the motor 21 is rotated.

FIG. 4 is a diagram showing the movement of the arm 31, the rod 32, the lens 1, and the camera 2 in the image rotation direction when the motor 21 is rotated.

FIG. 5 is a view showing a state in which the camera vibration isolator rotates as the mounted body rotates about the yaw axis.

FIG. 6 is a view showing a state in which the camera vibration isolator is tilted as the mounted body rotates around the pitch axis.

FIG. 7 is a view showing a state in which the camera vibration isolator tilts as the mounted body rotates around the roll axis.

In the present invention, as shown in FIG. 5, when the entire camera vibration isolator rotates around the yaw axis,
By rotating the motor 21 and the arm 31 in the direction of arrow A in FIG. 2, the lens 1 and the camera 2 can be swung in the direction of arrow B, that is, in the yaw axis direction, and the line of sight can be stabilized.

Also, as shown in FIG. 6, when the entire camera anti-vibration apparatus is inclined around the pitch axis, the motor 21 and the arm 31 are rotated in the direction of arrow C in FIG. That is, the lens 1 moves in the pitch axis direction.
And the camera 2 can be swung.

Further, the motor 21 is moved in the direction of arrow E in FIG.
By rotating the arm 31 and the lens 31, the lens 1 and the camera 2 can be swung in the direction of the arrow. By moving in this direction, it is possible to correct the rotation of the image even when the camera anti-vibration device is tilted around the roll axis as shown in FIG.

In this embodiment, an example in which the motor 21 is rotated in the direction of arrow B in FIG. 2, in the direction of arrow C in FIG. 3, and in the direction of arrow E in FIG. By reversing the direction, the lens 1 and the camera 2 can rotate in the opposite directions to those shown in FIGS. Also,
Depending on the rotation direction of the motor, the lens 1 and the camera 2
Can also be translated.

The arrangement of the arm 31 and the rod 32 is not necessarily limited to this, and the camera 2 and the lens 1 stand still with respect to the elevating part 11 when the motor 21 stops.
Any device may be used as long as it swings or translates in three rotation directions with respect to the elevating unit 11 when the motor 21 rotates.

Embodiment 2 FIG. FIG. 8 is a diagram showing a second embodiment according to the present invention. In the figure, 1, 2, 3, 1
1, 12, 13, 21, 31, and 32 are the same as those in the first embodiment, but in this embodiment, the camera 2 is
1 and the lens 1 is connected to the motor 2 via the rod 32.
The arm 31 is fixed to the arm 31.

FIG. 9 is a view showing the movement of the arm 31, the rod 32 and the lens 1 in the pitch direction when the motor 21 is rotated.

FIG. 10 is a diagram showing a movement for adjusting the focus of the arm 31, the rod 32 and the lens 1 when the motor 21 is rotated.

In the present invention, when the entire camera anti-vibration device is tilted around the pitch axis as in FIG. 6, the motor 21 and the arm 31 are rotated in the direction of arrow A as shown in FIG. By rotating the lens 1 in the direction of arrow B, that is, in the pitch axis direction, the line of sight can be stabilized.

Further, as shown in FIG. 10, by rotating the motor 21 and the arm 31 in the direction of arrow C, the lens 1 can be moved in the translation direction of arrow d. By moving in this direction, focus adjustment (focus adjustment) that needs to be corrected based on a change in the distance between the camera image stabilizer and the subject can be performed.

In this embodiment, an example in which the lens 21 is rotated in the direction of arrow B in FIG. 9 and the direction of arrow d in FIG. 10 is shown. Can rotate in the opposite direction to the two in the figure.

The arrangement of the arm 31 and the rod 32 is not necessarily limited to this, and the lens 1 is stationary with respect to the elevating part 11 when the motor 21 is at rest, and with respect to the elevating part 11 when the motor 21 is rotating. What is necessary is to swing or translate in three directions of rotation.

Embodiment 3 FIG. 11 shows a third embodiment of the present invention. As shown in the figure, 1, 2, 3,
11, 12, 13, 21, 31, and 32 are the same as those in the first embodiment, but in this embodiment, the lens 1 is fixed to the elevating portion 11, and the camera 2 is fixed to the motor 21 via the rod 32. Connected to the arm 31.

FIG. 12 is a diagram showing the movement of the image accompanying the movement of the subject.

FIG. 13 is a diagram showing the movement of the arm 31, the rod 32 and the camera 2 in the yaw direction correction when the motor 21 is rotated.

FIG. 14 is a diagram showing a movement for adjusting the focus of the arm 31, the rod 32 and the camera 2 when the motor 21 is rotated.

FIG. 15 is a diagram showing the operation of correcting the image rotation of the arm 31, the rod 32 and the camera 2 when the motor 21 is rotated.

In the present invention, when the entire camera anti-vibration device is tilted around the pitch axis, as in FIG. 6, the motor 21 and the arm 31 are rotated in the direction of the arrow A, so that the camera 2 is moved in the direction of the arrow B. Is moved to correct the image shift, thereby stabilizing the image and obtaining the same effect as the pitch axis correction.

As in the case of FIG. 5, even when the entire camera anti-vibration device is tilted around the yaw axis, the camera 2 is moved in the horizontal direction with respect to the fuselage to correct the image shift and stabilize the image. The same effect as the yaw axis correction can be obtained.

Further, as shown in FIG. 14, by rotating the motor 21 and the arm 31 in the direction of arrow E, the camera 2 can be moved in the direction of arrow. By moving in this direction, focus adjustment that needs to be corrected based on a change in the distance between the camera image stabilizer and the subject can be performed.

At the same time, as shown in FIG. 15, by rotating the motor 21 and the rod in the direction of arrow G, the camera 2 can be rotated in the direction of arrow H. By moving in this direction, it becomes possible to correct the rotation of the image when the camera anti-vibration device is tilted around the roll axis as in FIG.

In this embodiment, FIG. 13 shows an example of rotation in the direction of arrow B, FIG. 14 shows an example of rotation in the direction of arrow, and FIG. 15 shows an example of rotation in the direction of arrow H. By reversing the direction, the lens 1 and the camera 2 can rotate in directions opposite to the directions B, F, and H in the figure.

The arrangement of the arm 31 and the rod 32 is not limited to this, and the lens 1 is stationary with respect to the elevating part 11 when the motor 21 is at rest, and with respect to the elevating part 11 when the motor 21 is rotating. What is necessary is to swing or translate in three directions of rotation.

Embodiment 4 FIG. FIG. 16 shows a fourth embodiment according to the present invention. As shown in the figure,
3, 11, 12, 13, 21, 31, and 32 are the same as those in the first embodiment, except that the lens 1 is connected to an arm 31 fixed to the motor 21 via a rod 32, and the camera 2 is also connected to the rod 32. And is connected to an arm 31 fixed to the motor 21 via.

In the present invention, when the entire camera anti-vibration device is tilted and rotated as in FIGS. 5 and 6, both the visual line shift and the image shift are corrected as in the second and third embodiments. can do.

Further, the focus can be adjusted similarly to the second and third embodiments.

Further, by rotating the camera 2, it becomes possible to correct the rotation of the image caused by the tilt of the camera anti-vibration device as in the case of FIG. 7 and the third embodiment.

Further, the airframe generates vibration and impact, and FIG.
As shown in FIG. 18, when the motor 21 and the arm 31 are rotated in the direction of arrow B as shown in FIG. 18, the lens 1 and the camera 2 can be moved in the direction of arrow C. it can. With this movement,
It is possible to cancel the movement of the arrow A in FIG. 17, and it is possible to prevent the vibration and the shock generated from the body from being transmitted to the camera 2 and the lens 1. That is, active vibration control becomes possible.

In this embodiment, FIG. 18 shows an example in which the lens 1 is rotated in the direction of arrow B. However, if the motor 21 is reversed in the opposite direction, the lens 1 and the camera 2 are rotated in the direction shown in FIG. Can move in the opposite direction to c and e.

The arrangement of the arm 31 and the rod 32 is not necessarily limited to this. When the motor 21 is stationary, the camera 2 and the lens 1 are stationary with respect to the elevating part 11,
Any device may be used as long as it swings or translates in three rotation directions with respect to the elevating unit 11 when the motor 21 rotates.

[0051]

As described above, according to the present invention, the pitch axis correction and the yaw axis correction of the line of sight are performed by the structure in which the lens and the camera or only the lens are driven by the six motors via the rods. Since the camera anti-vibration device can be configured without using an outer frame that covers the periphery of the camera, the overall size can be reduced.

There is also an effect that rotation of an image can be corrected.

Further, according to the second and third aspects of the present invention, by changing the distance between the camera and the lens, there is an effect that the focus adjustment which has been performed by the lens driving mechanism of the conventional device can be performed. .

According to the fourth aspect of the present invention, by moving the lens and the camera independently, it is possible to correct not only the visual line deviation but also the image deviation. There is an effect that it is possible to obtain an image free from defects.

Further, according to the fourth aspect of the present invention, since the driven device can be moved in the translation direction, there is an effect that the camera and the lens can be actively protected from vibration and impact.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a first embodiment of the present invention.

FIG. 2 is a diagram showing a movement in a yaw axis direction according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a movement in a pitch axis direction according to the first embodiment of the present invention.

FIG. 4 is a diagram showing a motion of image rotation correction according to the first embodiment of the present invention.

FIG. 5 is a diagram illustrating a state in which the camera anti-vibration device according to the present invention is rotated by the movement of the body around the yaw axis.

FIG. 6 is a diagram illustrating a state in which the camera anti-vibration device according to the present invention is tilted by shaking around the pitch axis of the body.

FIG. 7 is a diagram illustrating a state in which the camera anti-vibration device of the present invention is tilted by shaking around the roll axis of the body.

FIG. 8 is a perspective view showing Embodiment 2 of the present invention.

FIG. 9 is a diagram illustrating a movement in a pitch axis direction according to the second embodiment of the present invention;

FIG. 10 is a diagram showing a movement of focus correction according to the second embodiment of the present invention.

FIG. 11 is a perspective view showing a third embodiment of the present invention.

FIG. 12 is a diagram illustrating movement of an image accompanying movement of a subject according to the third embodiment of the present invention;

FIG. 13 is a diagram showing a movement of pitch axis direction correction according to the third embodiment of the present invention.

FIG. 14 is a diagram showing a movement of focus correction according to the third embodiment of the present invention.

FIG. 15 is a diagram showing an operation of image rotation correction according to the third embodiment of the present invention.

FIG. 16 is a perspective view showing a fourth embodiment of the present invention.

FIG. 17 is a diagram illustrating a state in which the camera anti-vibration device of the present invention moves due to vibration or impact of the body.

FIG. 18 is a diagram illustrating a movement in a translation direction according to the fourth embodiment of the present invention.

FIG. 19 is a perspective view showing a conventional device.

FIG. 20 is a diagram illustrating movement of an image according to a change in the distance between a subject and a lens.

[Explanation of symbols]

1 lens, 2 cameras, 3 windows, 11 elevating part, 12 turning part, 13 fixing part, 21 motor, 31
Arm, 32 rod, 51 inner frame, 5
2 Outer frame, 61 Yaw axis drive, 62 Pitch axis drive.

Claims (4)

[Claims] An imaging unit having a lens, a camera for converting an image formed by the lens into an electric signal, an elevating unit for rotating the imaging unit by a pitch, and a yaw rotation supporting the elevating unit. A swivel unit, six pairs of motors fixed to the elevating unit and having an arm coupled to the output shaft, and connected to the arm and the imaging unit, and the imaging unit is pivoted in three directions or in response to rotation of the arm. And six pairs of rods movable in two directions, and the respective motors are arranged on three sides of a triangle connecting the connection points of the imaging unit and the rods such that two output shafts are in opposite directions to each other. A camera anti-vibration device, which is disposed in a camera. 2. The camera anti-vibration device according to claim 1, wherein the camera and the lens are separated from each other in the imaging unit, the camera is fixed to the elevation unit, and the lens is connected to the rod. . 3. The camera anti-vibration device according to claim 1, wherein the camera and the camera are separated from each other in the imaging unit, the lens is fixed to the elevation unit, and the camera is connected to the rod. . 4. A lens, a camera for converting an image formed by the lens into an electric signal, an elevating part for rotating the lens and the camera by a pitch, a turning part for supporting the elevating part and performing a yaw rotation, 12 pairs of motors fixed to the elevating section and having an arm coupled to the output shaft, and 6 pairs of motors connected to the arm and the lens to move the lens in three axial directions or swinging directions according to the rotation of the arm. And six pairs of rods that are connected to the arm and the camera and move the camera in three axes or in a swinging direction in accordance with the rotation of the arm. The two output axes are arranged on the three sides of the triangle connecting the connection points of the rod and the three sides of the triangle connecting the connection points of the camera and the rod such that the output axes are opposite to each other. A camera image stabilizer.